Trowelling machine and trowelling machine system

Abstract

The utility model discloses a trowelling machine and a trowelling machine system, 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

A trowel and a trowel system Technical Field

[0001] This application relates to the field of construction equipment technology, and more specifically, to a trowel and a trowel system. Background Technology

[0002] The production process of precast piles generally includes material feeding, material placement, vibration, smoothing, and curing. After the vibrator has finished vibrating the material in the template, the vibrated material is usually smoothed manually, which results in low efficiency. In order to ensure the flatness of the precast pile surface, repeated rework is required, which is time-consuming and labor-intensive.

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

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

[0005] Another object of this application is to provide a troweling machine system for the aforementioned troweling machine.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A smoothing machine, comprising:

[0008] A movable component, the movable component being used to move the troweling machine along a first direction to a target position;

[0009] A smoothing assembly is used to smooth the surface of a precast pile. The smoothing assembly includes a pusher for pushing material and a smoothing component for smoothing the material, with the smoothing component located behind the pusher. The pusher includes a push plate and a pusher lifting drive for driving the push plate to rise and fall. The smoothing component includes a smoothing plate and a smoothing drive for driving the smoothing plate to perform a smoothing action. The smoothing drive includes a smoothing lifting drive for driving the smoothing plate to rise and fall and a smoothing moving drive for driving the smoothing plate to move in a second direction.

[0010] Optionally, in the above-mentioned troweling machine, there is at least one troweling plate, the troweling plate has a trapezoidal cross section, and the short side of the troweling plate is disposed close to the surface of the precast pile.

[0011] Optionally, in the above-mentioned smoothing machine, the smoothing plate is provided with an angle adjustment drive, which is used to adjust the tilt angle of the smoothing plate in the first direction.

[0012] Optionally, the above-mentioned smoothing machine also includes a roller pressing assembly, which includes at least one roller that can move along the second direction, the roller being used to press the edge of the precast pile.

[0013] Optionally, the above-mentioned troweling machine also includes a troweling frame, which includes a support frame and a plurality of columns connected to the support frame, and a connecting longitudinal beam is provided between two adjacent columns along the first direction, and the moving component is disposed on the connecting longitudinal beam.

[0014] Optionally, in the above-mentioned smoothing machine, the moving component includes moving wheels and a drive motor for driving the moving wheels to rotate, wherein there are at least two moving wheels, and the drive motor is adapted to the moving wheels.

[0015] Optionally, in the above-mentioned smoothing machine, the support frame includes a pair of support longitudinal beams and support transverse beams, and a first connecting transverse beam parallel to the support transverse beam is provided between two adjacent columns along the second direction. A first vertical beam is connected between the first connecting transverse beam and the support transverse beam. The material pushing and lifting drive is fixed on the first vertical beam, and one end of the material pushing and lifting drive is fixedly connected to the material pushing plate to drive the material pushing plate to perform a lifting action.

[0016] Optionally, in the above-mentioned smoothing machine, a second vertical beam is connected between the supporting longitudinal beam and the connecting longitudinal beam, and a movable beam that can be raised and lowered is provided between two adjacent second vertical beams along the second direction. The smoothing plate is movably mounted on the movable beam through a connecting rod, so that the smoothing moving drive component drives the smoothing plate to move along the movable beam. One end of the smoothing lifting drive component is fixedly connected to the movable beam to drive the movable beam to perform a lifting action.

[0017] Optionally, in the above-mentioned smoothing machine, at least one of the pusher plate and the smoothing plate is provided with a vibrator.

[0018] A trowel system for any of the preceding trowels includes:

[0019] The execution module includes the moving component and the smoothing component;

[0020] A control module is provided to control the movements of the smoothing component and the moving component.

[0021] Optionally, the above-mentioned troweling machine system also includes a detection module, which is used to detect the surface flatness of the precast pile and feed it back to the control module.

[0022] Optionally, in the above-mentioned troweling machine system, the detection module includes a quality sensor, which is used to scan the surface of the precast pile after troweling. The quality sensor is either a lidar or a camera.

[0023] Optionally, the above-mentioned screeding machine system also includes an obstacle avoidance module, which is used to identify obstacles and feed back to the control module. The obstacle avoidance module includes at least one of an obstacle sensor or a distance sensor.

[0024] Optionally, the above-mentioned screeding machine system also includes an interaction module, which is used by the operator to issue control commands.

[0025] The troweling machine provided in this application has a moving component that drives the troweling machine to move along a first direction to the target position. Then, the troweling component descends to a position where it contacts the material of the precast pile. The material is leveled by the pusher plate of the pusher component. Simultaneously, the troweling plate of the troweling component is driven to move along a second direction by the troweling moving drive component, so that the troweling plate leveles the material. As can be seen from the above example, the troweling machine provided in this application can level precast piles through the cooperation of the moving component and the troweling component, thereby reducing manual operation, improving the leveling efficiency of precast piles, and contributing to the automation of precast pile leveling.

[0026] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 is an isometric view of the power smoothing machine provided in an embodiment of this application;

[0029] Figure 2 is a front view of the smoothing machine provided in an embodiment of this application;

[0030] Figure 3 is a side view of the smoothing machine provided in an embodiment of this application;

[0031] Figure 4 is a top view of the smoothing machine provided in an embodiment of this application;

[0032] Figure 5 is a rear view of the smoothing machine provided in an embodiment of this application;

[0033] Figure 6 is a structural example diagram of the trowel assembly provided in an embodiment of this application;

[0034] Figure 7 is a schematic diagram of the structure of the roller provided in an embodiment of this application;

[0035] Figure 8 is a structural schematic diagram of the prefabricated bamboo-joint pile provided in the embodiment of this application;

[0036] Figure 9 is a schematic diagram of the cooperation between the roller and the prefabricated bamboo-joint pile provided in the embodiment of this application;

[0037] Figure 10 is a flowchart illustrating the control method provided in an embodiment of this application;

[0038] Figure 11 is a schematic flowchart of the control method provided in the embodiment of this application.

[0039] Among them, 100 is the trowel, 10 is the moving component, 20 is the pushing component, 30 is the troweling component, 40 is the detection module, 50 is the roller pressing component, 60 is the trowel frame, 70 is the obstacle avoidance module, 80 is the vibrator, and 90 is the lifting lug.

[0040] 11 is the moving wheel, 12 is the drive motor, and 13 is the track;

[0041] 21 is the pusher plate, 22 is the pusher lifting drive component, 23 is the guide sleeve, and 24 is the guide rod;

[0042] 31 is a smoothing plate, 32 is a smoothing lifting drive, 33 is a smoothing moving drive, 331 is a chain, 332 is an L-shaped connector, 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 element, 355 is a fixing rod, 36 is a sliding sleeve, 361 is a first pulley, and 362 is a second pulley;

[0043] 41 is a mass sensor;

[0044] 51 is a roller pressing wheel;

[0045] 61 is a support frame, 611 is a support longitudinal beam, 612 is a support transverse beam, 62 is a column, 63 is a connecting longitudinal beam, 64 is a first connecting transverse beam, 65 is a first vertical beam, 66 is a second vertical beam, 67 is a movable beam, and 68 is a connecting beam.

[0046] 71 is an obstacle sensor;

[0047] 200 is a prefabricated bamboo-joint pile. Detailed Implementation

[0048] The core of this application is to provide a leveling machine to improve the leveling efficiency of precast piles.

[0049] Another core aspect of this application is to provide a troweling system for the aforementioned troweling machine.

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] The production process of precast piles generally includes material feeding, placement, vibration, leveling, and curing. Operators first use a feeding trolley to deliver concrete and other materials to a placing boom, which then evenly spreads the concrete and other materials into the formwork. Next, a vibrator is inserted into the concrete and other materials to ensure compaction. Then, the concrete and other materials are manually leveled, and after complete leveling, curing begins.

[0052] In the above production process, after the vibrating machine finishes vibrating the material in the template, the vibrated material is smoothed manually, which results in low smoothing efficiency. In order to ensure the flatness of the precast pile surface, it is necessary to keep reworking, which is time-consuming and labor-intensive.

[0053] Therefore, as shown in Figure 1, this application discloses a leveling machine 100, including a moving component 10 and a leveling component. By using the moving component 10 and the leveling component in conjunction to level precast piles, the manual operation process can be reduced, the leveling efficiency of precast piles can be improved, and the automation of precast pile leveling can be achieved.

[0054] The trowel 100 disclosed in this application will be explained and described in detail below with reference to Figures 1 to 9, taking the precast bamboo-joint pile 200 as an example. It should be noted that the trowel 100 disclosed in this application can also be used for precast concrete piles such as precast square piles, precast conical piles, precast spiral piles, or knotted piles.

[0055] As shown in Figure 1, the moving component 10 can drive the troweling machine 100 to move along the first direction to the target position. Simultaneously, the troweling component can smooth the surface of the precast pile, thereby automating the troweling process, reducing manual operation, and improving the troweling efficiency. It should be noted that, as shown in Figure 1, the first direction is the moving direction of the troweling machine 100, and the target position is the location where material accumulates within the precast pile mold or the location where defects such as depressions or protrusions exist on the surface of the precast pile after troweling.

[0056] As shown in Figure 1, the smoothing component may include a pusher 20 for pushing material and a smoothing component 30 for smoothing material, with the smoothing component 30 located behind the pusher 20 so that the material of the precast pile can be smoothed by the smoothing component 30 after the pusher 20 has finished pushing the material.

[0057] As shown in Figure 2, the pusher 20 may include a pusher plate 21 and a pusher lifting drive 22 that drives the pusher plate 21 to rise and fall, so that when the leveling machine 100 reaches the target position, the pusher lifting drive 22 can drive the pusher plate 21 to fall down to contact the material of the precast pile, thereby enabling the pusher plate 21 to push the material of the precast pile flat.

[0058] As shown in Figure 5, the smoothing component 30 may include a smoothing plate 31 and a smoothing drive component that drives the smoothing plate 31 to perform the smoothing action. The smoothing drive component may include a smoothing lifting drive component 32 that drives the smoothing plate 31 to rise and fall, and a smoothing moving drive component 33 that drives the smoothing plate 31 to move along a second direction. This allows the smoothing lifting drive component 32 to drive the smoothing plate 31 to descend and contact the material of the precast pile when the smoothing machine 100 reaches the target position, and the smoothing moving drive component 33 to adjust the position of the smoothing plate 31, thereby enabling the smoothing plate 31 to smooth the material of the precast pile. It should be noted that, as shown in Figure 1, the second direction is perpendicular to the first direction, i.e., the direction of movement of the smoothing machine 100.

[0059] The trowel 100 disclosed in this application embodiment is driven by the moving component 10 to move along the first direction to the target position. Then the trowel component descends to the position where it contacts the material of the precast pile. The material of the precast pile is leveled by the pushing plate 21 of the pushing component 20. At the same time, the troweling plate 31 of the troweling component 30 is driven to move along the second direction by the troweling moving drive component 33 so that the troweling plate 31 can level the material.

[0060] The leveling machine 100 disclosed in this application embodiment can level precast piles by cooperating with the moving component 10 and the leveling component, thereby reducing the manual operation process, improving the leveling efficiency of precast piles, and helping to realize the automation of precast pile leveling.

[0061] As shown in Figure 5, there can be at least one sizing plate 31, meaning that there can be one sizing plate 31, which can be used to smooth one precast pile. The position of the sizing plate 31 can be adjusted by the sizing moving drive component 33 to smooth other precast piles. Of course, there can also be two, three or more sizing plates 31, so that the precast piles in the same row can be smoothed at the same time, improving the smoothing efficiency.

[0062] To accommodate the precast bamboo-joint pile 200, as exemplarily shown in Figure 6, the sizing plate 31 can have a trapezoidal cross-section. Both sides of the sizing plate 31 are concave towards the center, and the shorter side of the sizing plate 31 is positioned close to the surface of the precast pile. This allows the sizing plate 31 to conform to the contour shape of the precast bamboo-joint pile 200, as shown in Figure 8, thereby better smoothing the surface of the precast bamboo-joint pile 200 and improving the smoothing effect and efficiency. It should be noted that the sizing plate 31 can also be replaced according to the actual shape of the precast pile. For example, for a precast square pile, the sizing plate 31 can have a square cross-section to improve the smoothing effect and efficiency.

[0063] To reduce the amount of concrete and other materials adhering to the sizing plate 31 when it leaves the precast pile after smoothing, an angle adjustment drive can be installed on the sizing plate 31. This allows adjustment of the tilt angle of the sizing plate 31 in the first direction, reducing concrete adhesion during lifting and ensuring a smoothing effect. Simultaneously, adjusting the tilt angle of the sizing plate 31 in the first direction via the angle adjustment drive allows for better smoothing of the slope at the connection point of the precast bamboo-joint piles 200.

[0064] For example, the angle adjustment drive can be a telescopic cylinder, with one end of the telescopic rod of the cylinder connected to the squeegee plate 31. The squeegee plate 31 can be hinged, allowing it to rotate in the first direction. Thus, the tilt angle of the squeegee plate 31 in the first direction can be adjusted by the extension and retraction of the telescopic rod of the cylinder. It should be noted that the angle adjustment drive can also be a tilting cylinder or other drive components, as long as they can drive the squeegee plate 31 to rotate in the first direction.

[0065] To ensure a better smoothing effect for the precast bamboo-joint pile 200, as shown in Figure 7, the smoothing machine 100 may also include a roller pressing assembly 50, and the roller pressing assembly 50 may include at least one roller pressing wheel 51 that can move in a second direction, so as to press the edge of the precast bamboo-joint pile 200 by the roller pressing wheel 51, as shown in Figure 9, thereby ensuring a smoothing effect at the edge of the precast bamboo-joint pile 200.

[0066] For example, as shown in Figures 7 and 9, the roller 51 can have a conical structure, and there can be only one roller 51. The roller 51 can move along a second direction so that after rolling the edge of one side of the precast bamboo-joint pile 200, it can move along the second direction to roll the edge of the other side of the precast bamboo-joint pile 200. Alternatively, there can be two rollers 51, so that both rollers 51 can simultaneously roll the edges of both sides of the precast bamboo-joint pile 200. The two rollers 51 can move along the second direction to adapt to the contour shape of the precast bamboo-joint pile 200 and can accommodate precast bamboo-joint piles 200 of different widths. It should be noted that the roller 51 is not limited to edge rolling of the precast bamboo-joint pile 200; it can also be used for edge rolling of other precast piles.

[0067] To ensure the compactness of concrete and other materials during the smoothing process by the trowel 100, as shown in Figure 2, at least one of the push plate 21 and the smoothing plate 31 can be equipped with a vibrator 80. Multiple vibrators 80 can be installed on the push plate 21 to vibrate and compact the concrete and other materials simultaneously with the push, ensuring the compactness of the materials after the push. Alternatively, one vibrator 80 can be installed on each smoothing plate 31 to further improve the compactness of the concrete and other materials after smoothing the precast piles and enhance the smoothing quality.

[0068] As shown in Figure 1, the troweling machine 100 may further include a troweling frame 60, and the troweling 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 have 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, two adjacent columns 62 along the short side direction of the support frame 61, and the moving component 10 may be disposed on the connecting longitudinal beam 63.

[0069] For example, the moving component 10 may include moving wheels 11 and drive motors 12 for driving the moving wheels 11 to rotate. On the same side of the trowel 100, there may be at least two moving wheels 11, that is, there may be two, three or more moving wheels 11. Each moving wheel 11 is equipped with a drive motor 12 to drive the moving wheel 11 to rotate, so as to ensure that the trowel 100 has a large driving force. At the same time, tracks 13 that cooperate with 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 component 10 may also use a crawler or sliding method to drive the trowel 100 to move along the tracks 13, which is not limited here.

[0070] To facilitate the installation of the drive motor 12, as exemplarily shown in Figure 1, a connecting beam 68 can be connected below the connecting longitudinal beam 63, and the connecting beam 68 extends out of the smoothing frame 60 so that the drive motor 12 that drives the moving wheels 11 to rotate can be installed in the extended area of ​​the connecting beam 68. At the same time, it can distribute the pressure on the smoothing frame 60 and improve the service life of the moving wheels 11.

[0071] As shown in Figure 1, the support frame 61 may include a pair of supporting longitudinal beams 611 and supporting transverse beams 612, so that the supporting longitudinal beams 611 and supporting transverse beams 612 enclose a rectangular support frame 61. A first connecting transverse beam 64 parallel to the supporting transverse beam 612 is provided between two adjacent columns 62 along the second direction of the smoothing machine 100, that is, between two adjacent columns 62 along the long side of the support frame 61. A first vertical beam 65 is connected between the first connecting transverse beam 64 and the supporting transverse beam 612. The material pushing and lifting drive component 22 can be fixed on the first vertical beam 65, and one end of the material pushing and lifting drive component 22 is fixedly connected to the material pushing plate 21 to drive the material pushing plate 21 to perform a lifting action.

[0072] For example, as shown in Figure 1, two, three, or more first vertical beams 65 can be used, and at least two of the first vertical beams 65 can be fixed with a pusher lifting drive 22 to ensure the reliability of the lifting of the pusher plate 21. In addition, as shown in Figure 2, in order to ensure the stability of the lifting of the pusher plate 21, guide sleeves 23 can be fixed on at least two first vertical beams 65, and a guide rod 24 that can move along the guide sleeve 23 is provided inside the guide sleeve 23. One end of the guide rod 24 is connected to the pusher plate 21, so that the lifting of the pusher plate 21 can be guided by the extension and retraction of the guide rod 24 along the guide sleeve 23.

[0073] For example, as shown in Figures 1 and 2, the material pushing and lifting drive 22 can be a telescopic hydraulic cylinder or a telescopic pneumatic cylinder, and one end of the telescopic rod of the material pushing and lifting drive 22 is hinged to the material pushing plate 21, so that the material pushing and lifting drive 22 can drive the material pushing plate 21 to rise and fall. Of course, the material pushing and lifting drive 22 can also be a lead screw motor or other drive components, which is not limited here.

[0074] As shown in Figure 1, a second vertical beam 66 connects the supporting longitudinal beam 611 and the connecting longitudinal beam 63. A movable beam 67, which can be raised and lowered, is provided between two adjacent second vertical beams 66 along the second direction. As shown in Figures 5 and 6, the troweling plate 31 is movably mounted on the movable beam 67 via a connecting rod 34, allowing the troweling moving drive 33 to move the troweling plate 31 along the movable beam 67. Furthermore, as shown in Figure 5, one end of the troweling lifting drive 32 is fixedly connected to the movable beam 67, causing the movable beam 67 to perform a lifting action, thereby raising and lowering the troweling plate 31 on the movable beam 67.

[0075] For example, a guide groove is provided on the second vertical beam 66 along the vertical direction, and a guide wheel that cooperates with the guide groove is provided at the end of the movable beam 67. When the movable beam 67 performs a lifting action, the guide wheel can roll along the guide groove, thereby guiding the lifting action of the movable beam 67 and ensuring the stability of the lifting action of the movable beam 67.

[0076] For example, as shown in Figure 1, two leveling and lifting drive components 32 can be used, and the two leveling and lifting drive components 32 are respectively connected to both ends of the movable beam 67 to ensure the reliability of the lifting of the movable beam 67. The leveling and lifting drive component 32 can be 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 hanger, so that the lead screw of the lead screw motor moves axially, thereby driving the movable beam 67 to lift. Of course, the leveling and lifting drive component 32 can also be a telescopic cylinder or other drive component to drive the movable beam 67 to lift; this is not limited here.

[0077] As shown in Figure 6, one end of the connecting rod 34 can be connected to the trowel plate 31 through the fixing plate 35, while 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.

[0078] For example, as shown in Figure 6, two fixing plates 35 can be used. For ease of understanding, the two fixing plates 35 are defined as the first fixing plate 351 and the second fixing plate 352, respectively. 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 troweling plate 31 through the support rod 353 to ensure that the troweling plate 31 can be angled along the first direction. At the same time, a reset elastic element 354 and a fixing rod 355 for fixing the reset elastic element 354 are provided between the first fixing plate 351 and the second fixing plate 352. The reset elastic element 354 is sleeved on the fixing rod 355, so that the vibration generated by the vibrator 80 on the troweling plate 31 can be absorbed by the reset elastic element 354, reducing the impact of vibration on the upper structure of the troweling plate 31 and improving the service life of the troweling machine 100.

[0079] To ensure better sliding of the sliding sleeve along the movable beam 67, for example, as shown in Figure 6, first pulleys 361 that roll in cooperation with the side walls of the movable beam 67 can be provided on both sides of the sliding sleeve, and second pulleys 362 that roll in cooperation with the top and bottom walls of the movable beam 67 can be provided on the top and bottom of the sliding sleeve, respectively. Thus, the sliding sleeve can roll in cooperation with the movable beam 67 through the first pulleys 361 and the second pulleys 362, thereby reducing the frictional loss of sliding between the sliding sleeve and the movable beam 67 and improving the service life.

[0080] For example, as shown in Figure 5, the smoothing moving drive 33 may include a chain 331 and a rotary motor that can drive the chain 331 to move. A driving gear and a driven gear are respectively provided at both ends of the movable beam 67, and the driving gear and driven gear can be connected via the chain 331. The rotary motor is connected to the driving gear via a spline drive to drive the driving gear to rotate, thereby driving the chain 331 to move. Simultaneously, the connecting rod 34 is connected to the chain 331 via an L-shaped connector 332, and the movement of the chain 331 drives the smoothing plate 31 to move along the movable beam 67. Of course, the smoothing moving drive 33 may also use a lead screw motor, telescopic cylinder, or other drive components to achieve the movement of the smoothing plate 31 along the movable beam 67; this is not limited here.

[0081] As shown in Figures 1 and 3, in order to facilitate the installation of the detection module 40 and the obstacle avoidance module 70, a gantry frame is provided on the two support beams 612 of the support frame 61, so that the detection module 40 and the obstacle avoidance module 70 can be installed in front of and behind the power leveler 100 respectively.

[0082] As shown in Figure 1, in order to facilitate the movement of the trowel 100 by the hoisting equipment, at least two lifting lugs 90 can be provided on the two support beams 612 of the support frame 61, so that the hoisting equipment can move the trowel 100 to the next troweling position through the lifting lugs 90.

[0083] This application also discloses a troweling machine system, which is a system for the troweling machine 100 disclosed in the above embodiments. Therefore, the troweling machine system has all the technical effects of the troweling machine 100, and will not be repeated here. The troweling machine system includes an execution module and a control module. The execution module includes a moving component 10 and a troweling component, the specific structure of which has been explained and described above, and will not be repeated here. The control module can control the troweling component and the moving component 10 to perform corresponding actions, thereby automating the troweling of precast piles, reducing manual operation, and improving the troweling efficiency of precast piles.

[0084] For example, the control module may include a host computer and an industrial control computer. The host computer can calculate point cloud data through cloud algorithms to obtain the coordinates of relevant targets, while the industrial control computer obtains the relevant action coordinates to generate drive commands, thereby controlling the smoothing component and the moving component 10 to perform corresponding actions. It should be noted that the host computer and the industrial control computer can transmit data through a data transmission module. The data transmission method can be wireless transmission or communication through wireless AP networking or NB-IoT (Narrowband Internet of Things) technology to achieve cloud-to-local communication.

[0085] As shown in Figures 1 to 4, the troweling machine system also includes a detection module 40, which can detect the surface flatness of the precast pile and feed it back to the control module. The control module can then control the moving component 10 and the troweling component to smooth out any defects such as depressions or protrusions.

[0086] For example, as shown in Figures 1 to 4, the detection module 40 may include a mass sensor 41, which may be a lidar or a camera. The mass sensor 41 can scan the surface of the smoothed precast pile to form point cloud data. The point cloud data is uploaded to the cloud via a wireless terminal to form a point cloud source file. The cloud algorithm calculates the point cloud data to determine whether there are depressions or protrusions on the surface of the precast pile.

[0087] To automate the troweling machine 100, as shown in Figures 1 and 3, the troweling machine system may also include an obstacle avoidance module 70, which can identify obstacles and feed them back to the control module so that the control module can control the moving component 10 to stop moving or issue an alarm.

[0088] For example, as shown in Figures 1 and 3, 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 are operating in real time, they scan the point cloud data of the target area, identify obstacles in the target area using a point cloud algorithm, obtain the obstacle coordinates, and then calculate the distance between the current coordinates and the obstacle coordinates. Within the defined range of the obstacle coordinates, the module may stop or issue a warning. It should be noted that the distance sensor may be a LiDAR or an encoder, and when a LiDAR is used, it can share a single sensor with the obstacle sensor 71.

[0089] To facilitate operator control of the power trowel 100, the power trowel system may also include an interactive module, through which operators can issue control commands more quickly.

[0090] For example, the interactive module may include a display screen, a mobile phone, or other interactive devices, facilitating on-site operation of the trowel 100 or remote operation via a mobile phone or other devices. For instance, the display screen may show automatic / manual switching buttons, a trowel movement button, and a troweling button. Operators can switch between automatic troweling and manual operation modes by touching the automatic / manual switching button. When switching to manual operation mode, operators can move and trowel the trowel 100 by touching the trowel movement button and the troweling button, thus achieving the troweling effect on the precast piles. Alternatively, these functions can be integrated into an application, allowing remote control via a mobile phone after downloading the application. It should be noted that the automatic / manual switching button, trowel movement button, and troweling button can be physical buttons or touch-sensitive buttons; this is not limited to these methods here.

[0091] As shown in Figure 10, this application also discloses a smoothing method, which uses the smoothing machine system disclosed in the above embodiments. Therefore, this smoothing method has all the technical effects of the above-mentioned smoothing machine system, and will not be described again here. The smoothing method includes step S100 moving to the target position, step S101 lowering the smoothing component, and step S102 fixing and smoothing.

[0092] Step S100: Move to the target location;

[0093] The moving component 10 receives signals from the control module and drives the smoothing machine 100 to move to the target position. Specifically, the obstacle avoidance module 70 identifies the current coordinate information, while the drive motor 12 of the moving component 10 receives the cloud coordinates, plans the movement in the current first direction based on the cloud coordinates and local coordinates, and drives the smoothing machine 100 to move to the target position.

[0094] Step S101: Lower the smoothing component;

[0095] The control module controls the smoothing assembly to descend to the position where it contacts the material of the precast pile. Specifically, when the smoothing machine 100 moves to the corresponding coordinate point, the pushing and lifting drive 22 and the smoothing lifting drive 32 of the smoothing assembly receive the signal and drive the pushing plate 21 and the smoothing plate 31 to descend to the position where they contact the material of the precast pile.

[0096] Step S102: Fix and smooth;

[0097] The surface of the precast pile is fixed and smoothed by the smoothing component 30. Specifically, when the smoothing 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 smoothing plate 31 of the smoothing component 30 smooths the material of the precast pile.

[0098] It should be noted that when the smoothing component 30 smooths the slope of the precast bamboo joint pile 200, the angle of the smoothing plate 31 can be adjusted by the angle adjustment drive component, so as to facilitate the smoothing of the slope of the precast bamboo joint pile 200 and ensure the smoothing effect.

[0099] As shown in Figure 11, the smoothing method also includes step S103, which involves detecting flatness. In step S103, the surface of the precast pile after smoothing 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 the surface of the precast pile is free of defects, thus completing the smoothing process. Specifically, the surface of the smoothed area can be scanned by the quality sensor 41 to generate point cloud data, which is then uploaded to the host computer of the control module. The host computer receives the point cloud data and performs calculations using a 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 are calculated using the received point cloud algorithm. Simultaneously, the travel distance from the current coordinates to the rework coordinates is calculated, and the smoothing machine 100 is moved to the rework coordinate position via the moving component 10. When the smoothing machine 100 reaches the corresponding coordinate point, the pushing and lifting drive 22 and smoothing and lifting drive 32 of the smoothing component receive signals and drive the pushing plate 21 and smoothing plate 31 to descend to the position where they contact the material of the precast pile. After the smoothing component descends to the position where it contacts the material of the precast pile, the vibrator 80 starts, and the smoothing plate 31 of the smoothing component 30 smooths the material of the precast pile. If no concave or convex surface is found on the precast pile, the smoothing plate 31 and pushing plate 21 automatically lift away from the surface of the precast pile, completing the smoothing process.

[0100] The terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units may include steps or units not listed, but rather not listed.

[0101] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

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

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

3. The smoothing machine according to claim 2, characterized in that, An angle adjustment drive is provided on the smearing plate (31), which is used to adjust the tilt angle of the smearing plate (31) in the first direction.

4. The smoothing machine according to claim 1, characterized in that, It also includes a roller pressing assembly (50), which includes at least one roller pressing wheel (51) movable in the second direction, the roller pressing wheel (51) being used to press the edge of the precast pile.

5. The smoothing machine according to claim 1, characterized in that, It also includes a smoothing frame (60), which includes a support frame (61) and a plurality of columns (62) connected to the support frame (61), and a connecting longitudinal beam (63) is provided between two adjacent columns (62) along the first direction, and the moving component (10) is provided on the connecting longitudinal beam (63).

6. The smoothing machine according to claim 5, characterized in that, The moving component (10) includes a moving wheel (11) and a drive motor (12) for driving the moving wheel (11) to rotate. There are at least two moving wheels (11), and the drive motor (12) is adapted to the moving wheel (11).

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

8. The smoothing 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 smearing plate (31) is movably set on the movable beam (67) through the connecting rod (34) so ​​that the smearing moving drive (33) drives the smearing plate (31) to move along the movable beam (67). One end of the smearing lifting drive (32) is fixedly connected to the movable beam (67) so as to drive the movable beam (67) to perform lifting and lowering actions.

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

10. A smoothing machine system, characterized in that, The smoothing machine (100) according to any one of claims 1 to 9 includes: an execution module, the execution module including the moving component (10) and the smoothing component; and a control module for controlling the movement of the smoothing component and the moving component (10).

11. The troweling machine system according to claim 10, characterized in that, It also includes a detection module (40), which is used to detect the surface flatness of the precast pile and feed it back to the control module.

12. The troweling machine system according to claim 11, characterized in that, The detection module (40) includes a mass sensor (41), which is used to scan the surface of the precast pile after it has been smoothed. The mass sensor (41) is either a lidar or a camera.

13. The troweling machine system according to claim 10, characterized in that, It also includes an obstacle avoidance module (70) for identifying obstacles and feeding back to the control module, the obstacle avoidance module (70) including at least one of an obstacle sensor (71) or a distance sensor.

14. The troweling machine system according to claim 10, characterized in that, It also includes an interaction module, which is used by the operator to issue control commands.

Images