Secondary leveling robot device and method for cement board casting line

Abstract

The present invention relates to a secondary smoothing robot device for a cement board casting line, comprising a side exhaust scraper assembly, a downward pressure smoothing assembly, a front block assembly, a protective cover and a robot mounting base plate, wherein the side exhaust scraper assembly, the downward pressure smoothing assembly and the front block assembly are all arranged on the robot mounting base plate, and the protective cover is placed above the robot mounting base plate; the side exhaust scraper assembly is used to insert into the two inner sides of the product casting mold to exhaust the sides of the product; the downward pressure smoothing assembly is used to smooth the upper surface of the product and remove the residual cement slurry. The present invention also relates to a secondary smoothing robot method for a cement board casting line. The secondary smoothing robot device and method for a cement board casting line of the present invention are adopted to realize fully automatic side scraping exhaust, upper surface smoothing, residual material discharge and other process treatments. Compared with the traditional manual operation method, the present invention has a fast and stable rhythm of the entire process and good product identity.

Description

Technical Field

[0001] The invention relates to the field of machinery, in particular to the field of cement casting products, and specifically refers to a secondary smoothing robot device and method for a cement plate casting line. Background Art

[0002] With the rapid development of engineering and housing construction, the production and use of cement casting slabs have increased rapidly. The traditional semi-automatic operation mode can no longer meet the market's requirements for product quality and output. Fully automatic casting lines will become the future development direction. The secondary leveling process of traditional semi-automatic equipment is mostly manual work. The main disadvantages are as follows: (1) The labor intensity is high and the working environment is poor; (2) The work efficiency cannot meet the needs of on-site production; (3) There is a lot of cement slurry overflow. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a secondary smoothing robot device and method for cement board casting line which has good identity, good buffering and a wide range of applications.

[0004] In order to achieve the above-mentioned purpose, the secondary leveling robot device and method for cement board casting line of the present invention are as follows:

[0005] The secondary smoothing robot device for cement board casting line has the following main features: the device comprises a side exhaust scraper assembly, a downward pressure smoothing assembly, a front block assembly, a protective cover and a robot mounting base plate; the side exhaust scraper assembly, the downward pressure smoothing assembly and the front block assembly are all arranged on the robot mounting base plate, and the protective cover is placed above the robot mounting base plate; the side exhaust scraper assembly is used to be inserted into the two inner sides of the product casting mold to exhaust the side edges of the product; the downward pressure smoothing assembly is used to smooth the upper surface of the product and remove the residual cement slurry; the front block assembly is used to prevent the cement slurry from overflowing outwards, and forms a four-side closed structure to discharge the cement slurry to the residual material collection place; the protective cover is used for protection and shielding.

[0006] Preferably, the side exhaust scraper assembly includes a scraper cylinder mounting plate, a scraper cylinder, a linear guide rail, a slider, a scraper connecting plate, a scraper and a slider mounting plate. The scraper cylinder is mounted on the manipulator mounting base plate via the scraper cylinder mounting plate, the slider is mounted on the manipulator mounting base plate via the slider mounting plate, the scraper connecting plate is connected to the scraper cylinder, the scraper is connected to the scraper connecting plate, and the linear guide rail and the slider are used to guide the extension and retraction of the scraper cylinder.

[0007] Preferably, the downward pressure smoothing assembly includes a downward pressure cylinder mounting plate, a downward pressure linear guide rail, a downward pressure slider, a downward pressure cylinder, a downward pressure base plate, a smoothing tool connecting plate, a forward push slider, a forward push linear guide rail, a casting mold positioning sensor, a smoothing plate mounting cross plate, a smoothing plate and a forward push cylinder. The downward pressure cylinder 204 is mounted on the manipulator mounting base plate 6 through the downward pressure cylinder mounting plate 201, and the downward pressure linear guide rail 202 is fixed on the manipulator mounting base plate 6. The downward pressure linear guide rail and the downward pressure slider guide the downward pressure base plate to be pressed out and retracted as the downward pressure cylinder is pressed. It is connected to the downward pressure cylinder and moves up and down with the downward pressure cylinder. The trowel plate mounting cross plate and the trowel plate are connected to the forward push cylinder through the trowel tool connecting plate and the forward push cylinder and extend and retract with the forward push cylinder. The trowel plate is mounted on the trowel plate mounting cross plate by screws, and the mounting position is adjustable. The forward push cylinder is mounted on the downward pressure base plate. The forward push slider and forward push linear guide are used as guides for the trowel tool connecting plate to extend and retract with the forward push cylinder. The casting mold positioning sensor is mounted on the downward pressure cylinder mounting plate to automatically detect the position of the mold and provide the start and end position parameters of the trowel operation.

[0008] Preferably, the front stop assembly includes a front stop cylinder, a front stop cylinder mounting plate, a front stop tool and a sealing buffer pad. The front stop cylinder is fixed on the lower pressure base plate through the front stop cylinder mounting plate. The front stop tool is connected to the front stop cylinder. Sealing buffer pads are installed at both ends of the front stop tool. The outer end surface of the sealing pad is in contact with the inner side of the trowel plate and slides relative to it to prevent cement slurry from overflowing.

[0009] The method for realizing the secondary leveling robot of cement board casting line by using the above device is mainly characterized in that the method comprises the following steps:

[0010] (1) Adjust the device to its initial position;

[0011] (2) Scrape and exhaust the two sides of the product through the side exhaust scraper assembly;

[0012] (3) Scrape the product surface and remove excess mud by pressing down the smoothing component;

[0013] (4) Press the two sides of the mold tightly through the front stop assembly to prevent material from overflowing;

[0014] (5) Smooth the product to collect excess cement slurry and discharge the remaining material;

[0015] (6) The device returns to its initial position and continues to process the next product.

[0016] Preferably, the step (1) is specifically as follows:

[0017] The device moves with the mobile device to a set position above the casting line mold, and the scraper cylinder 102, the forward push cylinder and the downward pressure cylinder 204 are all in a retracted state.

[0018] Preferably, the step (2) is specifically as follows:

[0019] The scraper is extended along with the scraper cylinder and inserted into the inner side of the mold. The device moves along the long side of the mold with the moving equipment. The scraper is used to scrape and exhaust the two sides of the product. After the process is completed, the scraper cylinder retracts.

[0020] Preferably, the step (3) is specifically as follows:

[0021] The downward pressure cylinder is extended, and the trowel plate moves downward and approaches the upper surface of the mold. The device moves along the long side of the mold with the mobile device. The trowel plate scrapes the upper surface of the product and takes away the excess cement slurry.

[0022] Preferably, the step (4) is specifically as follows:

[0023] When the device moves to the end of the mold with the mobile device, the front stop cylinder extends downward, and the lower surface of the front stop tool presses the upper surface of the mold side to prevent the material from overflowing from the end of the mold.

[0024] Preferably, the step (5) specifically comprises the following steps:

[0025] (5.1) The forward push cylinder extends, and the trowel plate moves closer to the front stop tool. The front tool together with the sealing cushions at both ends and the inner side of the trowel plate enclose a closed area on four sides, and the excess cement slurry is collected when the product is smoothed;

[0026] (5.2) The device moves along the width direction of the mold with the mobile device, and discharges the concentrated cement slurry to the receiving device on the side of the mold.

[0027] The robot device and method for secondary smoothing of cement board casting line of the present invention are adopted to realize fully automatic side scraping and exhaust, upper surface smoothing, residual material discharge and other process treatments. Compared with the traditional manual operation method, the whole process rhythm of the present invention is fast and stable, and the product identity is good. When the robot used in the equipment of the present invention runs to the end, the front block assembly is pressed down and the buffer seals at both ends of the front block tool can effectively prevent the residual material from overflowing. The trowel plate described in the device of the present invention is installed on the trowel plate mounting cross plate by screws, and a plurality of mounting holes are provided. The mounting position is adjustable and can be flexibly adjusted according to the amount of casting residual material. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the secondary smoothing robot device used for a cement board casting line of the present invention.

[0029] Figure 2 It is a schematic axial side view of the side exhaust scraper assembly of the secondary smoothing robot device for a cement board casting line of the present invention.

[0030] Figure 3 It is an axial schematic diagram of the downward pressing and smoothing component of the secondary smoothing robot device for a cement board casting line of the present invention.

[0031] Figure 4 It is an axial schematic diagram of a smoothing tool of a secondary smoothing robot device for a cement board casting line of the present invention.

[0032] Figure 5 It is a schematic axial side view of the front stop assembly of the secondary smoothing robot device for a cement board casting line of the present invention.

[0033] Reference numerals:

[0034] 1 Side exhaust scraper assembly

[0035] 101 Scraper Cylinder Mounting Plate

[0036] 102 Scraper Cylinder

[0037] 103 Linear Guides

[0038] 104 Sliders

[0039] 105 scraper connecting plate

[0040] 106 Scraper

[0041] 107 Slider mounting plate

[0042] 2 Press down the smoothing component

[0043] 201 Downward pressure cylinder mounting plate

[0044] 202 Press Linear Guide

[0045] 203 Press down the slider

[0046] 204 Downward pressure cylinder

[0047] 205 Press down the substrate

[0048] 206 Smoothing tool connection plate

[0049] 207 Push forward slider

[0050] 208 Forward linear guide

[0051] 209 Casting mold positioning sensor

[0052] 210 Install the horizontal board by screeding

[0053] 211 Smoothing the Slab

[0054] 212 Forward cylinder

[0055] 3 Front fender assembly

[0056] 301 Front cylinder

[0057] 302 front cylinder mounting plate

[0058] 303 Front stop tool

[0059] 304 Sealing cushion

[0060] 4 Lower front protective cover

[0061] 5 Upper front protective cover

[0062] 6 Robot mounting base plate

[0063] 7 Rear protection cover DETAILED DESCRIPTION

[0064] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0065] The secondary smoothing robot device for cement board casting line of the present invention comprises a side exhaust scraper assembly 1, a downward pressure smoothing assembly 2, a front block assembly 3, a protective cover and a robot mounting base plate 6, wherein the side exhaust scraper assembly 1, the downward pressure smoothing assembly 2 and the front block assembly 3 are all arranged on the robot mounting base plate 6, and the protective cover is placed above the robot mounting base plate 6; the side exhaust scraper assembly 1 is used to be inserted into the two inner sides of the product casting mold to exhaust the side edges of the product; the downward pressure smoothing assembly 2 is used to smooth the upper surface of the product and remove the residual cement slurry; the front block assembly 3 is used to prevent the cement slurry from overflowing outward, and forms a four-side closed structure to discharge the cement slurry to the residual material collection place; the protective cover is used for protection and shielding.

[0066] As a preferred embodiment of the present invention, the side exhaust scraper assembly 1 includes a scraper cylinder mounting plate 101, a scraper cylinder 102, a linear guide 103, a slider 104, a scraper connecting plate 105, a scraper 106 and a slider mounting plate 107. The scraper cylinder 102 is mounted on the manipulator mounting base plate through the scraper cylinder mounting plate 101, the slider 104 is mounted on the manipulator mounting base plate through the slider mounting plate 107, the scraper connecting plate 105 is connected to the scraper cylinder 102, the scraper 106 is connected to the scraper connecting plate 105, and the linear guide 103 and the slider 104 are used to guide the extension and retraction of the scraper cylinder 102.

[0067] As a preferred embodiment of the present invention, the pressing and smoothing assembly 2 includes a pressing cylinder mounting plate 201, a pressing linear guide rail 202, a pressing slider 203, a pressing cylinder 204, a pressing base plate 205, a smoothing tool connecting plate 206, a forward push slider 207, a forward push linear guide rail 208, a casting mold positioning sensor 209, a trowel plate 211 mounting cross plate 210, a trowel plate 211 and a forward push cylinder 212. The pressing cylinder 204 is mounted on the manipulator mounting base plate 6 through the pressing cylinder mounting plate 201, the pressing linear guide rail 202 is fixed on the manipulator mounting base plate 6, and the pressing linear guide rail 202 and the pressing slider 203 are pressed against the pressing base plate 205 along with the pressing cylinder 204. The pressing plate 205 is connected to the pressing cylinder 204 to guide the pressing out and retraction, and moves up and down with the pressing cylinder 204. The trowel plate 211 is installed with a horizontal plate 210 and the trowel plate 211 is connected with the forward push cylinder 212 through the trowel tool connecting plate 206, and extends and retracts with the forward push cylinder 212. The trowel plate 211 is installed on the horizontal plate 210 installed on the trowel plate 211 by screws, and the installation position is adjustable. The forward push cylinder 212 is installed on the pressing plate 205, and the forward push slider 207 and the forward push linear guide 208 are used as guides for the trowel tool connecting plate 206 to extend and retract with the forward push cylinder 212. The casting mold positioning sensor 209 is installed on the pressing cylinder mounting plate 201 to automatically detect the position of the mold and provide the start and end position parameters of the trowel operation.

[0068] As a preferred embodiment of the present invention, the front block assembly 3 includes a front block cylinder 301, a front block cylinder mounting plate 302, a front block tool 303 and a sealing buffer pad 304. The front block cylinder 301 is fixed on the lower pressure base plate 205 through the front block cylinder mounting plate 302. The front block tool 303 is connected to the front block cylinder 301. Sealing buffer pads 304 are installed at both ends of the front block tool 303. The outer end surface of the sealing pad is in contact with the inner side of the trowel plate 211 and slides relative to it to prevent cement slurry from overflowing.

[0069] The method for realizing the secondary leveling robot of cement board casting line by using the above device is mainly characterized in that the method comprises the following steps:

[0070] (1) Adjust the device to its initial position;

[0071] The device moves with the mobile device to the set position above the casting line mold, and the scraper cylinder 102, the forward push cylinder 212 and the downward pressure cylinder 204 are all in a retracted state;

[0072] (2) Scrape and exhaust the two sides of the product through the side exhaust scraper assembly 1;

[0073] The scraper 106 is extended along with the scraper cylinder 102 and inserted into the inner side of the mold. The device moves along the long side of the mold along with the moving device. The scraper 106 is used to scrape and exhaust the two sides of the product. After the process is completed, the scraper cylinder 102 retracts.

[0074] (3) Scrape the product surface and remove excess mud by pressing down the smoothing component 2;

[0075] The downward pressure cylinder 204 is extended, and the trowel plate 211 moves downward and approaches the upper surface of the mold. The device moves along the long side of the mold with the moving device. The trowel plate 211 scrapes the upper surface of the product and takes away the excess cement slurry.

[0076] (4) Press the two sides of the mold tightly through the front stop assembly 3 to prevent material from overflowing;

[0077] When the device moves to the end of the mold with the mobile device, the front stop cylinder 301 extends downward, and the lower surface of the front stop tool 303 presses the upper surface of the side of the mold to prevent the material from overflowing from the end of the mold;

[0078] (5) Smooth the product to collect excess cement slurry and discharge the remaining material;

[0079] (5.1) The forward push cylinder 212 extends, and the trowel plate 211 approaches the front stop tool 303. The front tool together with the sealing buffer pads 304 at both ends and the inner side of the trowel plate 211 enclose a closed area on four sides, and the excess cement slurry is collected when the product is smoothed;

[0080] (5.2) The device moves along the width direction of the mold with the mobile device, and discharges the concentrated cement slurry to the receiving device on the side of the mold;

[0081] (6) The device returns to its initial position and continues with step (1) to process the next product.

[0082] In a specific embodiment of the present invention, the disadvantages of the above-mentioned prior art are overcome, and a manipulator device applicable to the secondary smoothing process in a fully automatic product casting line is provided, which can realize automatic smoothing, exhausting, and residual material discharge.

[0083] like Figure 1 , Figure 2 As shown, the device comprises:

[0084] The side exhaust scraper assembly 1 is used to be inserted into the two inner sides of the product casting mold to exhaust the product sides.

[0085] The downward pressing and leveling component 2 is used to level the upper surface of the product and remove the residual cement slurry;

[0086] The front baffle assembly 3 has two functions: one is to prevent the cement slurry from overflowing, and the other is to form a four-side closed structure with the smoothing tool when removing the residual material, so as to discharge the cement slurry to the residual material collection place;

[0087] In the above embodiment, if Figure 1 , Figure 2 As shown, the device also includes an installation base plate 6, a lower front protective cover 4, an upper front protective cover 5, a rear protective cover 7, a side exhaust scraper assembly 1, a downward pressure smoothing assembly 2, and a front block assembly 3, all of which are arranged on the above-mentioned manipulator installation base plate 6, and the lower front protective cover 4, the upper front protective cover 5, and the rear protective cover 7 are used for protection and shielding.

[0088] In the implementation application, the robot mounting base plate 6 can be installed on a six-axis robot arm or other mobile device, and the secondary leveling robot can move along the set path with the mobile device to complete leveling operations.

[0089] In the above embodiment, if Figure 3 As shown, the side exhaust scraper assembly 1 includes a scraper cylinder mounting plate 101, a scraper cylinder 102, a linear guide assembly (linear guide 103 and slider 104, scraper connecting plate 105, scraper 106, slider mounting plate 107,

[0090] The scraper 106 is connected to the scraper connecting plate 105;

[0091] The scraper connecting plate 105 is connected to the scraper cylinder 102;

[0092] The scraper cylinder is mounted on the manipulator mounting base plate 6 through the scraper cylinder mounting plate 101.

[0093] The linear guide rail 103 and the slider 104 are used to guide the extension and retraction of the cylinder;

[0094] The slider 104 is mounted on the robot mounting base plate 6 via a slider mounting plate 107 .

[0095] In the above embodiment, if Figure 4 , Figure 5 As shown, the downward pressing and smoothing assembly includes a downward pressing cylinder mounting plate 201, a downward pressing linear guide rail 202, a downward pressing slider 203, a downward pressing cylinder 204, a downward pressing base plate 205, a smoothing tool connecting plate 206, a forward pushing slider 207, a forward pushing linear guide rail 208, a casting mold positioning sensor 209, a smoothing tool (including a smoothing plate 211 mounting horizontal plate 210 and a smoothing plate 211), and a forward pushing cylinder 212.

[0096] The pressing base plate 205 is connected to the pressing cylinder 204 and moves up and down with the pressing cylinder;

[0097] The pressing cylinder 204 is mounted on the manipulator mounting base plate 6 through the pressing cylinder mounting plate 201;

[0098] The pressing linear guide rail 202 and the pressing slider 203 are used as guides for the pressing base plate 205 to be pressed out and retracted along with the pressing cylinder 204;

[0099] The downward linear guide rail 202 is fixed on the manipulator mounting base plate 6;

[0100] The forward push cylinder 212 is mounted on the lower pressing base plate 205;

[0101] The trowel tool (including the trowel plate 211) is installed with the horizontal plate 210 and the trowel plate 211 connected to the forward push cylinder 212 through the trowel tool connecting plate 206, and extends and retracts with the forward push cylinder 212;

[0102] The casting mold positioning sensor 209 is used to automatically detect the position of the mold and provide the start and end position parameters of the leveling operation;

[0103] The trowel plate 211 is mounted on the trowel plate 211 mounting cross plate 210 by screws, and the mounting position is adjustable;

[0104] The forward push slider 207 and the forward push linear guide rail 208 are used as guides for the smoothing tool connecting plate 206 to extend and retract with the forward push cylinder 212.

[0105] In the above embodiment, if Figure 5 As shown, the front stop assembly (3) includes a front stop cylinder 301, a front stop cylinder mounting plate 302, a front stop tool 303, and a sealing buffer pad 304.

[0106] The front stop cylinder 301 is fixed on the lower pressing base plate 205 through the front stop cylinder mounting plate 302;

[0107] The front stop tool 303 is connected to the front stop cylinder 301 .

[0108] Sealing buffer pads 304 are installed at both ends of the front stop tool 303. The outer end surface of the sealing pad is in contact with the inner side of the trowel plate 211, which can slide relative to it and prevent the cement slurry from overflowing.

[0109] The present invention implements a secondary leveling robot method for a cement board casting line based on the above device, which includes the following steps:

[0110] (1) Initial position: The secondary smoothing robot moves with the mobile device to the set position above the casting line mold, and the scraper cylinder 102, the forward push cylinder 212, and the downward pressure cylinder 204 are all in a retracted state.

[0111] (2) Scraper exhaust. The scraper 106 is extended with the scraper cylinder 102 and inserted into the inner side of the mold. The secondary smoothing robot moves along the long side of the mold with the mobile device to achieve the scraper to scrape and exhaust the two sides of the product. After the process is completed, the scraper cylinder 102 retracts.

[0112] (3) Smoothing operation. The downward pressure cylinder 204 extends, and the trowel plate 211 moves downward and approaches the upper surface of the mold. The secondary trowel robot moves along the long side of the mold with the mobile device. The trowel plate 211 scrapes the upper surface of the product and takes away the excess cement slurry.

[0113] (4) The front stop assembly 3 is pressed down. When the secondary smoothing robot moves to the end of the mold with the mobile device (the front stop tool 303 just runs to the top of the frame at the end of the mold), the front stop cylinder 301 extends downward, and the lower surface of the front stop tool 303 presses the upper surface of the side of the mold to prevent the material from overflowing from the end of the mold.

[0114] (5) Smoothing at the end and discharging the residual material. The forward thrust cylinder 212 extends, and the trowel plate 211 gradually approaches the front stop tool 303. The front tool together with the sealing buffer pads 304 at both ends and the inner side of the trowel plate 211 enclose a closed area on four sides, while smoothing the product and collecting the excess cement slurry. Subsequently, the secondary smoothing robot device moves along the width direction of the mold with the mobile device, and discharges the collected cement slurry to the material receiving device on the side of the mold.

[0115] (6) Reset and repeat the cycle. All mechanisms return to their initial positions, and then the same operation is performed on the next product, and the cycle continues.

[0116] The robot device and method for secondary smoothing of cement board casting line of the present invention are adopted to realize fully automatic side scraping and exhaust, upper surface smoothing, residual material discharge and other process treatments. Compared with the traditional manual operation method, the whole process rhythm of the present invention is fast and stable, and the product identity is good. When the robot used in the equipment of the present invention runs to the end, the front block assembly is pressed down and the buffer seals at both ends of the front block tool can effectively prevent the residual material from overflowing. The trowel plate of the device of the present invention is installed on the trowel plate mounting cross plate by screws, and a plurality of mounting holes are provided. The mounting position is adjustable and can be flexibly adjusted according to the amount of casting residual material.

[0117] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A secondary leveling robot device for cement board casting line, characterized in that: The device comprises a side exhaust scraper assembly (1), a downward pressure smoothing assembly (2), a front block assembly (3), a protective cover and a manipulator mounting base plate (6); the side exhaust scraper assembly (1), the downward pressure smoothing assembly (2) and the front block assembly (3) are all arranged on the manipulator mounting base plate (6), and the protective cover is placed above the manipulator mounting base plate (6); the side exhaust scraper assembly (1) is used to be inserted into the two inner sides of the product casting mold to exhaust the side edges of the product; the downward pressure smoothing assembly (2) is used to smooth the upper surface of the product and remove the cement slurry residue; the front block assembly (3) is used to prevent the cement slurry from overflowing outwards and to form a four-side closed structure to discharge the cement slurry to the residue collection place; the protective cover is used for protection and shielding; The side exhaust scraper assembly (1) comprises a scraper cylinder mounting plate (101), a scraper cylinder (102), a linear guide rail (103), a slider (104), a scraper connecting plate (105), a scraper (106) and a slider mounting plate (107); the scraper cylinder (102) is mounted on a manipulator mounting base plate via the scraper cylinder mounting plate (101); the slider (104) is mounted on a manipulator mounting base plate via the slider mounting plate (107); the scraper connecting plate (105) is connected to the scraper cylinder (102); the scraper (106) is connected to the scraper connecting plate (105); the linear guide rail (103) and the slider (104) are used for guiding the extension and retraction of the scraper cylinder (102); The pressing and smoothing component (2) comprises a pressing cylinder mounting plate (201), a pressing linear guide rail (202), a pressing slider (203), a pressing cylinder (204), a pressing base plate (205), a smoothing tool connecting plate (206), a forward pushing slider (207), a forward pushing linear guide rail (208), a casting mold positioning sensor (209), a smoothing plate (211) mounting cross plate (210), a smoothing plate (211) and a forward pushing cylinder (212). The pressing cylinder (204) is mounted on a manipulator mounting base plate 6 via the pressing cylinder mounting plate (201). The pressing linear guide rail (202) is fixed on the manipulator mounting base plate 6. The pressing linear guide rail (202) and the pressing slider (203) guide the pressing base plate (205) to be pressed out and retracted along with the pressing cylinder (204). The pressing base plate (205) is connected to the pressing base plate (205). On the downward pressing cylinder (204), the trowel plate (211) mounting cross plate (210) and the trowel plate (211) are connected to the forward pushing cylinder (212) through the trowel tool connecting plate (206), and extend and retract with the forward pushing cylinder (212). The trowel plate (211) is mounted on the trowel plate (211) mounting cross plate (210) by screws, and the mounting position is adjustable. The forward pushing cylinder (212) 212 is mounted on the downward pressing base plate (205). The forward pushing slider (207) and the forward pushing linear guide rail (208) are used as guides for the trowel tool connecting plate (206) to extend and retract with the forward pushing cylinder (212). The casting mold positioning sensor (209) is mounted on the downward pressing cylinder mounting plate (201) and is used to automatically detect the position of the mold and provide the start and end position parameters of the trowel operation.

2. The secondary leveling robot device for cement board casting line according to claim 1 is characterized in that: The front stop assembly (3) comprises a front stop cylinder (301), a front stop cylinder mounting plate (302), a front stop tool (303) and a sealing buffer pad (304); the front stop cylinder (301) is fixed on the lower pressing base plate (205) via the front stop cylinder mounting plate (302); the front stop tool (303) is connected to the front stop cylinder (301); sealing buffer pads (304) are installed at both ends of the front stop tool (303); the outer end surface of the sealing pad contacts the inner side of the trowel plate (211) and slides relative to it to prevent cement slurry from overflowing.

3. A method for realizing secondary leveling of a cement board casting line using the device according to claim 1, characterized in that: The method comprises the following steps: (1) Adjust the device to its initial position; (2) Scraping and exhausting the two sides of the product by means of the side exhaust scraper assembly (1); (3) Scrape the surface of the product and remove excess mud by pressing down the smoothing component (2); (4) Pressing the two sides of the mold tightly by the front stopper assembly (3) to prevent the material from overflowing; (5) Smooth the product to collect excess cement slurry and discharge the remaining material; (6) The device returns to its initial position and continues with step (1) to process the next product.

4. The method for realizing secondary leveling of the cement board casting line according to claim 3 is characterized in that: The step (1) is specifically as follows: The device moves with the mobile device to a set position above the casting line mold, and the scraper cylinder (102), the forward push cylinder (212) and the downward pressure cylinder (204) are all in a retracted state.

5. The method for realizing secondary leveling of cement board casting line according to claim 3, characterized in that: The step (2) is specifically as follows: The scraper (106) extends out along with the scraper cylinder (102) and is inserted into the inner side of the mold. The device moves along the long side direction of the mold along with the moving device. The scraper (106) is used to scrape and exhaust the two sides of the product. After the process is completed, the scraper cylinder (102) retracts.

6. The method for realizing secondary leveling of cement board casting line according to claim 3, characterized in that: The step (3) is specifically as follows: The downward pressure cylinder (204) is extended, and the trowel plate (211) moves downward and approaches the upper surface of the mold. The device moves along the long side of the mold with the moving device, and the trowel plate (211) scrapes the upper surface of the product flat and takes away excess cement slurry.

7. The method for realizing secondary leveling of cement board casting line according to claim 3, characterized in that: The step (4) is specifically as follows: When the device moves to the end of the mold along with the mobile device, the front stop cylinder (301) extends downward, and the lower surface of the front stop tool (303) presses the upper surface of the side of the mold to prevent the material from overflowing from the end of the mold.

8. The method for achieving secondary leveling of a cement board casting line according to claim 3, characterized in that: The step (5) specifically comprises the following steps: (5.1) The forward push cylinder (212) is extended, and the trowel plate (211) is moved closer to the front stop tool (303). The front tool together with the sealing buffer pads (304) at both ends and the inner side of the trowel plate (211) enclose a closed area on four sides, and the excess cement slurry is collected when the product is smoothed; (5.2) The device moves along the width direction of the mold with the mobile device, and discharges the concentrated cement slurry to the receiving device on the side of the mold.

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