CN111441592B - Floating device and floating robot - Google Patents
Floating device and floating robot Download PDFInfo
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- CN111441592B CN111441592B CN202010274770.0A CN202010274770A CN111441592B CN 111441592 B CN111441592 B CN 111441592B CN 202010274770 A CN202010274770 A CN 202010274770A CN 111441592 B CN111441592 B CN 111441592B
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- vibrating
- troweling
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- slurry
- construction surface
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/10—Devices for levelling, e.g. templates or boards
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
- E01C19/264—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles with attachments for work other than rolling, e.g. grading, scarifying
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/30—Tamping or vibrating apparatus other than rollers ; Devices for ramming individual paving elements
- E01C19/34—Power-driven rammers or tampers, e.g. air-hammer impacted shoes for ramming stone-sett paving; Hand-actuated ramming or tamping machines, e.g. tampers with manually hoisted dropping weight
- E01C19/40—Power-driven rammers or tampers, e.g. air-hammer impacted shoes for ramming stone-sett paving; Hand-actuated ramming or tamping machines, e.g. tampers with manually hoisted dropping weight adapted to impart a smooth finish to the paving, e.g. tamping or vibrating finishers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/41—Apparatus having both rolling tools and ramming, tamping, or vibrating tools
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
- E04F21/242—Elongated smoothing blades or plates, e.g. screed apparatus with vibrating means, e.g. vibrating screeds
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
- E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
- E04F21/244—Elongated smoothing blades or plates, e.g. screed apparatus with means to adjust the working angle of the leveling blade or plate
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
- E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
Abstract
The invention relates to the field of construction machinery, and discloses a floating device and a floating robot. This floating device includes: a body; the roller travelling mechanism is arranged on the body and can travel along the construction surface; and the vibrating slurry lifting mechanism is arranged at the rear part of the roller travelling mechanism in the advancing direction of the trowelling device, can be abutted against the construction surface and can lift slurry on the construction surface through vibration. The trowelling device provided by the invention can improve the grout lifting effect and ensure the construction quality of subsequent trowelling.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a floating device and a floating robot.
Background
In the field of construction, one of indispensable steps is to level a construction surface. The existing trowelling device adopts a roller to walk, the roller has the functions of rolling and slurry lifting, but the concrete working surface in the initial setting stage after the trowelling is finished is poor in slurry lifting effect, insufficient in slurry floating, and the follow-up trowelling quality cannot be guaranteed.
How to improve the slurry lifting effect and ensure the subsequent leveling quality is a technical problem to be solved by technical personnel in the field.
Disclosure of Invention
Based on the above, the invention aims to provide a trowelling device and a trowelling robot, which can improve the grout lifting effect and ensure the construction quality of subsequent trowelling.
In order to achieve the purpose, the invention adopts the following technical scheme:
a troweling apparatus, preferably comprising:
a body;
a roller traveling mechanism which is mounted on the body and can travel along a construction surface; and
the vibrating slurry lifting mechanism is arranged on the body and located behind the roller travelling mechanism in the advancing direction of the trowelling device, and can be abutted against the construction surface and lift slurry from the construction surface through vibration.
Preferably, the vibrating and pulp extracting mechanism includes:
the first frame is connected with the body;
the vibrating assembly is connected with the first machine frame in a sliding mode in the vertical direction and comprises a vibrating roller and a vibrating motor used for driving the vibrating roller to vibrate.
Preferably, the vibrating and pulp extracting mechanism further comprises:
the first linear driving part is installed on the first rack, the output end of the first linear driving part is in transmission connection with the vibrating assembly, and the first linear driving part can drive the vibrating assembly to move in the vertical direction.
Preferably, the vibrating assembly further comprises:
the vibrating beam is connected with the output end of the first linear driving piece, the vibrating motor is installed on the vibrating beam, and the vibrating roller is arranged below the vibrating beam, is connected with the vibrating beam in a rotating mode and can roll on a construction surface.
Preferably, the vibrating and pulp extracting mechanism further comprises:
the guide shaft is arranged along the vertical direction, the upper end of the guide shaft is in transmission connection with the output end of the first linear driving piece, and the lower end of the guide shaft is connected with the vibrating assembly; and
and the guide shaft is vertically and slidably connected with the body through the linear bearing.
Preferably, a vibration isolator is further arranged between the guide shaft and the vibrating assembly and used for blocking the vibrating assembly from transmitting vibration to the body along the guide shaft.
Preferably, the floating device further includes:
comb thick liquid spatula mechanism install in the body, and locate on the floating device advancing direction the rear of slurry mechanism is carried in the vibration includes:
the slurry combing plate comprises a comb tooth structure for scraping the raised slurry on the construction surface; and
and the trowelling plate is arranged behind the slurry combing plate and can be abutted against and trowelling a construction surface, and the lowest point of the slurry combing plate is higher than the lowest point of the trowelling plate.
Preferably, the carding plate comprises the following components arranged in sequence along the advancing direction of the floating device:
the first slurry guiding part is gradually lowered from front to back;
the front end of the first main plate part is connected with the rear end of the first slurry guide part and is provided with a straight plate-shaped structure; and
the comb tooth part is gradually low from the front to the back, the front end is connected with the rear end of the first main plate part, and the rear end is provided with the comb tooth structure.
As a preferred scheme, the slurry combing and troweling mechanism further comprises:
the lifting assembly is arranged on the body, and the output end of the lifting assembly is simultaneously connected with the combing plate and the troweling plate and can drive the combing plate and the troweling plate to synchronously lift.
Also provided is a floating robot, which comprises the floating device.
The invention has the beneficial effects that:
the trowelling device provided by the invention comprises a roller travelling mechanism and a vibrating slurry extracting mechanism, wherein when the trowelling device works, the roller travelling mechanism drives the whole trowelling device to move on a construction surface, and on one hand, the roller travelling mechanism performs primary rolling slurry extraction on slurry on the construction surface; on the other hand, the vibrating slurry lifting mechanism is abutted against the construction surface under the action of gravity and vibrates on the construction surface to carry out secondary slurry lifting on the slurry on the construction surface. The floating device provided by the invention can ensure sufficient floating pulp through twice pulp lifting in one working stroke, improve the pulp lifting effect and ensure the subsequent floating quality.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a front view of a troweling apparatus provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a leveling device provided in an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of area A of FIG. 2;
FIG. 4 is a schematic structural diagram of a vibrating and pulp extracting mechanism provided by an embodiment of the invention;
FIG. 5 is a front view of a vibratory pulp extracting mechanism provided by an embodiment of the present invention;
FIG. 6 is a partial schematic view of a troweling apparatus provided by an embodiment of the present invention;
FIG. 7 is a schematic structural view of a pulp combing plate provided by an embodiment of the invention.
In the figure:
1. a body;
21. a front drum; 22. a rear drum;
3. a vibrating pulp extracting mechanism; 301. a first frame; 302. a vibrating roller; 303. a vibration motor; 304. a vibrating beam; 305. mounting a plate; 306. a first linear drive; 307. a guide shaft; 308. a linear bearing; 309. a vibration isolator; 310. a fixing plate; 311. a cross beam;
4. a slurry combing and troweling mechanism; 401. a second frame; 402. combing the pulp board; 4021. a first slurry guide part; 4022. a first main plate portion; 4023. a comb-tooth part; 403. smearing the plate; 4031. a second slurry guide part; 4032. a second main plate portion; 404. a mounting frame; 405. a wedge block; 406. a second linear drive; 407. a slide rail; 408. a slider; 409. buckling; 410. a movable plate;
5. an auxiliary traveling mechanism;
6. a laser receiver.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the present embodiment provides a floating device for floating a construction surface, particularly, a concrete working surface in an initial setting stage, with a prominent floating effect. The floating device comprises a body 1, a roller travelling mechanism and a vibrating slurry extracting mechanism 3, wherein the roller travelling mechanism is installed on the body 1, the vibrating slurry extracting mechanism 3 is installed on the body 1, and the floating device is located behind the roller travelling mechanism in the advancing direction. The vibrating pulp-lifting mechanism 3 comprises a first frame 301 and a vibrating assembly, the first frame 301 is connected with the body 1, the vibrating assembly is connected with the first frame 301 in a sliding mode along the vertical direction, and the vibrating assembly comprises a vibrating roller 302 and a vibrating motor 303 used for driving the vibrating roller 302 to vibrate. When the trowelling device works, the roller travelling mechanism drives the whole trowelling device to move on a construction surface, and on one hand, the roller travelling mechanism performs primary rolling and slurry extraction on slurry on the construction surface; on the other hand, the vibrating roll 302 of the vibrating and pulp-lifting mechanism 3 is brought into contact with the construction surface by gravity, and the vibrating motor 303 drives the vibrating roll 302 to vibrate on the construction surface to secondarily lift the pulp on the construction surface. The floating device provided by the embodiment can ensure sufficient floating pulp through twice pulp lifting in one working stroke, improves the pulp lifting effect and ensures the subsequent floating quality.
Further, the vibrating assembly further comprises a vibrating beam 304, the vibrating motor 303 is mounted at the central position of the extending direction of the vibrating beam 304 through a mounting plate 305, and two ends of the vibrating beam 304 are respectively and correspondingly and rotatably connected with two ends of the vibrating rollers 302. When the floating device works in an advancing mode, the vibrating rollers 302 roll on a construction surface along with the floating device, and meanwhile the vibrating motor 303 arranged on the vibrating beam 304 drives the vibrating rollers 302 to vibrate together to vibrate slurry on the construction surface through driving self vibration, so that the effect of slurry extraction is achieved.
Of course, the tamper roller 302 can also be driven by a drive to abut against the construction surface. Specifically, the vibrating and pulp extracting mechanism 3 further includes a first linear driving element 306, the first linear driving element 306 is mounted on the first frame 301, and an output end of the first linear driving element 306 is in transmission connection with the vibrating beam 304. When the floating device is in a non-working state or needs to cross obstacles, the first linear driving piece 306 retracts in the vertical direction to drive the vibrating assembly to vertically move upwards; when the floating device needs to be switched to a working state, the first linear driving piece 306 extends out along the vertical direction, and drives the vibrating assembly to vertically move downwards and abut against a construction surface.
Preferably, the first linear driving element 306 is an electric push rod, which not only has a compact structure, but also has high motion precision and good self-locking performance. Of course, in other embodiments, other linear drives such as air cylinders, oil cylinders, etc. may be used for the first linear drive 306.
Further, the vibrating and pulp lifting mechanism 3 further comprises a guide shaft 307 and a linear bearing 308, the guide shaft 307 is arranged in the vertical direction, the upper end of the guide shaft 307 is in transmission connection with the output end of the first linear driving element 306, the lower end of the guide shaft is connected with the vibrating beam 304, the linear bearing 308 is fixedly connected with the body 1, the guide shaft 307 penetrates through the linear bearing 308, and the guide shaft 307 and the linear bearing 308 jointly provide reliable guide for the lifting of the vibrating assembly.
Preferably, a vibration isolator 309 is further disposed between the guide shaft 307 and the vibration beam 304, and the vibration isolator 309 is mounted on the vibration beam 304 and connected to the output end of the first linear driving member 306 through a fixing plate 310 for blocking the vibration assembly from transmitting vibration to the body 1 along the guide shaft 307. When the vibrating and slurry extracting mechanism 3 works, the vibration isolator 309 can reduce the influence of the vibration generated by the vibrating motor 303 on other parts in the floating device except the vibrating component, and the overall construction quality is ensured.
Further, two guide shafts 307 are provided in the vibrating and pulp extracting mechanism 3, and correspondingly, two linear bearings 308 are provided, and are correspondingly matched with the guide shafts 307. A cross beam 311 arranged along the horizontal direction is further arranged between the first linear driving member 306 and the guide shafts 307, the middle part of the cross beam 311 is connected with the output end of the first linear driving member 306, and two ends of the cross beam 311 are respectively connected with the two guide shafts 307. Specifically, the two sets of guide shafts 307 and the linear bearings 308 guide the lifting of the vibrating assembly together, so that the lifting of the vibrating assembly is more stable, and the rotating of the vibrating assembly in the horizontal direction relative to the first frame 301 is limited.
Further, the trowelling device further comprises a slurry combing and trowelling mechanism 4, wherein the slurry combing and trowelling mechanism 4 is installed on the body 1 and is arranged behind the vibrating slurry lifting mechanism 3 in the advancing direction of the trowelling device. The slurry combing spatula mechanism 4 comprises a slurry combing plate 402 and a troweling plate 403, wherein the slurry combing plate 402 is provided with a comb structure extending along the horizontal direction perpendicular to the advancing direction of the troweling device, the troweling plate 403 is arranged behind the slurry combing plate 402, and the lowest point of the slurry combing plate 402 is higher than the lowest point of the troweling plate 403. Specifically, after the drum travelling mechanism and the vibrating slurry lifting mechanism 3 finish twice slurry lifting on the construction plane, the combing and slurry plate 402 firstly passes through the construction surface after slurry lifting, the comb tooth structure on the combing and slurry plate 402 can effectively level up the raised slurry on the construction surface, the troweling plate 403 immediately passes through the construction surface after being leveled up by the combing and slurry plate 402, and the lowest point of the troweling plate 403 is lower than the combing and slurry plate 402 and is abutted against the construction surface, so that the troweling plate 403 can effectively fill up the floating slurry on the construction surface to a relatively low-lying position, and the cooperative work of the combing and slurry plate 402 and the troweling plate 403 completes the high-low-fill operation of the construction surface, thereby improving the construction surface smoothness and ensuring the construction precision.
Further, the combing pulp board 402 comprises a first pulp guiding part 4021, a first main board part 4022 and a combing part 4023 which are sequentially connected end to end from front to back along the advancing direction of the troweling device, the first pulp guiding part 4021 is gradually reduced in height from front to back, the first main board part 4022 is set to be a straight plate-shaped structure, the combing part 4023 is gradually reduced in height from front to back, and the rear end of the combing pulp board is provided with a combing structure extending along the horizontal direction perpendicular to the advancing direction of the troweling device. Specifically, the first grout guide part 4021 and the comb teeth part 4023 may be provided with an arc-shaped plate-shaped structure with the front ends tilted upwards, or may be provided with a flat-plate-shaped structure with the elevation angle between the first grout guide part 4021 and the advancing direction of the troweling device larger than zero, and this arrangement enables the laitance on the construction surface to be primarily screeded by the first main plate part 4022 and the comb teeth part 4023 in sequence along the bottom surface profile of the first grout guide part 4021, so that the laitance scraped to the upper surface of the troweling plate 402 is reduced, the height of the laitance on the construction surface after being scraped by the comb teeth part 4023 is further reduced, the laitance is more easily covered by the troweling plate 403, and the laitance scraped to the upper surface of the troweling plate 403 is reduced.
Further, the troweling plate 403 includes a second slurry guiding portion 4031 and a second main plate portion 4032 that are sequentially connected end to end from front to back in the traveling direction of the troweling device, the height of the second slurry guiding portion 4031 gradually decreases from front to back, and the second main plate portion 4032 is provided with a straight plate-shaped structure. Specifically, the second grout guide 4031 may be provided with an arc-shaped plate-shaped structure with the front end tilted upwards, or may be provided with a flat-plate-shaped structure with an elevation angle larger than zero with the advancing direction of the troweling device, and this arrangement enables the floating grout on the construction surface to be trowelled by the second main plate 4032 along the bottom contour of the second grout guide 4031, so that the floating grout scraped to the upper surface of the troweling plate 403 is reduced, and the quality of filling grout in a relatively low-lying part of the construction surface is ensured.
Preferably, the combing plate 402 and the troweling plate 403 are connected to the mounting frame 404 side by side through the buckles 409, so that the structure is simple and compact, and the operation is easy.
Further, the slurry combing and troweling mechanism 4 further comprises a lifting assembly, the lifting assembly is mounted on the body 1 through the first rack 301, and the lifting assembly is connected with the mounting frame 404. Specifically, the lifting assembly comprises a second frame 401 and a second linear driving element 406, the second frame 401 is fixedly connected with the first frame 301, the second linear driving element 406 is mounted on the second frame 401, the second linear driving element 406 can extend and retract along the vertical direction, the output end of the second linear driving element 406 is connected with the mounting frame 404, and under the driving of the second linear driving element 406, the combing plate 402 and the troweling plate 403 can be lifted synchronously to adjust the height of the troweling paste.
Preferably, the second linear driving member 406 is an electric push rod, which not only has a compact structure, but also has high motion precision and good self-locking performance. Of course, in other embodiments, other linear actuators such as air cylinders, oil cylinders, etc. may be used for the second linear actuator 406.
Further, a wedge block 405 is further arranged between the output end of the second linear driving element 406 and the mounting frame 404, the upper bottom surface of the wedge block 405 is arranged along the horizontal direction, the height of the lower bottom surface is gradually increased along the advancing direction of the troweling device, the output end of the second linear driving element 406 is connected to the upper bottom surface of the wedge block 405, and the mounting frame 404 is connected to the lower bottom surface of the wedge block 405, so that the elevation angle between the whole combing plate 402 and the troweling plate 403 and the advancing direction of the troweling device is larger than zero, and the troweling smoothness and the troweling quality are improved.
Preferably, the lifting assembly further comprises a sliding rail 407 and a sliding block 408, wherein the sliding rail 407 is disposed on the second frame 401 along the vertical direction, the sliding block 408 is connected to the wedge block 405 through a movable plate 410, and the output end of the second linear driving element 406 is also connected to the wedge block 405 through the movable plate 410. The arrangement of the slide rails 407 and the slide blocks 408 provides a reliable guiding function for the synchronous lifting of the combing plate 402 and the troweling plate 403.
Further, the roller travelling mechanism comprises a front roller 21, a rear roller 22 and a roller driving motor, wherein the front roller 21 and the rear roller 22 can roll on the construction surface, the rear roller 22 is arranged at the rear end of the front roller 21 at intervals, and the roller driving motor is in transmission connection with at least one of the front roller 21 and the rear roller 22 and is used for driving the front roller 21 and the rear roller 22 to roll so as to compact the construction surface.
Specifically, when the floating device was operated on the construction face, the vibrating roller 302 butt construction face under the action of gravity, preceding cylinder 21 and rear drum 22 roll on the construction face jointly, when driving body 1 and marching, carried out preliminary roll extrusion to the thick liquids on the construction face and carried thick liquid, vibrating roller 302 vibrates under vibrating motor 303's drive, carries out the secondary to the thick liquids that carry thick liquid through preliminary roll extrusion and carries out the thick liquid. Then, the combing pulp plate 402 and the troweling plate 403 cooperate to complete the high and low filling operation of the construction surface, and the final troweling of the construction surface is realized.
Preferably, the upper bottom surface of the wedge block 405 is further provided with a laser receiver 6, the laser receiver 6 is used for acquiring the position information of the laser base surface, and the lifting assembly can adjust the heights of the combing plate 402 and the troweling plate 403 according to the position information received by the laser receiver 6. Particularly, can set up laser emitter on the construction face, with the transmission laser base face, the laser base face can be parallel with the horizontal plane, laser receiver 6 can receive the laser signal of laser emitter transmission, with the information of obtaining the distance between carding plate 402 or troweling board 403 and the construction face, lifting unit can obtain the distance information that laser receiver 6 obtained, with the distance information between adjustment carding plate 402 and troweling board 403 and the construction face, thereby can make comb thick liquid troweling knife mechanism 4 can be with the construction face floating to same level department, improve the effect of floating the operation.
Preferably, the lifting assemblies and the laser receivers 6 are arranged in two numbers, the two lifting assemblies are symmetrically arranged relative to the advancing direction of the floating device, and the two laser receivers 6 are also symmetrically arranged relative to the advancing direction of the floating device.
Preferably, the floating device further comprises an auxiliary traveling mechanism 5, the auxiliary traveling mechanism 5 is installed on the body 1 and arranged between the front roller 21 and the rear roller 22, and the auxiliary traveling mechanism 5 can drive the body 1 to travel, can also rotate around the vertical direction relative to the body 1, and can stretch and retract along the vertical direction. When the floating device needs to keep constant posture and change the motion direction, the auxiliary walking mechanism 5 retracts along the vertical direction, rotates to the target direction around the vertical direction, extends out along the vertical direction, jacks up the body 1 and finally drives the body 1 to move. The walking, stretching and rotating motion of the auxiliary walking mechanism 5 can be realized by matching the driving parts such as the existing motor and the electric push rod with the transmission mechanisms such as the speed reducer and the ball screw, belonging to the prior art and not being repeated herein.
Further, the present embodiment also provides a floating robot, which includes the floating device described above.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A troweling apparatus, comprising:
a body (1);
a roller traveling mechanism which is mounted on the body (1) and can travel along a construction surface; and
the vibrating slurry lifting mechanism (3) is mounted on the body (1) and is positioned behind the roller travelling mechanism in the advancing direction of the trowelling device, the vibrating slurry lifting mechanism (3) can be abutted against a construction surface, and slurry on the construction surface is lifted through vibration;
the auxiliary walking mechanism (5) is installed on the body (1), the auxiliary walking mechanism (5) can drive the body (1) to walk and can also rotate around the vertical direction, and stretch along the vertical direction, so as to stretch out and jack up the body (1) along the vertical direction.
2. The troweling device according to claim 1, characterized in that said vibrating and pulp-extracting mechanism (3) comprises:
a first frame (301) connected to the body (1);
the vibrating assembly is connected with the first rack (301) in a sliding mode in the vertical direction and comprises a vibrating roller (302) and a vibrating motor (303) used for driving the vibrating roller (302) to vibrate.
3. The troweling device according to claim 2, characterized in that said vibrating and pulp-extracting mechanism (3) further comprises:
the first linear driving part (306) is installed on the first rack (301), the output end of the first linear driving part (306) is in transmission connection with the vibrating assembly, and the first linear driving part (306) can drive the vibrating assembly to move in the vertical direction.
4. The troweling device according to claim 3, wherein the vibrating assembly further comprises:
vibration roof beam (304), with the output of first linear drive spare (306) is connected, vibrating motor (303) install in on vibration roof beam (304), vibrating roller (302) set up in the below of vibration roof beam (304), with vibration roof beam (304) rotate to be connected, and can roll on the construction face.
5. The troweling device according to claim 4, characterized in that said vibrating and pulp-extracting mechanism (3) further comprises:
the guide shaft (307) is arranged along the vertical direction, the upper end of the guide shaft is in transmission connection with the output end of the first linear driving piece (306), and the lower end of the guide shaft is connected with the vibrating assembly; and
the guide shaft (307) is vertically and slidably connected with the body (1) through the linear bearing (308).
6. The troweling device according to claim 5, characterized in that a vibration isolator (309) is further provided between the guide shaft (307) and the vibrating assembly for blocking the vibrating assembly from transmitting vibrations along the guide shaft (307) to the body (1).
7. The troweling device according to claim 1, characterized in that it further comprises:
comb thick liquid spatula mechanism (4), install in body (1), and locate on the floating device advancing direction the rear of vibration carrying thick liquid mechanism (3) includes:
the slurry combing plate (402) comprises a comb tooth structure for scraping the raised slurry on the construction surface; and
and a troweling plate (403) which is arranged behind the combing plate (402) and can be abutted against and trowel a construction surface, wherein the lowest point of the combing plate (402) is higher than the lowest point of the troweling plate (403).
8. The device according to claim 7, characterized in that said comb plate (402) comprises, arranged in succession along the direction of travel of the device:
a first slurry guide part (4021) with a height gradually reduced from front to back;
a first main plate part (4022) with the front end connected with the rear end of the first slurry guide part (4021) and provided with a straight plate-shaped structure; and
and the comb teeth part (4023) is gradually lowered from the front to the back, the front end of the comb teeth part is connected with the back end of the first main plate part (4022), and the back end of the comb teeth part is provided with the comb teeth structure.
9. Troweling device according to claim 7, characterized in that said comb trowel mechanism (4) further comprises:
the lifting assembly is arranged on the body (1), the output end of the lifting assembly is simultaneously connected with the combing plate (402) and the troweling plate (403), and the lifting assembly can drive the combing plate (402) and the troweling plate (403) to synchronously lift.
10. A troweling robot characterized by comprising the troweling apparatus according to any one of claims 1 to 9.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010274770.0A CN111441592B (en) | 2020-04-09 | 2020-04-09 | Floating device and floating robot |
| SG11202108548UA SG11202108548UA (en) | 2020-04-09 | 2020-10-13 | Troweling device and troweling robot |
| US17/427,458 US20220213655A1 (en) | 2020-04-09 | 2020-10-13 | Troweling device and troweling robot |
| EP20914774.3A EP3916173A4 (en) | 2020-04-09 | 2020-10-13 | Screeding device and screeding robot |
| AU2021209289A AU2021209289A1 (en) | 2020-04-09 | 2020-10-13 | Troweling device and troweling robot |
| JP2021545892A JP7254942B2 (en) | 2020-04-09 | 2020-10-13 | Leveling device and leveling robot |
| CA3126473A CA3126473A1 (en) | 2020-04-09 | 2020-10-13 | Troweling device and troweling robot |
| PCT/CN2020/120690 WO2021203660A1 (en) | 2020-04-09 | 2020-10-13 | Screeding device and screeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010274770.0A CN111441592B (en) | 2020-04-09 | 2020-04-09 | Floating device and floating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111441592A CN111441592A (en) | 2020-07-24 |
| CN111441592B true CN111441592B (en) | 2022-03-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010274770.0A Active CN111441592B (en) | 2020-04-09 | 2020-04-09 | Floating device and floating robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN111441592B (en) |
| AU (1) | AU2021209289A1 (en) |
| WO (1) | WO2021203660A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111441592B (en) * | 2020-04-09 | 2022-03-08 | 广东博智林机器人有限公司 | Floating device and floating robot |
| CN112065010B (en) * | 2020-09-15 | 2022-07-01 | 广东博智林机器人有限公司 | Floating actuator and platform driving system |
| CN112343316B (en) * | 2020-11-23 | 2022-07-08 | 广东博智林机器人有限公司 | Leveling equipment |
| CN112962973A (en) * | 2021-02-08 | 2021-06-15 | 成都大学 | Concrete floating device for civil engineering |
| CN114991437B (en) * | 2021-03-01 | 2023-06-20 | 广东博智林机器人有限公司 | Vibrating slurry lifting device and trowelling robot |
| CN113445715B (en) * | 2021-07-14 | 2022-07-08 | 日照市国丰远大住宅工业有限公司 | Concrete vibrations formula concrete trowelling machine |
| CN113622607B (en) * | 2021-09-15 | 2024-02-23 | 东莞市简从科技有限公司 | Slurry paving construction method and vibrating slurry lifting robot |
| CN114197311A (en) * | 2021-11-03 | 2022-03-18 | 中铁三局集团有限公司 | High-speed railway box girder bridge floor vibrating device |
| CN113914588A (en) * | 2021-11-17 | 2022-01-11 | 广东博智林机器人有限公司 | Floating equipment and floating robot |
| CN114352026A (en) * | 2021-12-03 | 2022-04-15 | 张冬冬 | Concrete surface layer degree of depth carries thick liquid device |
| CN114434624A (en) * | 2022-01-28 | 2022-05-06 | 南京钜力智能制造技术研究院有限公司 | Cloth vibrating and trowelling integrated machine |
| CN114457983B (en) * | 2022-02-28 | 2023-09-22 | 广东博智林机器人有限公司 | Interactive system, plastering robot and plastering method |
| CN114855803B (en) * | 2022-04-22 | 2023-12-15 | 北京路桥瑞通科技发展有限公司 | Slope/revetment and retaining wall brickwork joint quick trowelling device |
| CN114875920B (en) * | 2022-05-26 | 2023-08-15 | 青海中煤地质工程有限责任公司 | Geological disaster prevention and control engineering body back side backfilling equipment |
| CN115198587B (en) * | 2022-07-15 | 2023-12-15 | 中交基础设施养护集团有限公司 | Construction method of color concrete ground for pavement reconstruction |
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| US6227761B1 (en) * | 1998-10-27 | 2001-05-08 | Delaware Capital Formation, Inc. | Apparatus and method for three-dimensional contouring |
| US7293938B1 (en) * | 2005-06-30 | 2007-11-13 | Suckow Robert E | Breakdown screed plate |
| CN202493036U (en) * | 2012-03-08 | 2012-10-17 | 闫飞 | Concrete pull-and-push plate |
| CN104264572A (en) * | 2014-10-21 | 2015-01-07 | 西安海迈重工机械有限公司 | Troweling head system of laser troweling machine |
| CN205637611U (en) * | 2016-04-18 | 2016-10-12 | 台州市正禹建设有限公司 | Building concreted structure levels device |
| CN110528889B (en) * | 2019-08-26 | 2021-07-27 | 广东博智林机器人有限公司 | Scraping and leveling robot |
| CN110528887A (en) * | 2019-08-26 | 2019-12-03 | 广东博智林机器人有限公司 | Smooth out robot scrapes sweeping device and floating robot |
| CN110528839B (en) * | 2019-08-26 | 2021-04-13 | 广东博智林机器人有限公司 | Floating robot |
| CN110629643B (en) * | 2019-09-20 | 2021-07-13 | 广东博智林机器人有限公司 | Floating robot |
| CN110924686B (en) * | 2019-12-19 | 2021-09-07 | 广东博智林机器人有限公司 | Floating robot |
| CN111441592B (en) * | 2020-04-09 | 2022-03-08 | 广东博智林机器人有限公司 | Floating device and floating robot |
-
2020
- 2020-04-09 CN CN202010274770.0A patent/CN111441592B/en active Active
- 2020-10-13 WO PCT/CN2020/120690 patent/WO2021203660A1/en unknown
- 2020-10-13 AU AU2021209289A patent/AU2021209289A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021203660A1 (en) | 2021-10-14 |
| CN111441592A (en) | 2020-07-24 |
| AU2021209289A1 (en) | 2021-10-28 |
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