1. A floor robot, characterized in that: the method comprises the following steps:

the actuating mechanism is used for guiding redundant semi-dry mortar or concrete to an area to be processed and leveling the semi-dry mortar or concrete processed by the actuating mechanism;

the height adjusting mechanism is arranged on the height adjusting mechanism and used for adjusting the height of the executing mechanism;

the height adjusting mechanism is arranged on the reciprocating mechanism, and the reciprocating mechanism is used for driving the actuating mechanism to reciprocate;

and the reciprocating mechanism is fixed on the travelling mechanism, and the travelling mechanism is used for driving the actuating mechanism to move.

2. The floor robot of claim 1, characterized in that: still include controller, touch switch and laser receiver, touch switch establishes on actuating mechanism, laser receiver establishes on high adjustment mechanism, actuating mechanism, high adjustment mechanism, reciprocating mechanism, running gear, touch switch and laser receiver all are connected with the controller electricity.

3. The floor robot of claim 1, characterized in that: the execution mechanism comprises an execution rack, a leveling device and two slurry guiding devices, wherein the leveling device and the two slurry guiding devices are arranged on the execution rack, and the execution rack is fixed on the height adjusting mechanism.

4. The floor robot of claim 3, characterized in that: the slurry guiding device comprises a spiral blade, a slurry guiding shaft, a shielding plate and a slurry guiding motor, the slurry guiding shaft is fixed with an output shaft of the slurry guiding motor, the spiral blade is fixed on the slurry guiding shaft, and the shielding plate is fixed on the execution rack.

5. The floor robot of claim 3, characterized in that: the leveling device comprises a leveling disc, a leveling shaft and a leveling motor, wherein an output shaft of the leveling motor is fixed with the leveling shaft, and the leveling disc is fixed on the leveling shaft.

6. The floor robot of claim 1, characterized in that: the height adjusting mechanism comprises an adjusting motor, a lead screw, a guide post, a sliding seat and an adjusting seat, wherein the adjusting motor and the guide post are fixed on the adjusting seat, the lead screw is arranged on the adjusting seat, an output shaft of the adjusting motor is connected with the lead screw, the sliding seat is fixed on the lead screw, and the sliding seat is arranged on the guide post in a sliding manner.

7. The floor robot of claim 1, characterized in that: the reciprocating mechanism comprises a reciprocating motor, a transmission assembly, a reciprocating slide block, a reciprocating slide rail, a reciprocating connecting plate, a proximity switch and a reciprocating rack, the reciprocating rack is fixed on the traveling mechanism, the reciprocating motor is used for driving the transmission assembly, the reciprocating connecting plate is fixed on the transmission assembly, the reciprocating slide rail and the transmission assembly are fixed on the reciprocating rack, the reciprocating slide block is arranged on the slide rail in a sliding mode, and the proximity switch is arranged on the reciprocating connecting plate.

8. The floor robot of claim 1, characterized in that: the walking mechanism comprises a protective cover, a walking frame, a walking assembly and a lifting and rotating assembly, wherein the walking assembly and the lifting and rotating assembly are fixed on the walking frame, and the protective cover is covered on the walking frame.

9. The floor robot of claim 8, characterized in that: the lifting rotary assembly comprises a lifting cylinder, a rotary bearing and a supporting plate, and the lifting cylinder is fixed with the supporting plate through the rotary bearing.

Background

At present, when concrete terrace is poured on the floor in a building, concrete mortar is usually poured into the floor manually, then the mortar is scraped to be level by a scraper blade, the whole process is time-consuming and labor-consuming, and the level is influenced by the proficiency of workers.

Disclosure of Invention

The invention aims to provide a floor robot for mechanical leveling.

In order to solve the above problems, the present invention provides a floor robot, including:

the actuating mechanism is used for guiding redundant semi-dry mortar or concrete to an area to be processed and leveling the semi-dry mortar or concrete processed by the actuating mechanism;

the height adjusting mechanism is arranged on the height adjusting mechanism and used for adjusting the height of the executing mechanism;

the height adjusting mechanism is arranged on the reciprocating mechanism, and the reciprocating mechanism is used for driving the actuating mechanism to reciprocate;

and the reciprocating mechanism is fixed on the travelling mechanism, and the travelling mechanism is used for driving the actuating mechanism to move.

Further, still include controller, touch switch and laser receiver, touch switch establishes on actuating mechanism, laser receiver establishes on height adjusting mechanism, actuating mechanism, height adjusting mechanism, reciprocating mechanism, running gear, touch switch and laser receiver all are connected with the controller electricity.

Furthermore, the execution mechanism comprises an execution rack, a leveling device and slurry guiding devices, wherein the leveling device and the two slurry guiding devices are arranged on the execution rack, and the execution rack is fixed on the height adjusting mechanism.

Furthermore, the slurry guiding device comprises a spiral blade, a slurry guiding shaft, a shielding plate and a slurry guiding motor, the slurry guiding shaft is fixed with an output shaft of the slurry guiding motor, the spiral blade is fixed on the slurry guiding shaft, and the shielding plate is fixed on the execution rack.

Further, leveling device includes leveling dish, leveling axle and leveling motor, the output shaft and the leveling axle of leveling motor are fixed, the leveling dish is fixed on the leveling axle.

Further, height adjustment mechanism includes accommodate motor, lead screw, guide post, sliding seat and adjusts the seat, accommodate motor and guide post are all fixed on adjusting, the lead screw is established on adjusting the seat, accommodate motor's output shaft and screw connection, the sliding seat is fixed on the lead screw, and the sliding seat slides and establishes on the guide post.

Furthermore, the reciprocating mechanism comprises a reciprocating motor, a transmission assembly, a reciprocating slide block, a reciprocating slide rail, a reciprocating connecting plate, a proximity switch and a reciprocating frame, the reciprocating frame is fixed on the traveling mechanism, the reciprocating motor is used for driving the transmission assembly, the reciprocating connecting plate is fixed on the transmission assembly, the reciprocating slide rail and the transmission assembly are fixed on the reciprocating frame, the reciprocating slide block is arranged on the slide rail in a sliding mode, and the proximity switch is arranged on the reciprocating connecting plate.

Furthermore, running gear includes safety cover, walking frame, walking subassembly and lift gyration subassembly are all fixed on the walking frame, the safety cover is established on the walking frame.

Furthermore, the lifting and rotating assembly comprises a lifting cylinder, a rotating bearing and a supporting plate, and the lifting cylinder is fixed with the supporting plate through the rotating bearing.

The terrace robot disclosed by the invention can level semi-dry mortar or concrete by using the actuating mechanism, can travel by using the traveling mechanism, can adjust the horizontal height of the actuating mechanism by using the height adjusting mechanism, ensures that the leveled semi-dry mortar or concrete is on the same horizontal plane, can widen the processing width of the actuating mechanism by arranging the reciprocating mechanism, and can improve the leveling efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a terrace robot according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the interior of the terrace robot of the invention.

Fig. 3 is a schematic structural view of the actuator.

Fig. 4 is a schematic structural view of an execution rack.

Fig. 5 is a schematic structural view of the second mounting plate.

Fig. 6 is a schematic structural view of the propeller shaft and the helical blade.

Fig. 7 is a schematic structural view of the height adjusting mechanism.

Fig. 8 is a schematic structural view of the connection plate.

Fig. 9 is a schematic structural view of the reciprocating mechanism.

Fig. 10 is a schematic view of the internal structure of the reciprocating mechanism.

Fig. 11 is a schematic structural view of the traveling mechanism.

Fig. 12 is a schematic view of the internal structure of the traveling mechanism.

Fig. 13 is a schematic view of the internal structure of the traveling mechanism in the other direction.

Fig. 14 is a control schematic diagram of the terrace robot of the invention.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1 and 2, the floor robot in accordance with the present invention includes a traveling mechanism 600, a reciprocating mechanism 500, a height adjusting mechanism 400, a protective cover 71, an actuator 100, a touch switch 72, a laser receiver 73, and a controller 81, wherein the reciprocating mechanism 500 is disposed on the traveling mechanism 600, the height adjusting mechanism 400 is disposed on the reciprocating mechanism 500, the actuator 100 is disposed on the height adjusting mechanism 400, the protective cover 71 is fixed on the height adjusting mechanism 400 and the actuator 100, the touch switch 72 is disposed on the actuator 100, and the touch switch 72 is electrically connected to the controller 81. The controller 81 is an industrial personal computer or a PLC, the controller 81 is arranged in the control box 82, and the control box 82 is fixed on the traveling mechanism 600. The walking mechanism 600 reciprocating mechanism 500, the height adjusting mechanism 400 and the executing mechanism 100 are all electrically connected with the controller 81, and the controller 81 is used for controlling the reciprocating mechanism 500, the height adjusting mechanism 400 and the executing mechanism 100 to start and stop. The running mechanism 600 is used for driving the executing mechanism 100 to run in a construction site, the executing mechanism 100 is used for leveling semi-dry mortar or concrete to be leveled, and the reciprocating mechanism 500 is used for driving the executing mechanism 100 to reciprocate in the direction perpendicular to the running direction of the running mechanism 600 so as to increase the leveling area of the executing mechanism 100. The laser receiver 73 receives the signal sent by the laser transmitter, and when the horizontal height of the laser receiver 73 is lower than a preset height, the controller 81 controls the height adjusting mechanism 400 to adjust the position of the actuating mechanism 100 at the horizontal height, so as to keep the integrally leveled semi-dry mortar or concrete at the same horizontal height. The protective cover 71 wraps the height adjusting mechanism 400, so that the height adjusting mechanism 400 is prevented from being exposed outside, safety is improved, and dust is shielded. When the touch switch 72 touches a wall of a building or other objects, the controller 81 receives an electric signal sent by the touch switch 72, and the controller 81 controls the traveling mechanism 600 to stop traveling. Be equipped with handle 65 on running gear 600, be convenient for carry whole terrace robot. In other embodiments, the reciprocating mechanism 500 and the height adjusting mechanism 400 may not be required, or only the reciprocating mechanism 500 or the height adjusting mechanism 400 may be used, so as to save cost.

As shown in fig. 3 to 6, the actuator 100 includes an actuator frame 1, a leveling device 2, and two slurry guides 3, wherein the leveling device 2 and the two slurry guides 3 are disposed on the actuator frame 1, and the actuator frame 1 is fixed on a height adjustment mechanism 400. The slurry guiding device 3 is used for guiding redundant semi-dry mortar or concrete to an area to be treated, and the leveling device 2 is used for flattening the semi-dry mortar or concrete treated by the slurry guiding device 3.

The slurry guiding device 3 comprises a spiral blade 31, a slurry guiding shaft 32, a baffle plate 33 and a slurry guiding motor 34, the output shaft of the slurry guiding shaft 32 and the output shaft of the slurry guiding motor 34 are fixed through a coupler, the slurry guiding motor 34 is electrically connected with the controller 81, the spiral blade 31 is fixed on the slurry guiding shaft 32, and the spiral blade 31 and the slurry guiding shaft 32 are integrally formed, so that the process manufacturing is facilitated. The shielding plate 33 is fixed on the executive rack 1, and the shielding plate 33 is positioned above the helical blade 31 and used for shielding the semi-dry mortar or concrete brought by the helical blade 31. The slurry guiding motor 34 drives the slurry guiding shaft 32 to rotate, the slurry guiding shaft 32 drives the helical blade 31 to rotate, and the helical blade 31 rotates so as to guide the redundant semi-dry mortar or concrete to the area to be treated. The propeller shaft 32 comprises a first shaft body 321 and a second shaft body 322, wherein the first shaft body 321 is coaxially arranged on the second shaft body 322; the first shaft body 321 is used for fixing with a coupler, and the diameter of the first shaft body 321 is smaller than that of the second shaft body 322, so that the first shaft body is convenient to fix with the coupler; the second shaft 322 is used to fix the helical blade 31, and the second shaft 322 is barrel-shaped to reduce the weight of the second shaft 322.

The leveling device 2 comprises a leveling disk 21, a leveling shaft 22 and a leveling motor 23, an output shaft of the leveling motor 23 is fixed with the leveling shaft 22 through a coupler, the leveling motor 23 is electrically connected with the controller 81, and the leveling disk 21 is fixed on the leveling shaft 22. The leveling motor 23 drives the leveling shaft 22 to rotate, the leveling shaft 22 drives the leveling disc 21 to rotate, and the leveling disc 21 rotates to level the semi-dry mortar or concrete. The lower end face of the leveling disc 21 is in smooth transition with the surface of the outer side wall of the leveling disc 21, so that mortar higher than the lower end face of the leveling disc 21 can be flattened conveniently.

The executive rack 1 comprises a first mounting plate 11, a mounting seat 12, a second mounting plate 13 and a stabilizing component 14, wherein the first mounting plate 11 is fixed on a height adjusting mechanism 400 through the executive connecting plate 14, the mounting seat 12 and the stabilizing component 15 are both fixed on the height adjusting mechanism 400, and the second mounting plate 13 is fixed on the first mounting plate 11. The first mounting plate 11 is used for fixing the slurry guiding device 3, and the second mounting plate 13 is used for fixing the shielding plate 33 in the slurry guiding device 3.

The utility model discloses a mortar guiding device, including first mounting panel 11, be equipped with three rectangular hole 111 on the first mounting panel 11, it is fixed with height adjustment mechanism 400 to be equipped with the screw in each rectangular hole 111, the top of first mounting panel 11 is equipped with screw hole 112, height adjustment mechanism 400 is equipped with the screw, the lower extreme spiral shell of screw is established in this screw hole 112, it can conveniently adjust first mounting panel 11 for height adjustment mechanism 400 position to set up rectangular hole 111 and screw hole 112, conveniently adjust the position of leading thick liquid device 3 and height adjustment mechanism 400 promptly, and leveling device 2 is fixed with height adjustment device through mount pad 12, thereby realized leading the adjustment of the relative position of thick liquid device 3 and leveling device 2, make leading thick liquid device 3 and leveling device 2 produce certain difference in height, make leveling device 2 can press the mortar more closely reality. The first mounting plate 11 is further provided with a weight-reducing slot 113 to reduce weight.

The stabilizing component 14 is used for stabilizing the leveling shaft 22 in the leveling device 2, and effectively preventing the leveling shaft 22 from shaking; specifically, the stabilizing assembly 14 includes a connecting seat 141 and two stabilizing plates 142, the two stabilizing plates 142 are fixed on the connecting seat 141, the two stabilizing plates 142 are distributed vertically, bearing holes are formed in the stabilizing plates 142, bearings are arranged in the bearing holes, and the leveling shaft 22 is fixed in the bearing holes; the connecting seat 141 is provided with a lightening hole 1411 to lighten the weight.

As shown in fig. 7 and 8, the height adjusting mechanism 400 includes an adjusting motor 41, a lead screw 42, two guide posts 43, a sliding seat 44 and an adjusting seat 45, the adjusting motor 41 and the two guide posts 43 are both fixed on the adjusting seat 45, the adjusting motor 41 is electrically connected to the controller 81, a screw of the lead screw 42 is rotatably disposed on the adjusting seat 45, an output shaft of the adjusting motor 41 is fixed to the lead screw 42 through a coupler, the sliding seat 44 is fixed to a nut of the lead screw 42, the sliding seat 44 is slidably disposed on the two guide posts 43, the guide posts 43 ensure that the sliding seat 44 vertically moves up and down, and the two guide posts 43 are located on two sides of the lead screw 42. The actuator housing 1 of the actuator 100 is fixed to the slide block 44. When the plane height processed by the executing mechanism 100 needs to be adjusted, the adjusting motor 41 drives the screw rod of the lead screw 42 to rotate, the screw rod of the lead screw 42 drives the nut arranged on the screw rod to rotate, the nut drives the sliding seat 44 to move up and down, and the sliding seat 44 drives the executing mechanism 100 to move up and down, so that the executing mechanism 100 is always at the same horizontal height in the whole leveling process.

The sliding seat 44 includes an adjusting mounting plate 441, a first connecting plate 442, a second connecting plate 444, and two adjusting sliders 443 disposed on each connecting plate 442, the two first connecting plates 442 are both fixed on the adjusting mounting plate 441, the two connecting plates 442 are symmetrically disposed on the adjusting mounting plate 441, the adjusting sliders 443 disposed on the same side of the adjusting mounting plate 441 are slidably disposed on the same guide post 43, one end of the second connecting plate 444 is fixed to the nut on the screw rod 42, and the other end of the second connecting plate 444 is fixed to the adjusting mounting plate 441. The actuating frame 1 of the actuating mechanism 100 is fixed on the adjusting mounting plate 441, and the adjusting mounting plate 441 is provided with a lightening hole 4411 to lighten the weight of the adjusting mounting plate 441. The connecting plate 442 is provided with a lightening hole 4421 for reducing the weight of the connecting plate 442, and the connecting plate 442 is further provided with a limit boss 4422, wherein the limit boss 4422 is used for limiting the adjusting slider 443. Two be equipped with the clearance between the regulation slider 443, impurity such as the dust in the slider of being convenient for is discharged into the clearance between two sliders, reduces the slider possibility of blocking to increase of service life and improvement user's experience sense.

As shown in fig. 9 and 10, the reciprocating mechanism 500 includes a reciprocating motor 51, a transmission assembly 52, a reciprocating slider 53, a reciprocating slide rail 54, a reciprocating connecting plate 55, a proximity switch 56, and a reciprocating frame 57, the reciprocating motor 51 and the reciprocating frame 57 are fixed on the traveling mechanism 600, the reciprocating motor 51 is electrically connected to the controller 81, the reciprocating slide rail 54 and the transmission assembly 52 are fixed on the reciprocating frame 57, the reciprocating slider 53 is slidably disposed on the slide rail, the reciprocating connecting plate 55 is fixed on the transmission assembly 52, the proximity switch 56 is disposed on the reciprocating connecting plate 55, and the proximity switch 56 is electrically connected to the controller 81.

The reciprocating motor 51 is used for driving the transmission assembly 52, the transmission assembly 52 converts the rotary motion output by the reciprocating motor 51 into linear motion, the transmission assembly 52 drives the reciprocating connecting plate 55 to reciprocate, and the reciprocating connecting plate 55 is used for being fixed with the adjusting seat 45 of the height adjusting mechanism 400. The moving direction of the reciprocating connecting plate 55 is perpendicular to the moving direction of the running mechanism 600, the reciprocating connecting plate 55 drives the height adjusting mechanism 400 to reciprocate, and the height adjusting mechanism 400 drives the executing mechanism 100 to reciprocate, i.e. the reciprocating direction of the executing mechanism 100 is perpendicular to the moving direction of the running mechanism 600, so that the leveling area of the executing mechanism 100 is increased. The reciprocating slide block 53 is used for being fixed with the adjusting seat 45 of the height adjusting mechanism 400, and the reciprocating guide rail ensures that the reciprocating slide block 53 moves horizontally so as to improve the stability of the height adjusting mechanism 400 during horizontal movement.

When the height adjusting mechanism 400 moves horizontally to the leftmost end or the rightmost end, the proximity switch 56 sends an electric signal to the controller 81, and the controller 81 controls the reciprocating motor 51 to rotate in the reverse direction, so that the reciprocating motion is controlled, the reciprocating motion is automatically controlled, the automation of the electric appliance is high, and the operation times are reduced. The reciprocating motor 51 is provided on the traveling mechanism 600 to reduce the height of the entire apparatus.

The transmission assembly 52 comprises a reciprocating transmission belt 521, two driven wheels 522, a driving wheel 523 and two tension wheels 534, two ends of the reciprocating transmission belt 521 are respectively sleeved on the two driven wheels 522, the driving wheel 523 and the two tension wheels 534 are all fixed in the reciprocating frame 57, the two tension wheels 534 are located on two sides of the driving wheel 523, the two tension wheels 534 are all attached to the outer side of the reciprocating transmission belt 521, the driving wheel 523 is attached to the inner side of the reciprocating transmission belt 521, and the driving wheel 523 is fixed with an output shaft of the reciprocating motor 51 through a universal joint 511. The reciprocating motor 51 drives the driving wheel 523 to rotate, the driving wheel 523 drives the reciprocating transmission belt 521 to rotate, and the reciprocating transmission belt 521 drives the reciprocating connecting plate 55 to move linearly.

As shown in fig. 9 and 10, the reciprocating frame 57 includes a hollow rectangular pipe 571, four first brackets 572 and four second brackets 573, wherein two of the first brackets 572 are fixed at two ends of the rectangular pipe 571, wherein two of the first brackets 572 and two of the second brackets 573 are fixed at a middle portion of the rectangular pipe 571, the two first brackets 572 are located at two sides of the second brackets 573, two of the driven pulleys 522 are respectively provided on the two first brackets 572 at the two ends of the rectangular pipe 571, two of the tension pulleys 534 are respectively provided on the two first brackets 572 at the middle portion of the rectangular pipe 571, and the driving pulley 523 is provided on the second bracket 573. The rectangular pipe 571 is hollow so as to reduce the weight of the rectangular pipe 571 and accommodate the transmission assembly 52.

As shown in fig. 11 to 13, the traveling mechanism 600 includes a protective cover 61, a traveling frame 62, a traveling unit 63, and a lifting/lowering/rotating unit 64, the traveling unit 63 and the lifting/lowering/rotating unit 64 are fixed to the traveling frame 62, and the protective cover 61 covers the traveling frame 62. The walking assembly 63 is used for driving the walking frame 62 to walk on the semi-dry mortar or the concrete, and the reciprocating mechanism 500 is fixed on the walking frame 62, that is, the walking assembly 63 drives the actuating mechanism 100 to walk on the semi-dry mortar or the concrete. The lifting and rotating assembly 64 is used for driving the walking frame 62 to lift, so that the actuating mechanism 100 and the walking mechanism 600 leave a plane formed by leveling the semi-dry mortar or the concrete, at the moment, the walking frame 62 can rotate by taking the lifting and rotating assembly 64 as a fulcrum, the orientation of the walking frame 62, namely the orientation of the walking mechanism 600, is adjusted, the whole body does not need to be carried to adjust the walking direction, and the operation intensity is reduced. The protective cover 61 is used for isolating and reducing impurities such as dust from entering the inside of the walking assembly 63 and the lifting revolving assembly 64 so as to protect the walking assembly 63 and the lifting revolving assembly 64.

The middle of the walking frame 62 has an installation space in which the elevating swivel assembly 64 is located to maintain the balance of the walking frame 62 during rotation. The walking frame 62 is provided with a handle seat 621, and the handle 65 is fixed on the handle seat 621; the partition 622 is disposed on the walking frame 62, the reciprocating motor 51 of the reciprocating mechanism 500 is disposed above the partition 622, and the partition 622 is disposed above the caterpillar band 632 to isolate heat generated by the reciprocating motor 51 from being transferred to the caterpillar band 632, and prevent the reciprocating motor 51 from falling onto the caterpillar band 632.

The elevating/lowering/pivoting assembly 64 includes an elevating cylinder 641, a pivoting bearing 642, and a support plate 643, wherein the elevating cylinder 641 is fixed to the support plate 643 through the pivoting bearing 642, and the elevating cylinder 641 is electrically connected to the controller 81. The lifting cylinder 641 is fixed on the walking frame 62, the lifting cylinder 641 drives the support disc 643, the support disc 643 is supported on the dry mixed mortar, so that the walking frame 62 is pushed to move up and down reversely, when the walking frame 62 is separated from the surface of the semi-dry mortar or concrete, the walking frame 62 can rotate the support disc 643 by the action of the slewing bearing 642, namely, when the walking frame 62 is rotated, the walking frame 62 rotates, so that the reversing of the walking frame 62 is realized, namely, the walking direction of the walking mechanism 600 is changed.

The walking assembly 63 includes two walking motors 631 and two crawlers 632, the two crawlers 632 are symmetrically fixed on the walking frame 62, the two crawlers 632 are connected by a transmission shaft 633, and the two walking motors 631 are both connected with the transmission shaft 633 by a transmission belt 634. The two walking motors 631 drive the same transmission shaft 633 to rotate together, and the transmission shaft 633 drives the caterpillar band 632 to rotate, so as to drive the whole walking frame 62 to move, i.e. drive the actuating mechanism 100 to move; two walking motors 631 are provided to increase walking power, and the walking motors 631 are electrically connected with the controller 81. By adopting the structural form of the crawler 632, the pressure on the leveled semi-dry mortar or concrete can be reduced, and the leveling of the semi-dry mortar or concrete can be kept.

Firstly, manually leveling a reference plane on semi-dry mortar or concrete to be processed, then placing the invention in the reference plane, controlling the reciprocating motor 51, the mortar guiding motor 34 and the leveling motor 23 to be started simultaneously by the controller 81, after the reciprocating motor 51 drives the executing mechanism 100 to move for a reciprocating period, controlling the walking motor 631 of the walking mechanism 600 to rotate by the controller 81, enabling the walking mechanism 600 to drive the executing mechanism 100 to walk forwards for a preset distance, then continuing to make the executing mechanism 100 do reciprocating movement for a period, repeating the cycle until the touch switch 72 touches an object or a building wall, controlling the walking motor 631, the reciprocating motor 51, the mortar guiding motor 34 and the leveling motor 23 to pause and rotate by the controller 81, controlling the lifting cylinder 641 in the lifting and rotating assembly 64 to lift by the controller 81, manually rotating the walking mechanism 600, adjusting the walking direction of the walking mechanism 600, after the adjustment is completed, the lifting cylinder 641 falls back, and the controller 81 starts the reciprocating motor 51, the slurry guiding motor 34 and the leveling motor 23 again, and repeats the action performed in the previous travel of the traveling mechanism 600 until the whole treatment of the semi-dry mortar or the concrete is completed. One cycle of reciprocation is from the leftmost end to the rightmost end and then from the rightmost end to the leftmost end. Does not need to manually level the mortar, thereby reducing the labor intensity.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are within the scope of the present invention.