EP2997328B1 - Dispositif de nivellement de remblais et de matériaux de construction - Google Patents

Dispositif de nivellement de remblais et de matériaux de construction Download PDF

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Publication number
EP2997328B1
EP2997328B1 EP14738351.7A EP14738351A EP2997328B1 EP 2997328 B1 EP2997328 B1 EP 2997328B1 EP 14738351 A EP14738351 A EP 14738351A EP 2997328 B1 EP2997328 B1 EP 2997328B1
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Prior art keywords
scraping bar
height
handle
reference plane
respect
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EP14738351.7A
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German (de)
English (en)
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EP2997328A2 (fr
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Egon DÖBERL
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
    • E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
    • E04F21/244—Elongated smoothing blades or plates, e.g. screed apparatus with means to adjust the working angle of the leveling blade or plate
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/10—Devices for levelling, e.g. templates or boards

Definitions

  • the invention relates to a device for leveling of fillings and building materials.
  • Such a device is often referred to as a leveling device and serves to smooth a surface in such a way that a flat, as exactly horizontal surface is formed. This is done in practice long, straight slats which are pulled over the floor. Therefore, these leveling devices are also referred to as pullers. In order to create an exactly horizontal surface by this removal, various devices and methods are used.
  • Building materials in the form of beds are used, for example, for the thermal insulation of floors in house construction. Another application is the insulation of a swimming pool down.
  • a well-insulating, lightweight material in the form of small pieces is often mixed with cement or other hardening material (binder) and applied or applied in the space or surface to be insulated. Dry fillings are also used (without cement or binder) for dry screed systems.
  • Lightweight plastics such as foam or polystyrene are particularly suitable as insulating materials of the bed, but also organic or mineral insulating materials in particulate form are conceivable, such as e.g. Expanded glass or swelling stone body.
  • the main field of application of the subject invention is the leveling of "Styroporbeton” or comparable developments such as Thermotec® of Thermotecmaschines GmbH.
  • the invention can of course generally for the production of flat / horizontal surfaces of loose materials (insulation materials, sand, gravel ...) or of viscous, self-curing suspensions (lightweight concrete, concrete screed %) are used.
  • the DE 29922048 (U1 ) shows a device for plane installation of dry fillings.
  • a support is mounted on a bottom plate at the bottom of the room (preferably in the middle). This is vertically aligned manually manually.
  • the tools used are a laser target plate for scanning the meter crack and a rotary laser, which is set to the meter crack.
  • a ruler is manually height adjustable. The ruler is designed in two parts and can be manually adjusted in length during removal to reach all corners of the room. At the front end of the ruler is a spirit level dragonfly to control the horizontal alignment of the ruler and correct manually if necessary.
  • the disadvantage is that before removing a support must be mounted in the room and the device must be aligned manually. What needs to be repeated in each room, or in a large room must be repeated several times, when the size of the room exceeds the reach (full length) of the ruler.
  • Another disadvantage is that the device must be removed after completion of leveling again. As a result, the space at which the support was mounted remains free of bulk material and must be manually filled and smoothed.
  • the DE 10 2006 058 246 A1 shows an improved in some aspects device for leveling bulk material.
  • a support is mounted in the room, preferably on the ground with tension to the ceiling, but also an assembly on the wall is being considered, which although a restriction of the work area result has, but no gap remains where the device is otherwise mounted on the ground.
  • the support is manually aligned with the aid of measuring devices and adjusting devices.
  • Attached to the post is a bipartite, torsion-resistant arm that can be swiveled around the device. At the free end of the arm a peeling sword is rotatably supported by a vertical downwardly extending stem.
  • a height adjustment device is provided in order to keep constant during the removal of the height at which the withdrawal element is located. This is achieved by measuring the height and automatic height correction by an electrically operated spindle which adjusts the position of the stem relative to the arm.
  • the CH 693638 A5 shows a device in which a trigger beam is supported at its two ends by a respective support device.
  • the orientation of the trigger beam is done by separately controlled height adjustment of its two ends to the support devices. Disadvantages are the limited freedom of movement of the supporting device and the trigger beam, the increased weight of the device and the need to guide the supporting devices on the ground.
  • the US 20050265785 A1 shows a construction machine, which is equipped with a puller.
  • the trigger beam is mounted at its two ends adjustable in height on a support beam.
  • the support beam is rigidly connected to the boom of the construction machine.
  • the disadvantage is the limited freedom of movement of the trigger beam, the high weight of the device and the associated limited application area.
  • the US 2010/010183369 A1 shows a device for leveling, which has a mounted on a mobile frame scraper.
  • a peel strip is mounted at its two ends in each case with a handle on the mobile frame, wherein each of the two styles is height adjustable. If the height adjustment devices of the two stems are controlled independently of each other, the Abziehmann can be aligned horizontally.
  • the disadvantage is the limited freedom of movement of the peel strip, the high weight of the device and the associated limited application area.
  • the device has only a central handle, which only has a device for height adjustment.
  • the inclination and the angle of the peel strip are not taxable or regulated in this embodiment.
  • the peel strip is always aligned parallel to the mobile frame.
  • the inclination and the angle of the peel strip are therefore disadvantageous not independently controlled by the mobile frame.
  • the disadvantage is therefore inevitably a mobile frame needed, which is aligned even parallel to the ground. Uneven ground, which lead to an inclination of the chassis, can not be compensated.
  • the US 2004/0071509 A1 shows a puller in which the height - the inclination and the angle of the puller bar are measured and presented to the operator so that it can respond to deviations.
  • the puller bar is rigidly connected to one or two controls for pulling the puller over the surface to be leveled.
  • the disadvantage is that the device itself must be aligned horizontally and to the correct height by the operator.
  • the WO 2007/116044 A1 discloses a similar device having a stem attached centrally to the wiper strip with a sensor unit for detecting the height and an actuator for adjusting the height.
  • the object underlying the invention is to provide a device with which it succeeds after application a bed of lightweight material to easily create an exactly horizontal surface.
  • the leveling work should be able to be performed by a person with significantly less effort and physical effort compared to known manual methods, without having to perform consuming and time-consuming assembly or surveying.
  • the peeling element consists of an elongated peel strip and a preferably variable in length stem which is preferably designed as a telescopic rod.
  • This telescopic rod is preferably connected at its lower end via a hinge with the peel strip.
  • This joint is adjusted via an actuator or more actuators in such a way that the Abziehmann is always exactly aligned horizontally.
  • the necessary data is obtained from these actuators by suitable sensors which detect the spatial orientation of the wiper strip.
  • a control loop is formed, in which the signal of the sensors serves as a manipulated variable for the actuators.
  • the telescopic pole There is another sensor on the telescopic pole that is capable of detecting the altitude at which it is located. This sensor is used to control an actuator, which determines the length of the telescopic rod. The goal is to keep the honing strip at a constant height. So if the stem is held higher by the user, the height at which the sensor is located at the upper end of the telescopic rod changes. The information of the sensor is used to change the length of the telescopic rod by the actuator in the telescopic rod. So if the stem is held higher, the length of the telescopic pole is extended by the actuator to the same extent. As a result, the Abziehmann always remains at the same height.
  • sensors for inertial navigation can be used.
  • IMU inertial measurement units
  • three orthogonally arranged acceleration sensors also referred to as translation sensors
  • three orthogonally arranged yaw rate sensors also called gyroscopic sensors
  • rotation rate sensors and optical gyroscope ring laser gyro or fiber optic gyroscope
  • MEMS micro-electro-mechanical systems
  • the senor on the wiper strip may consist of one or more electronic inclinometers, such as electronic spirit levels.
  • electronic inclinometers such as electronic spirit levels.
  • the same or similar inertial sensors as in the sensor at the top of the stem can be used.
  • Inertialsensor in the Abziehelf, which serves to control / regulation of both actuators, ie for the actuator to change the angular position between stem and Abziehelf and for the actuator for changing the length of the stem.
  • Such measurement systems may be, for example, optical, using one or more light sources such as light-emitting diodes, laser diodes, lasers or rotary lasers, and one or more photosensitive sensors (e.g., photodiode, photodetector).
  • light sources such as light-emitting diodes, laser diodes, lasers or rotary lasers
  • photosensitive sensors e.g., photodiode, photodetector
  • Time-of-flight measurements e.g., by ultrasound or light beam
  • a transmitter / receiver arrangement at the top of the stem and detecting the deviation from the vertical of the stem by a arranged in this electronic spirit level.
  • such an implementation works only in rooms with a horizontal, level ceiling.
  • the light source is arranged on the handle or on the stripper and the sensor or sensors for detecting the spatial position of the light source are arranged in space.
  • the light source can be arranged in the room and the light-sensitive sensor on the stem or the Abziehelf the Abziehelements be arranged.
  • the subject invention is characterized firstly by the fact that the spatial orientation of the peel strip 1 is detected. More specifically, it is sufficient that its horizontal orientation and the height h on which it is located with respect to a reference plane are detected by sensors. Second, by having one or more actuators 5, which serve to control and / or regulate the horizontal orientation and the height h of the puller strip 1.
  • Fig. 2 shows the stripper 1 in a first and a second position.
  • the spatial position and orientation of the peel strip 1 can be detected in a reference / world coordinate system (x, y, z) and / or in a relative coordinate system (x ', y', z ') or (x ", y", z)
  • the xy plane of the world coordinate system is usually oriented horizontally and the z axis is vertical, the xy plane can be real, eg. the floor or the ceiling of a room can be given by means (eg projection by a rotating laser 6.2.1) or purely virtual.
  • the plane x'-y ' is formed by the underside of the peel strip 1, that is, the surface which rests on the ground during leveling.
  • the plane x'-y 'always aligns parallel to the xy plane.
  • the xy plane also serves as the horizontal reference plane for controlling the height h of the pull bar 1. Therefore, it is sufficient to set a reference plane before leveling. Since this is usually aligned horizontally, it is sufficient to detect the inclination of the plane x'-y 'and to control or regulate so that it is zero, that is, the plane x'-y' is also horizontal.
  • the height difference between this plane and the plane x'-y ' is measured and kept constant by the controller. If the height h is to be relatively detected, e.g. by an inertial sensor, the plane x-y can be virtually specified. This can be done by keeping the peel strip at the desired height and referencing the plane x'-y 'thus present as a reference plane x-y. During leveling, the height difference between the two levels is kept at zero.
  • a possible implementation of the peeling element is shown.
  • the peel strip 1 and the stem 3 are connected to each other via a joint 2, which has at least 2 degrees of freedom.
  • it may be formed as a ball joint or as two successively arranged at an angle of 90 ° to each other pivot joints.
  • This makes it possible to change the horizontal orientation of the peel strip 1, regardless of the vertical orientation of the handle 3, or keep it constant horizontally.
  • the stem 3 is made variable in its length.
  • the handle 3 is designed as a telescopic tube, wherein the lower part of the stem 3 has a smaller diameter and in the upper part of the stem 3, which has a larger diameter added is.
  • the upper part of the stem 3 In the upper part of the stem 3 is a linear drive, which moves the lower part of the stem 3 from the upper part of the stem 3 out or into it.
  • the upper part of the stem For this relative movement of the two handle parts causes a change in height of the puller strip 1, the upper part of the stem must be kept.
  • the support must oppose to the movement of the upper part of the stem 3 a force (counterforce) which is higher than the force which is applied to move the Abziehelf 1 together with the lower part of the stem 3 vertically to the leveling surface.
  • the holding of the upper part of the stem 3 can be done by a person, or preferably by a carrying device. If the peeling element is held directly by a person, this has the disadvantage that the weight of the peeling element acts on the arms of the person. In addition to the weight force, the person must also apply the counterforce, which can act alternately with or against the weight force.
  • Fig. 3 shows the advantageous holding the Abziehelements on a support device.
  • the support device consists of a support arm 8 and a harness 9.
  • the harness serves to transmit the weight of the Abziehelements and the support arm 8 to the body of a person.
  • the harness 9 may be attached in the form of a vest on the upper body, or in the hip or thigh area.
  • the support arm 8 is in the example after Fig. 3 designed as a parallel static articulated arm. In the middle vertically pivotable part of the articulated arm, a spring is mounted, whose bias corresponds to the weight of the Abziehelements. The spring force thus counteracts the weight.
  • the pull-off element can be operated by the person to whom the carrying harness 9 is fastened, with the arms, without having to hold the pull-off element.
  • the support arm 8 is connected to the harness 9 via a hinge with the harness 9.
  • the axis of rotation of the joint is vertical, so that the Abziehelement can pivot relative to the person in the horizontal plane.
  • Another hinge is located at the front end of the support arm 8, where the connecting element 7 engages in these.
  • the axis of rotation is again vertically aligned, so that the Abziehelement is pivotable about this axis in the horizontal plane. If this hinge is close to the stem 3, or the stem 3 passes through the hinge through the Abziehelement can be quasi or exactly rotated about the vertical axis of the stem 3. The same is achieved if on the side of the connecting element 7, in which the stem 3 is received, a rotary joint with a vertical axis of rotation is present.
  • the puller can also be carried by a robot.
  • a support arm 8 is preferably mounted on a controllable mobile robot platform. Since the peeling element according to the invention including actuators and sensors can be made very easily, preferably below 5 kg, more preferably below 3 kg, a lighter, smaller robot can be used, which can be used in the interior of buildings.
  • Fig. 4 the principle is shown how the Abziehmann 1 is held in the horizontal, when a joint 2 between Abziehmann 1 and 3 stem is present.
  • the joint 2 is formed in this case by two hinges, each of these hinges is adjustable with a motor.
  • the motor can be designed as a direct drive, servo or stepper motor. It is important that a highly dynamic drive is used to perform high-frequency, smallest correction movements.
  • the signal of the sensors 6.1 is processed.
  • these are electronic spirit levels.
  • One of these spirit levels is arranged in the direction of the x-axis, the other in the direction of the y-axis (not shown, runs perpendicular to the paper plane).
  • Is used by the spirit level which in Direction of the x-axis is arranged, detects a deviation from the horizontal, the motor whose axis of rotation in the y-direction, driven to compensate for this deviation. If the spirit level, which is arranged in the direction of the y-axis, detects a deviation from the horizontal, the motor, whose axis of rotation runs in the x-direction, is controlled in order to compensate for this deviation.
  • other sensors 6.1 can be used to detect these deviations.
  • the sensor 6.2 for the height detection is mounted in this case in the pull bar 1.
  • This may be an inertial sensor, or an optical or acoustic receiver which is capable of determining its position with respect to a reference system.
  • the actuator 4 is controlled to keep the height h of the stripper 1 constant.
  • the actuator 4 can be designed as a linear drive, linear motor, rack drive, toothed belt drive or the like. Important is in turn a high dynamics of the drive.
  • Fig. 5 shows another concept of the subject invention.
  • a support device support arm on a vest, a robot or on a mounted support
  • the stem 3 is not connected via a hinge 2 with the peeling element 1, but fixedly attached at an angle of 90 ° to this.
  • the connecting element 7 is articulated. In the example, this articulated connection is formed by a joint 7.1 and a joint 7.2.
  • the alignment of the stem 3 with respect to the vertical can be changed or constant by means of the joints 7.1 and 7.2 being held.
  • the joints 7.1 and 7.2 can in turn be designed as a ball joint.
  • the joints 7.1 and 7.2 are automatically adjustable by suitable actuators.
  • a variant is shown in which the handle 3 is not designed as a telescopic rod.
  • the actuator 4 is here part of the connecting element 7 and serves to the stem 3 relative to the connecting element 7 to move up and down. It is also conceivable that the actuator 4 engages the support arm 8. With respect to the height then the connecting element 7 is rigidly connected to the stem 3.
  • the change in height of the Abziehmann 1 is then carried out by changing the position of the connecting element 7 relative to the support arm 8, by adjusting the height of the support arm 8 itself or by changing the height of the support arm 8 with respect to the support harness 9.
  • the sensor 6.1 is in the example Fig. 5 attached to the connecting element 7, while the sensor 6.2 is attached to the stem.
  • the sensor 6.1 is in this case rod-shaped and protrudes from the end of the stem 3 vertically upwards. On its vertical lateral surface, photodetectors are arranged so that they detect incident light of the rotary laser 6.2.1 from all directions and over the entire length range of the rod.
  • a simple sensor arrangement can be achieved if the rod is formed as a dimensionally stable optical waveguide which has a fluorescent layer and thus converts incident light into long-wave light and passes it on to its ends, wherein a photodetector is attached to one or both ends. If the rotating laser 6.2.1 is mounted above the head height of the person operating and also the staff projects beyond the person, it is achieved that the person does not inadvertently interrupt the beam path from the rotation laser 6.2.1 to the sensor 6.2 while the space is being traversed.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Claims (15)

  1. Dispositif de nivellement de remblais et de matériaux de construction, comprenant un élément de raclage constitué d'une réglette de raclage (1) allongée, au centre de laquelle est fixée une tige (3) dans le sens longitudinal,
    le dispositif comportant au moins un capteur (6) permettant de détecter l'alignement horizontal et la hauteur (h) de la réglette de raclage (1) par rapport à un plan de référence horizontal, et au moins un actionneur (5) pour l'alignement horizontal et un actionneur (4) pour le réglage en hauteur (h) de la réglette de raclage (1) par rapport au plan de référence horizontal.
  2. Dispositif selon la revendication 1, caractérisé en ce que la réglette de raclage est reliée à la tige (3) par une articulation (2), réglable via un ou plusieurs actionneurs (5) pour l'alignement horizontal de la réglette de raclage (1) par rapport au plan de référence horizontal.
  3. Dispositif selon l'une des revendications 1 ou 2, caractérisé en ce que la longueur de la tige (3) est modifiable et que pour le réglage de longueur de la tige (3), au moins un actionneur (4) pour le réglage en hauteur (h) de la réglette de raclage (1) par rapport au plan de référence horizontal est présent.
  4. Dispositif selon la revendication 3, caractérisé en ce que la tige (3) est un tube télescopique et que l'actionneur (4) a un entraînement linéaire.
  5. Dispositif selon les revendications 1 à 4, caractérisé en ce que le capteur (6) est une unité de mesure inertielle.
  6. Dispositif selon les revendications 1 à 5, caractérisé en ce que, pour la détermination de l'alignement horizontal et de la hauteur (h) de la réglette de raclage (1) par rapport au plan horizontal de référence, deux capteurs sont présents (6.1, 6.2), au moins un des deux capteurs ayant une cellule de pesée électronique, une unité de mesure inertielle, un récepteur photosensible ou un récepteur à ultrasons.
  7. Dispositif selon l'une des revendications 1 à 6, caractérisé en ce que la tige (3) est placée sur un bras porteur (8) via un élément de liaison (7).
  8. Dispositif selon la revendication 7, caractérisé en ce que la tige (3) est montée dans l'élément de liaison (7) pour pouvoir tourner sur son axe longitudinal ou sur un axe fixe parallèle à son axe longitudinal, ou que l'élément de liaison (7) est fixé au bras support (8) et peut tourner sur un axe vertical ou sur un axe fixe parallèle à l'axe longitudinal de la tige (3).
  9. Dispositif selon l'une des revendications 7 à 8, caractérisé en ce que le bras porteur (8) est un bras articulé parallèle statique et est fixé à une personne via un harnais (9).
  10. Dispositif selon la revendication 7, caractérisé par la fixation ferme à un angle de 90° à la réglette de raclage (1), l'élément de liaison (7) étant équipé d'une articulation réglable via l'actionneur (5) pour l'alignement horizontal de la réglette de raclage (1) par rapport au plan de référence horizontal.
  11. Dispositif selon les revendications 7 à 10, caractérisé en ce que l'actionneur (4) pour le réglage en hauteur (h) de la réglette de raclage (1) est disposé dans l'élément de liaison (7) en fonction de la surface de référence.
  12. Dispositif selon les revendications 7 à 10, caractérisé en ce que l'actionneur (4) pour le réglage en hauteur (h) de la réglette de raclage (1) s'engrène dans le bras support (8) en fonction de la surface de référence.
  13. Dispositif selon les revendications 7 à 12, caractérisé en ce que le ou les capteurs (6) pour la saisie de l'alignement horizontal et de la hauteur (h) de la réglette de raclage (1) sont disposés dans l'élément de liaison (7) par rapport au plan horizontal de référence.
  14. Dispositif de nivellement de remblais et de matériaux de construction avec un élément de raclage comprenant une réglette de raclage (1) et une tige (3) fixée au centre de la réglette de raclage (1) dans le sens longitudinal, la réglette de raclage (1) étant exclusivement portée par une personne ou un robot mobile via la tige (3),
    caractérisé en ce que
    au moins deux actionneurs (4,5) sont présents, commandés et réglés à partir des données issues d'au moins un capteur (6) pour que la réglette de raclage (1) soit alignée horizontalement indépendamment des mouvements de la personne ou du robot mobile et soit maintenue à une hauteur (h) préalablement définie par rapport à un plan de référence.
  15. Procédé selon la revendication 14, caractérisé en ce que la réglette de raclage soit portée par une personne équipée d'un harnais (9), avec un bras porteur (8) permettant de maintenir la tige (3).
EP14738351.7A 2013-05-14 2014-05-13 Dispositif de nivellement de remblais et de matériaux de construction Active EP2997328B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50320/2013A AT514294B1 (de) 2013-05-14 2013-05-14 Vorrichtung zur Nivellierung von Schüttungen und Baustoffen
PCT/AT2014/050116 WO2014183144A2 (fr) 2013-05-14 2014-05-13 Dispositif de nivellement de remblais et de matériaux de construction

Publications (2)

Publication Number Publication Date
EP2997328A2 EP2997328A2 (fr) 2016-03-23
EP2997328B1 true EP2997328B1 (fr) 2017-10-04

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EP (1) EP2997328B1 (fr)
AT (1) AT514294B1 (fr)
WO (1) WO2014183144A2 (fr)

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CN109235896A (zh) * 2018-09-19 2019-01-18 中国十七冶集团有限公司 一种发泡混凝土收面、找坡多功能工具及施工方法
CN110439238A (zh) * 2019-08-19 2019-11-12 广东博智林机器人有限公司 具有调平结构的物料铺设机器人
WO2022001597A1 (fr) * 2020-07-01 2022-01-06 广东博智林机器人有限公司 Dispositif d'étalement de fluide, robot de pose de carreau de plancher et procédé d'étalement de laitance

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CN108286426B (zh) * 2017-12-18 2023-10-27 中国矿业大学 一种水平斜孔测斜平台
DE102018120299A1 (de) 2018-08-21 2020-02-27 Alexej Artamonow Vorrichtung zum Nivellieren von Gussmassen wie Fließestrich, Pumpbeton oder dergleichen sowie Messeinrichtung mit einer derartigen Vorrichtung
CN112922297B (zh) * 2021-01-25 2022-11-04 德州职业技术学院 一种地坪漆自移动涂刷设备
CN113338581B (zh) * 2021-04-20 2022-06-28 上海工程技术大学 一种抹墙机及抹墙方法
CN119825124B (zh) * 2025-01-25 2025-10-28 中国建筑第四工程局有限公司 一种地下室剪力墙模板加固装置及工艺

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WO2007116044A1 (fr) * 2006-04-10 2007-10-18 Innenausbau Müller GmbH Appareil et procédé de nivellement de remblai sec

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CN109235896A (zh) * 2018-09-19 2019-01-18 中国十七冶集团有限公司 一种发泡混凝土收面、找坡多功能工具及施工方法
CN109235896B (zh) * 2018-09-19 2020-12-04 中国十七冶集团有限公司 一种发泡混凝土收面、找坡多功能工具及施工方法
CN110439238A (zh) * 2019-08-19 2019-11-12 广东博智林机器人有限公司 具有调平结构的物料铺设机器人
WO2022001597A1 (fr) * 2020-07-01 2022-01-06 广东博智林机器人有限公司 Dispositif d'étalement de fluide, robot de pose de carreau de plancher et procédé d'étalement de laitance

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AT514294B1 (de) 2015-08-15
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AT514294A1 (de) 2014-11-15
EP2997328A2 (fr) 2016-03-23

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