Trowelling machine, trowelling machine system and trowelling method

Abstract

The invention discloses a trowelling machine, a trowelling machine system and a trowelling method, and relates to the technical field of construction equipment, the trowelling machine comprises a moving assembly, a trowelling assembly and a control module; the moving assembly drives the trowelling machine to move to a target position in the first direction; the trowelling assembly is used for trowelling the surface of the precast pile and comprises a material pushing part and a trowelling part, the material pushing part comprises a material pushing plate and a material pushing and lifting driving part for driving the material pushing plate to ascend and descend, and the trowelling part comprises a trowelling plate and a trowelling driving part for driving the trowelling plate to execute the trowelling action; the trowelling driving part comprises a trowelling lifting driving part for driving the trowelling plate to ascend and descend and a trowelling moving driving part for driving the trowelling plate to move in the second direction. According to the trowelling machine, the precast pile can be troweled through cooperation of the moving assembly and the trowelling assembly, so that the manual operation process can be reduced, the trowelling efficiency of the precast pile is improved, and automation of trowelling of the precast pile is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and more specifically, to a screeding machine, a screeding machine system, and a screeding method. Background Art

[0002] In the production process of precast piles, it generally includes processes such as blanking, batching, vibrating, screeding, and curing. After the vibrating machine vibrates the materials in the formwork, the vibrated materials are usually screeded manually, resulting in low efficiency. And in order to ensure the flatness of the surface of the precast pile, continuous rework operations are required, which is time-consuming and laborious.

[0003] Therefore, how to improve the screeding efficiency of precast piles has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a screeding machine to improve the screeding efficiency of precast piles.

[0005] Another purpose of the present application is to provide a screeding machine system for the above-mentioned screeding machine.

[0006] Another purpose of the present application is to provide a screeding method for the above-mentioned screeding machine system.

[0007] To achieve the above purpose, the present application provides the following technical solutions:

[0008] A screeding machine includes:

[0009] A moving component, which is used to drive the screeding machine to move along a first direction to a target position;

[0010] A screeding component, which is used to screed the surface of a precast pile. The screeding component includes a material pushing member for pushing the material flat and a screeding member for screeding the material. And the screeding member is located behind the material pushing member. The material pushing member includes a material pushing plate and a material pushing lifting driving member for driving the material pushing plate to lift. The screeding member includes a screeding plate and a screeding driving member for driving the screeding plate to perform a screeding action. The screeding driving member includes a screeding lifting driving member for driving the screeding plate to lift and a screeding moving driving member for driving the screeding plate to move along a second direction.

[0011] Optionally, in the above-mentioned screeding machine, the screeding plate is at least one, the screeding plate has a trapezoidal cross-section, and the short side of the screeding plate is arranged close to the surface of the precast pile.

[0012] Optionally, in the above-mentioned screeding machine, an angle adjusting driving member is arranged on the screeding plate, and the angle adjusting driving member is used to adjust the inclination angle of the screeding plate in the first direction.

[0013] Optionally, in the above-mentioned leveling machine, a rolling component is further included. The rolling component includes at least one rolling wheel that can move along the second direction, and the rolling wheel is used for rolling the edge of the precast pile.

[0014] Optionally, in the above-mentioned leveling machine, a leveling machine frame is further included. The leveling machine frame includes a support frame and a plurality of columns connected to the support frame. A connecting longitudinal beam is arranged between two adjacent columns along the first direction, and the moving component is arranged on the connecting longitudinal beam.

[0015] Optionally, in the above-mentioned leveling machine, the moving component includes moving wheels and a driving motor for driving the moving wheels to rotate. There are at least two moving wheels, and the driving motor is adapted to the moving wheels.

[0016] Optionally, in the above-mentioned leveling machine, the support frame includes a pair of support longitudinal beams and support cross beams. A first connecting cross beam parallel to the support cross beam is arranged between two adjacent columns along the second direction. A first vertical beam is connected between the first connecting cross beam and the support cross beam. The pushing and lifting driving member is fixed on the first vertical beam, and one end of the pushing and lifting driving member is fixedly connected to the pushing plate to drive the pushing plate to perform a lifting action.

[0017] Optionally, in the above-mentioned leveling machine, a second vertical beam is connected between the support longitudinal beam and the connecting longitudinal beam. A movable beam that can be lifted is arranged between two adjacent second vertical beams along the second direction. The leveling plate is movably arranged on the movable beam through a connecting rod, so that the leveling and moving driving member drives the leveling plate to move along the movable beam. One end of the leveling and lifting driving member is fixedly connected to the movable beam to drive the movable beam to perform a lifting action.

[0018] Optionally, in the above-mentioned leveling machine, at least one of the pushing plate and the leveling plate is provided with a vibrator.

[0019] A leveling machine system, for the leveling machine described in any one of the above, includes:

[0020] An execution module, the execution module includes the moving component and the leveling component;

[0021] A control module, the control module is used to control the actions of the leveling component and the moving component.

[0022] Optionally, in the above-mentioned leveling machine system, a detection module is further included. The detection module is used to detect the surface flatness of the precast pile and feedback it to the control module.

[0023] Optionally, in the above-mentioned screeding machine system, the detection module includes a quality sensor, which is used to scan the surface of the precast pile after screeding, and the quality sensor is one of a lidar or a camera.

[0024] Optionally, in the above-mentioned screeding machine system, it further includes an obstacle avoidance module, which is used to identify obstacles and feedback to the control module, and the obstacle avoidance module includes at least one of an obstacle sensor or a distance sensor.

[0025] Optionally, in the above-mentioned screeding machine system, it further includes an interaction module, which is used for an operator to issue control instructions.

[0026] A screeding method, using the screeding machine system described in any one of the above, includes:

[0027] Step A, move to the target position. The moving component receives the signal from the control module and drives the screeding machine to move to the target position.

[0028] Step B, lower the screeding component. The control module controls the screeding component to lower to a position in contact with the material of the precast pile.

[0029] Step C, fix and screed. The screeding member is used to fix and screed the surface of the precast pile.

[0030] Optionally, in the above-mentioned screeding method, it further includes:

[0031] Step D, detect flatness. The surface of the precast pile after screeding is detected by the detection module. When the detection module detects that the surface of the precast pile is concave or convex, repeat steps A to C.

[0032] For the screeding machine provided in this application, the moving component drives the screeding machine to move to the target position along the first direction, and then the screeding component descends to a position in contact with the material of the precast pile. The material of the precast pile is leveled by the pushing plate of the pusher. At the same time, the screeding plate of the screeding member can be driven to move along the second direction by the screeding movement driving member, so that the screeding plate levels the material. As can be seen from the above example, for the screeding machine provided in this application, the precast pile can be screeded by the cooperation of the moving component and the screeding component, thereby reducing the manual operation process, improving the screeding efficiency of the precast pile, and contributing to the automation of the precast pile screeding.

[0033] The technical features mentioned above, the technical features to be mentioned below, and the technical features shown separately in the drawings can be combined with each other arbitrarily, as long as the combined technical features are not mutually contradictory. All feasible feature combinations are the technical contents clearly recorded herein. Any one of the multiple sub-features included in the same statement can be applied independently without necessarily being applied together with other sub-features. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0035] Figure 1 Isometric view of the screeding machine provided by the embodiment of the present application;

[0036] Figure 2 Front view of the screeding machine provided by the embodiment of the present application;

[0037] Figure 3 Side view of the screeding machine provided by the embodiment of the present application;

[0038] Figure 4 Top view of the screeding machine provided by the embodiment of the present application;

[0039] Figure 5 Rear view of the screeding machine provided by the embodiment of the present application;

[0040] Figure 6 Structural example diagram of the screeding plate assembly provided by the embodiment of the present application;

[0041] Figure 7 Structural schematic diagram of the roller provided by the embodiment of the present application;

[0042] Figure 8 Structural schematic diagram of the precast bamboo joint pile provided by the embodiment of the present application;

[0043] Figure 9 Schematic diagram of the cooperation between the roller and the precast bamboo joint pile provided by the embodiment of the present application;

[0044] Figure 10 Flow schematic of the control method provided by the embodiment of the present application Figure 1 ;

[0045] Figure 11 Flow schematic of the control method provided by the embodiment of the present application Figure 2 。

[0046] Among them, 100 is a troweling machine, 10 is a moving component, 20 is a pusher, 30 is a troweling member, 40 is a detection module, 50 is a rolling component, 60 is a troweling machine frame, 70 is an obstacle avoidance module, 80 is a vibrator, and 90 is a lifting lug;

[0047] 11 are moving wheels, 12 is a driving motor, and 13 is a track;

[0048] 21 is a pusher plate, 22 is a pusher lifting drive member, 23 is a guide sleeve, and 24 is a guide rod;

[0049] 31 is a troweling plate, 32 is a troweling lifting drive member, 33 is a troweling moving drive member, 331 is a chain, 332 is an L-shaped connecting member, 34 is a connecting rod, 35 is a fixing plate, 351 is a first fixing plate, 352 is a second fixing plate, 353 is a support rod, 354 is a reset elastic member, 355 is a fixing rod, 36 is a sliding sleeve, 361 is a first pulley, and 362 is a second pulley;

[0050] 41 is a quality sensor;

[0051] 51 is a rolling wheel;

[0052] 61 is a support frame, 611 is a support longitudinal beam, 612 is a support cross beam, 62 is a column, 63 is a connecting longitudinal beam, 64 is a first connecting cross beam, 65 is a first vertical beam, 66 is a second vertical beam, 67 is a movable beam, and 68 is a connecting beam;

[0053] 71 is an obstacle sensor;

[0054] 200 is a precast bamboo joint pile. Detailed implementation manners

[0055] The core of this application is to provide a troweling machine to improve the troweling efficiency of precast piles.

[0056] Another core of this application is to provide a troweling machine system for the above-mentioned troweling machine.

[0057] Another core of this application is to provide a troweling method using the above-mentioned troweling machine system.

[0058] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0059] The production process of precast piles generally includes material feeding, material distribution, vibration, leveling and curing. The operator first delivers concrete and other materials to the concrete distributor through a material delivery trolley, and evenly distributes the concrete and other materials into the formwork through the concrete distributor. The vibrator is then inserted into the concrete and other materials for vibration to ensure the compactness of the concrete and other materials. Then, the concrete and other materials are manually leveled, and after being completely leveled, they are cured and formed.

[0060] In the above production process, after the vibrator completes the vibration of the material in the template, the vibrated material is smoothed manually, resulting in low smoothing efficiency. In addition, in order to ensure the flatness of the precast pile surface, rework operations are required continuously, which is time-consuming and labor-intensive.

[0061] For this reason, Figure 1 As shown, the embodiment of the present application discloses a trowel machine 100, including a moving component 10 and a trowel component. The moving component 10 and the trowel component cooperate to trowel the precast piles, thereby reducing the manual operation process, improving the trowel efficiency of the precast piles, and facilitating the automation of the troweling of the precast piles.

[0062] The following will be combined Figures 1 to 9 The trowel machine 100 disclosed in the embodiment of the present application is specifically explained and illustrated by taking the prefabricated bamboo pile 200 as an example. It should be noted that the trowel machine 100 disclosed in the embodiment of the present application can also be used for prefabricated concrete piles such as prefabricated square piles, prefabricated conical piles, prefabricated spiral piles or nodular piles.

[0063] Among them, Figure 1 As shown, the moving assembly 10 can drive the trowel 100 to move along the first direction to the target position. At the same time, the surface of the precast pile can be smoothed by the trowel assembly to realize the automation of the precast pile smoothing, reduce the manual operation process, and improve the smoothing efficiency of the precast pile. It should be noted that, Figure 1 As shown, the first direction is the moving direction of the trowel machine 100, and the target position is the material accumulation position in the precast pile mold or the position where defects such as depressions or protrusions exist on the surface of the precast pile after troweling.

[0064] like Figure 1 As shown, the smoothing assembly may include a pushing member 20 for smoothing the material and a smoothing member 30 for smoothing the material, and the smoothing member 30 is located behind the pushing member 20 so that the material of the precast pile can be smoothed by the smoothing member 30 after the pushing member 20 completes pushing the material.

[0065] like Figure 2As shown, the pushing member 20 may include a pushing plate 21 and a pushing and lifting driving member 22 for driving the pushing plate 21 to rise and fall, so that when the trowel machine 100 reaches the target position, the pushing and lifting driving member 22 can drive the pushing plate 21 to descend to contact the material of the precast pile, so that the pushing plate 21 can push the material of the precast pile flat.

[0066] like Figure 5 As shown, the smoothing member 30 may include a smoothing plate 31 and a smoothing driving member driving the smoothing plate 31 to perform a smoothing action. The smoothing driving member may include a smoothing lifting driving member 32 driving the smoothing plate 31 to rise and fall and a smoothing moving driving member 33 driving the smoothing plate 31 to move along the second direction, so that when the smoothing machine 100 reaches the target position, the smoothing lifting driving member 32 can drive the smoothing plate 31 to descend to contact with the material of the precast pile, and can adjust the position of the smoothing plate 31 through the smoothing moving driving member 33, so that the smoothing plate 31 can smooth the material of the precast pile. It should be noted that, as Figure 1 As shown, the second direction is a direction perpendicular to the first direction, ie, the moving direction of the trowel machine 100 .

[0067] The trowel machine 100 disclosed in the embodiment of the present application drives the trowel machine 100 to move to a target position along a first direction through a moving component 10, and then the trowel component descends to a position in contact with the material of the precast piles, and the material of the precast piles is flattened by the pushing plate 21 of the pushing member 20, and at the same time, the trowel plate 31 of the trowel member 30 can be driven to move along a second direction by the trowel moving drive member 33, so that the trowel plate 31 smoothes the material.

[0068] The trowel machine 100 disclosed in the embodiment of the present application can smooth the precast piles through the cooperation of the moving component 10 and the smoothing component, so as to reduce the manual operation process, improve the smoothing efficiency of the precast piles, and help to realize the automation of the smoothing of the precast piles.

[0069] like Figure 5 As shown, there can be at least one trowel plate 31, that is, there can be one trowel plate 31, so that one precast pile can be smoothed by the trowel plate 31, and the position of the trowel plate 31 can be adjusted by the smoothing moving driving member 33 to smooth other precast piles. Of course, there can also be two, three or more trowel plates 31, so that the precast piles in the same row can be smoothed at the same time, thereby improving the smoothing efficiency.

[0070] In order to adapt the prefabricated bamboo pile 200, for example, Figure 6 As shown, the cross section of the trowel plate 31 can be a trapezoidal cross section, and both sides of the trowel plate 31 are recessed toward the center, and the short side of the trowel plate 31 is arranged close to the surface of the prefabricated pile, so that the trowel plate 31 can adapt to the contour shape of the prefabricated bamboo pile 200, as shown in FIG. Figure 8As shown, it can better smooth the surface of the precast bamboo joint pile 200, improving the smoothing effect and efficiency. It should be noted that the smoothing plate 31 can also be replaced according to the actual shape of the precast pile. For example, for a precast square pile, the smoothing plate 31 can adopt a square cross-section to improve the smoothing effect and efficiency.

[0071] In order to reduce the adhesion of materials such as concrete when the smoothing plate 31 leaves the precast pile after smoothing, an angle adjustment driving member can be provided on the smoothing plate 31, so that the inclination angle of the smoothing plate 31 in the first direction can be adjusted through the angle adjustment driving member, reducing the adhered concrete when lifting the plate and ensuring the smoothing effect. At the same time, by adjusting the inclination angle of the smoothing plate 31 in the first direction through the angle adjustment driving member, the slope at the connection position of the precast bamboo joint pile 200 can be better smoothed.

[0072] Exemplarily, the angle adjustment driving member can adopt a telescopic cylinder, and one end of the telescopic rod of the telescopic cylinder is connected to the smoothing plate 31. At the same time, the smoothing plate 31 can be hingedly connected so that the smoothing plate 31 can rotate along the first direction, and thus the inclination angle of the smoothing plate 31 in the first direction can be adjusted by the extension and retraction actions of the telescopic rod of the telescopic cylinder. It should be noted that the angle adjustment driving member can also adopt driving members such as a flipping cylinder, as long as it can drive the smoothing plate 31 to rotate in the first direction.

[0073] To ensure a better smoothing effect for the precast bamboo joint pile 200, as Figure 7 shown, the leveling machine 100 can also include a rolling component 50, and the rolling component 50 can include at least one rolling wheel 51 that can move along the second direction to roll the edge of the precast bamboo joint pile 200 through the rolling wheel 51, as Figure 9 shown, thereby ensuring the smoothing effect at the edge position of the precast bamboo joint pile 200.

[0074] Exemplarily, as Figure 7 and Figure 9 shown, the rolling wheel 51 can adopt a conical structure, and the rolling wheel 51 can be one. At the same time, the rolling wheel 51 can move along the second direction, so that after the rolling wheel 51 rolls the edge of one side of the precast bamboo joint pile 200, it can move along the second direction to the edge of the other side of the precast bamboo joint pile 200 for rolling. Of course, the rolling wheel 51 can also be two, so that the two rolling wheels 51 can simultaneously roll the edges on both sides of the precast bamboo joint pile 200, and can move along the second direction through the two rolling wheels 51 to adapt to the contour shape of the precast bamboo joint pile 200 and can adapt to precast bamboo joint piles 200 of different widths. It should be noted that the rolling wheel 51 is not limited to rolling the edges of the precast bamboo joint pile 200, and can also be used for rolling the edges of other precast piles.

[0075] To ensure the compactness of materials such as concrete when the leveling machine 100 is leveling, as Figure 2As shown, at least one of the pushing plate 21 and the screeding plate 31 may be provided with a vibrator 80. That is, a plurality of vibrators 80 may be provided on the pushing plate 21 to vibrate materials such as concrete while pushing, ensuring the compactness of the materials such as concrete after pushing. Also, one vibrator 80 may be provided on each screeding plate 31 to vibrate materials such as concrete while screeding, ensuring the compactness of the materials such as concrete after screeding. Of course, vibrators 80 may also be provided on both the pushing plate 21 and the screeding plate 31, thereby further improving the compactness of materials such as concrete after the precast pile is screeded and improving the screeding quality.

[0076] As Figure 1 shown, the screeding machine 100 may further include a screeding frame 60, and the screeding frame 60 may include a support frame 61 and a plurality of columns 62 connected to the support frame 61. The support frame 61 may adopt a rectangular structure, and columns 62 are connected to the four corners of the support frame 61. At the same time, a connecting longitudinal beam 63 is provided between two adjacent columns 62 along the first direction, that is, between two adjacent columns 62 on the short side direction of the support frame 61, and the moving assembly 10 may be arranged on the connecting longitudinal beam 63.

[0077] Exemplarily, the moving assembly 10 may include moving wheels 11 and a driving motor 12 for driving the moving wheels 11 to rotate. On the same side of the screeding machine 100, there may be at least two moving wheels 11, that is, the moving wheels 11 may be two, three or more. At the same time, a driving motor 12 for driving the moving wheels 11 to rotate is provided on each moving wheel 11 to ensure that the screeding machine 100 has a large driving force. At the same time, tracks 13 matching the moving wheels 11 may be laid on both sides of the precast pile, so that the moving wheels 11 can move along the tracks 13. Of course, the moving assembly 10 may also drive the screeding machine 100 to move along the tracks 13 in the form of crawlers or sliding, which is not limited herein.

[0078] For the convenience of installing the driving motor 12, exemplarily, as Figure 1 shown, a connecting beam 68 may be connected below the connecting longitudinal beam 63, and the connecting beam 68 extends out of the screeding frame 60 to facilitate the installation of the driving motor 12 for driving the moving wheels 11 to rotate in the extending area of the connecting beam 68. At the same time, the pressure on the screeding frame 60 can be dispersed, and the service life of the moving wheels 11 can be improved.

[0079] As Figure 1As shown, the support frame 61 may include a pair of support longitudinal beams 611 and support cross beams 612 arranged in pairs, so that each support longitudinal beam 611 and support cross beam 612 enclose to form a support frame 61 with a rectangular structure. A first connecting cross beam 64 parallel to the support cross beam 612 is provided between two adjacent columns 62 along the second direction of the screeding machine 100, that is, between two adjacent columns 62 in the long side direction of the support frame 61. A first vertical beam 65 is connected between the first connecting cross beam 64 and the support cross beam 612. The material pushing lifting driving member 22 can be fixed on the first vertical beam 65, and one end of the material pushing lifting driving member 22 is fixedly connected to the material pushing plate 21 to drive the material pushing plate 21 to perform a lifting action.

[0080] Exemplarily, as Figure 1 shown, there may be two, three or more first vertical beams 65. At the same time, the material pushing lifting driving members 22 may be respectively fixed on at least two of the first vertical beams 65 to ensure the reliability of the lifting of the material pushing plate 21. In addition, as Figure 2 shown, in order to ensure the stability of the lifting of the material pushing plate 21, guide sleeves 23 may be respectively fixed on at least two first vertical beams 65, and guide rods 24 that can move along the guide sleeves 23 are arranged in the guide sleeves 23. One end of the guide rod 24 is connected to the material pushing plate 21 to realize the guiding effect on the lifting of the material pushing plate 21 through the extending and contracting actions of the guide rod 24 along the guide sleeve 23.

[0081] Exemplarily, as Figure 1 and Figure 2 shown, the material pushing lifting driving member 22 may be a telescopic oil cylinder or a telescopic air cylinder, and one end of the telescopic rod of the material pushing lifting driving member 22 is hinged to the material pushing plate 21, so that the material pushing lifting driving member 22 can drive the material pushing plate 21 to lift. Of course, the material pushing lifting driving member 22 may also be a driving member such as a lead screw motor, which is not limited herein.

[0082] As Figure 1 shown, a second vertical beam 66 is connected between the support longitudinal beam 611 and the connecting longitudinal beam 63, and a liftable movable beam 67 is provided between two adjacent second vertical beams 66 along the second direction. At the same time, as Figure 5 and Figure 6 shown, the screeding plate 31 can be movably arranged on the movable beam 67 through a connecting rod 34, so that the screeding movement driving member 33 drives the screeding plate 31 to move along the movable beam 67. And, as Figure 5 shown, one end of the screeding lifting driving member 32 is fixedly connected to the movable beam 67 to drive the movable beam 67 to perform a lifting action, so as to drive the screeding plate 31 on the movable beam 67 to lift.

[0083] Exemplarily, a guiding groove is formed vertically on the second vertical beam 66, and guiding wheels cooperating with the guiding groove are arranged at the ends of the movable beam 67. When the movable beam 67 performs a lifting action, the guiding wheels can roll along the guiding groove, so as to guide the lifting action of the movable beam 67 and ensure the stability of the lifting of the movable beam 67.

[0084] Exemplarily, as Figure 1 shown, two leveling lifting driving members 32 can be adopted, and the two leveling lifting driving members 32 are respectively connected to both ends of the movable beam 67 to ensure the reliability of the lifting of the movable beam 67. Among them, the leveling lifting driving member 32 can adopt a lead screw motor, and one end of the lead screw of the lead screw motor can be connected to the movable beam 67 through a hanging member, so as to move axially along the lead screw of the lead screw motor, thereby driving the movable beam 67 to lift. Of course, the leveling lifting driving member 32 can also adopt a driving member such as a telescopic cylinder to drive the movable beam 67 to lift, which is not limited herein.

[0085] As Figure 6 shown, one end of the connecting rod 34 can be connected to the screed plate 31 through the fixing plate 35, and at the same time, the other end of the connecting rod 34 can be sleeved on the movable beam 67 through the sliding sleeve 36, so that the sliding sleeve 36 can slide along the movable beam 67.

[0086] Exemplarily, as Figure 6 shown, two fixing plates 35 can be adopted. For the convenience of understanding, the two fixing plates 35 are respectively defined as a first fixing plate 351 and a second fixing plate 352. Among them, the first fixing plate 351 can be connected to one end of the connecting rod 34, and the second fixing plate 352 can be hinged to the screed plate 31 through the support rod 353 to ensure that the screed plate 31 can be adjusted in angle along the first direction. At the same time, a reset elastic member 354 and a fixing rod 355 for fixing the reset elastic member 354 are arranged between the first fixing plate 351 and the second fixing plate 352, and the reset elastic member 354 is sleeved on the fixing rod 355, so that the vibration generated by the vibrator 80 on the screed plate 31 can be absorbed through the reset elastic member 354, reducing the influence of the vibration on the upper structure of the screed plate 31 and improving the service life of the leveling machine 100.

[0087] To ensure better sliding of the sliding sleeve along the movable beam 67, exemplarily, as Figure 6 shown, first pulleys 361 that are in rolling cooperation with the side walls of the movable beam 67 can be respectively arranged on both sides of the sliding sleeve, and second pulleys 362 that are in rolling cooperation with the top wall and the bottom wall of the movable beam 67 are respectively arranged on the top and the bottom of the sliding sleeve, so that the first pulleys 361 and the second pulleys 362 can be in rolling cooperation with the movable beam 67, thereby reducing the frictional loss of the sliding of the sliding sleeve and the movable beam 67 and improving the service life.

[0088] Exemplarily, as Figure 5As shown in the figure, the leveling movement driving member 33 may include a chain 331 and a rotating motor capable of driving the chain 331 to move. Among them, a driving gear and a driven gear are respectively arranged at both ends of the movable beam 67, and the driving gear and the driven gear can be connected by the chain 331. The rotating motor and the driving gear can be connected by spline transmission to drive the driving gear to rotate, thereby driving the chain 331 to move. At the same time, the connecting rod 34 and the chain 331 can be connected by an L-shaped connecting member 332, and then the screed plate 31 can be driven to move along the movable beam 67 by the movement of the chain 331. Of course, the leveling movement driving member 33 can also adopt driving members such as a lead screw motor and a telescopic cylinder to realize the movement of the screed plate 31 along the movable beam 67, which is not limited herein.

[0089] As Figure 1 and Figure 3 shown in the figure, in order to facilitate the installation of the detection module 40 and the obstacle avoidance module 70, a gantry is arranged on the two support crossbeams 612 of the support frame 61, so that the detection module 40 and the obstacle avoidance module 70 can be conveniently installed in front of and behind the screeding machine 100 respectively.

[0090] As Figure 1 shown in the figure, in order to facilitate the hoisting equipment to move the screeding machine 100, at least two lifting lugs 90 can be respectively arranged on the two support crossbeams 612 of the support frame 61, so that the hoisting equipment can move the screeding machine 100 to the next screeding position through the lifting lugs 90.

[0091] The embodiment of the present application also discloses a screeding machine system, which is a system for the screeding machine 100 disclosed in the above embodiment. Therefore, the screeding machine system has all the technical effects of the above screeding machine 100, which will not be elaborated herein. Among them, the screeding machine system includes an execution module and a control module. The execution module includes a moving component 10 and a screeding component, and the specific structure has been explained and described above, which will not be elaborated herein. The control module can respectively control the screeding component and the moving component 10 to execute corresponding actions to realize the automation of precast pile screeding, reduce the manual operation process, and improve the screeding efficiency of precast piles.

[0092] Exemplarily, the control module may include a host computer and an industrial control computer. The host computer can calculate the point cloud data through cloud algorithms to obtain the coordinates of relevant targets, and the industrial control computer obtains the relevant action coordinates to generate driving instructions, thereby realizing the control of the screeding component and the moving component 10 to execute corresponding actions. It should be noted that data transmission can be carried out between the host computer and the industrial control computer through a data transmission module, and the data transmission method can adopt wireless transmission or communication methods such as wireless AP networking or NB-IoT (NarrowBand Internet of Things technology) for cloud-to-local communication.

[0093] AsFigures 1 to 4 As shown, the screeding machine system further includes a detection module 40, which can detect the surface flatness of the precast pile through the detection module 40 and feedback it to the control module, so that the control module can respectively control the moving component 10 and the screeding component to screed the positions with defects such as depressions or protrusions.

[0094] Exemplarily, as Figures 1 to 4 shown, the detection module 40 may include a quality sensor 41. The quality sensor 41 may adopt a lidar or a camera, so that the surface of the screeded precast pile can be scanned through the quality sensor 41 to form point cloud data. The point cloud data is uploaded to the cloud through a wireless terminal to form a point cloud cloud source file, and the cloud algorithm calculates the point cloud data to determine whether there are depressions or protrusion defects on the surface of the precast pile.

[0095] To realize the automation of the screeding machine 100, as Figure 1 and Figure 3 shown, the screeding machine system may further include an obstacle avoidance module 70, and the obstacle avoidance module 70 can identify obstacles and feedback them to the control module, so that the control module controls the moving component 10 to stop moving or give an alarm.

[0096] Exemplarily, as Figure 1 and Figure 3 shown, the obstacle avoidance module 70 may include at least one of an obstacle sensor 71 or a distance sensor. When the distance sensor and / or the obstacle sensor 71 is working in real time, the obstacle in the target area is identified by scanning the point cloud data of the target area to obtain the obstacle coordinates, and then the distance between the current coordinates and the obstacle coordinates is calculated to stop or give an alarm within the range defined by the obstacle coordinates. It should be noted that the distance sensor may adopt a lidar or an encoder, and when the distance sensor adopts a lidar, it can share a sensor with the obstacle sensor 71.

[0097] To facilitate the operator to control the screeding machine 100, the screeding machine system may further include an interaction module, and the operator can issue control instructions more quickly through the interaction module.

[0098] Exemplarily, the interaction module may include interaction devices such as a display screen and a mobile phone, which facilitates on-site operation of the screeding machine 100 by an operator or remote control of the screeding machine 100 through devices such as a mobile phone. For example, on the display screen, there may be automatic or manual switching buttons, screeding machine movement buttons, and screeding buttons, etc. The operator can touch the automatic or manual switching button to switch between the automatic screeding function and the manual operation mode of the screeding machine 100. When the operator switches to the manual operation mode, the screeding machine 100 can be moved and screeded respectively by touching the screeding machine movement button and the screeding button, thereby achieving the screeding effect on the precast pile. Of course, the above functions can also be integrated into an application program, so that after downloading the application program through a mobile phone, remote control can be achieved. It should be noted that the automatic or manual switching button, the screeding machine movement button, and the screeding button can be physical buttons, or can also be in the form of touch buttons, which are not limited herein.

[0099] As Figure 10 shown, the embodiment of the present application also discloses a screeding method, which uses the screeding machine system disclosed in the above embodiment. Therefore, this screeding method has all the technical effects of the above screeding machine system, which will not be elaborated herein. The screeding method includes step S100 moving to the target position, step S101 lowering the screeding component, and step S102 fixing and screeding.

[0100] Step S100, move to the target position;

[0101] The moving component 10 receives the signal from the control module and drives the screeding machine 100 to move to the target position. Specifically, the obstacle avoidance module 70 identifies the current coordinate information, and at the same time, the drive motor 12 of the moving component 10 receives the cloud coordinates, plans the movement in the current first direction according to the cloud coordinates and the local coordinates, and drives the screeding machine 100 to move to the target position.

[0102] Step S101, lower the screeding component;

[0103] The control module controls the screeding component to lower to the position where it contacts the material of the precast pile. Specifically, when the screeding machine 100 moves to the corresponding coordinate point, the pushing and lifting driving member 22 and the screeding and lifting driving member 32 of the screeding component receive the signal and respectively drive the pushing plate 21 and the screeding plate 31 to lower to the position where they contact the material of the precast pile.

[0104] Step S102, fix and screed;

[0105] The surface of the precast pile is fixed and screeded by the screeding member 30. Specifically, after the screeding component descends to the position where it contacts the material of the precast pile, the vibrator 80 is started, and at the same time, the screeding plate 31 of the screeding member 30 screeds the material of the precast pile.

[0106] It should be noted that when the flattening member 30 flattens the slope position of the precast bamboo-jointed pile 200, the angle of the flattening plate 31 can be adjusted by the angle adjustment driving member, so as to facilitate the flattening of the slope position of the precast bamboo-jointed pile 200 and ensure the flattening effect.

[0107] As Figure 11 shown, the flattening method further includes step S103 of detecting flatness. In step S103 of detecting flatness, the surface of the precast pile after flattening is detected by the detection module 40. When the detection module 40 detects that the surface of the precast pile is concave or convex, steps S100 to S102 are repeated until no defects are detected on the surface of the precast pile, and the flattening process is completed. Specifically, the surface of the flattening area can be scanned by the quality sensor 41 to generate point cloud data, which is uploaded to the upper computer of the control module. The upper computer receives the point cloud data and calculates through the point cloud algorithm to determine whether there are concave or convex defects on the surface of the precast pile. If the surface of the precast pile is concave or convex, the rework coordinates calculated by the received point cloud algorithm are used, and at the same time, the travel from the current coordinates to the rework coordinates is calculated, and the flattening machine 100 is driven by the moving component 10 to move to the position of the rework coordinates; when the flattening machine 100 moves to the corresponding coordinate point, the feeding lifting driving member 22 and the flattening lifting driving member 32 of the flattening component receive signals and respectively drive the feeding plate 21 and the flattening plate 31 to descend to the position in contact with the material of the precast pile; after the flattening component descends to the position in contact with the material of the precast pile, the vibrator 80 is started, and at the same time, the flattening plate 31 of the flattening member 30 flattens the material of the precast pile. If no concave or convex is found on the surface of the precast pile, the flattening plate 31 and the feeding plate 21 are automatically lifted off the surface of the precast pile, and the flattening process is completed.

[0108] The terms "first" and "second" etc. in the specification, claims and above-mentioned drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may include steps or units not listed.

[0109] The above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A trowel machine, characterized in that: include: A moving assembly (10), the moving assembly (10) being used to drive the trowel to move along a first direction to a target position; A smoothing component is used to smooth the surface of a precast pile, the smoothing component comprising a pushing member (20) for pushing and smoothing a material and a smoothing member (30) for smoothing the material, and the smoothing member (30) is located behind the pushing member (20), the pushing member (20) comprises a pushing plate (21) and a pushing and lifting driving member (22) for driving the pushing plate (21) to rise and fall, the smoothing member (30) comprises a smoothing plate (31) and a smoothing driving member for driving the smoothing plate (31) to perform a smoothing action, and the smoothing driving member comprises a smoothing lifting driving member (32) for driving the smoothing plate (31) to rise and fall, and a smoothing moving driving member (33) for driving the smoothing plate (31) to move along a second direction.

2. The trowel machine according to claim 1, characterized in that: There is at least one trowel plate (31), the trowel plate (31) has a trapezoidal cross section, and the short side of the trowel plate (31) is arranged close to the surface of the prefabricated pile.

3. The trowel machine according to claim 2, characterized in that: The trowel plate (31) is provided with an angle adjustment driving member, and the angle adjustment driving member is used to adjust the inclination angle of the trowel plate (31) in the first direction.

4. The trowel machine according to claim 1, characterized in that: It also comprises a rolling assembly (50), wherein the rolling assembly (50) comprises at least one rolling wheel (51) movable along the second direction, and the rolling wheel (51) is used to roll the edge of the prefabricated pile.

5. The trowel machine according to claim 1, characterized in that: It also comprises a trowel frame (60), the trowel frame (60) comprising a support frame (61) and a plurality of columns (62) connected to the support frame (61), a connecting longitudinal beam (63) being arranged between two adjacent columns (62) along the first direction, and the moving assembly (10) being arranged on the connecting longitudinal beam (63).

6. The trowel machine according to claim 5, characterized in that: The moving assembly (10) comprises moving wheels (11) and a driving motor (12) for driving the moving wheels (11) to rotate; there are at least two moving wheels (11), and the driving motor (12) is adapted to the moving wheels (11).

7. The trowel machine according to claim 5, characterized in that: The support frame (61) comprises a pair of supporting longitudinal beams (611) and supporting cross beams (612), and a first connecting cross beam (64) parallel to the supporting cross beam (612) is arranged between two adjacent columns (62) along the second direction, a first vertical beam (65) is connected between the first connecting cross beam (64) and the supporting cross beam (612), the pusher lifting drive member (22) is fixed on the first vertical beam (65), and one end of the pusher lifting drive member (22) is fixedly connected to the pusher plate (21) to drive the pusher plate (21) to perform a lifting action.

8. The trowel machine according to claim 7, characterized in that: A second vertical beam (66) is connected between the supporting longitudinal beam (611) and the connecting longitudinal beam (63), and a movable beam (67) that can be raised and lowered is provided between two adjacent second vertical beams (66) along the second direction. The trowel plate (31) is movably provided on the movable beam (67) via a connecting rod (34), so that the trowel movable driving member (33) drives the trowel plate (31) to move along the movable beam (67), and one end of the trowel lifting driving member (32) is fixedly connected to the movable beam (67) to drive the movable beam (67) to perform a lifting action.

9. The trowel machine according to any one of claims 1 to 8, characterized in that: At least one of the pusher plate (21) and the trowel plate (31) is provided with a vibrator (80).

10. A trowel system, characterized in that: The trowel machine (100) according to any one of claims 1 to 9 comprises: An execution module, the execution module comprising the moving component (10) and the smoothing component; A control module, the control module is used to control the actions of the smoothing component and the moving component (10).

11. The trowel system according to claim 10, characterized in that: It also comprises a detection module (40), the detection module (40) being used to detect the surface flatness of the prefabricated pile and feed back to the control module.

12. The trowel system according to claim 11, characterized in that: The detection module (40) comprises a mass sensor (41), the mass sensor (41) being used to scan the surface of the prefabricated pile after being smoothed, and the mass sensor (41) being one of a laser radar or a camera.

13. The trowel system according to claim 10, characterized in that: It also includes an obstacle avoidance module (70), the obstacle avoidance module (70) being used to identify obstacles and provide feedback to the control module, the obstacle avoidance module (70) including at least one of an obstacle sensor (71) or a distance sensor.

14. The trowel system according to claim 10, characterized in that: It also includes an interaction module, which is used for operators to issue control instructions.

15. A trowel method, using the trowel system according to any one of claims 10 to 14, characterized in that: include: Step A, moving to a target position, the moving component (10) receives a signal from the control module and drives the trowel (100) to move to the target position; Step B, lowering the smoothing component, and controlling the smoothing component to lower to a position in contact with the material of the precast pile through a control module; Step C, fixing and smoothing, fixing and smoothing the surface of the prefabricated pile by means of a smoothing member (30).

16. The smoothing method according to claim 15, characterized in that: Also includes: Step D, detecting the flatness, using a detection module (40) to detect the surface of the prefabricated pile after smoothing, and when the detection module (40) detects that the surface of the prefabricated pile is concave or convex, repeating steps A to C.

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