Patent Publication Number: US-2022213655-A1

Title: Troweling device and troweling robot

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims priority to Chinese Patent Application No. 202010274770.0, entitled “troweling device and troweling robot”, filed on Apr. 9, 2020, the content of which is incorporated herein by reference in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates to the technical field of construction machinery, in particular to a troweling device and a troweling robot. 
     BACKGROUND 
     In the field of construction, troweling a construction surface is one of the indispensable processes. The conventional troweling device travels via a roller, which has functions of slurry rolling and extracting, but for a working surface of concrete that is in an initial setting stage after leveling, the slurry extracting effect is poor, and the floating slurry is insufficient, resulting in that the quality of subsequent troweling cannot be guaranteed. 
     Technical problems of how to improve the slurry extracting effect and ensure the quality of subsequent troweling are required to be solved by those skilled in the art. 
     SUMMARY 
     Accordingly, an objective of the present disclosure is to provide a troweling device and a troweling robot, which can improve the slurry extracting effect and ensure the construction quality of subsequent troweling. 
     To achieve the above objective, the present disclosure adopts the following technical solutions. 
     A troweling device includes: 
     a main bod; 
     a roller traveling mechanism mounted on the main body and capable of traveling along a construction surface; and 
     a vibrating slurry extracting mechanism mounted on the main body. The vibrating slurry extracting mechanism is located behind the roller traveling mechanism in a traveling direction of the troweling device. The vibrating slurry extracting mechanism is capable of abutting against the construction surface, and performing slurry extracting on slurry on the construction surface through vibration. 
     In one of the embodiments, the vibrating slurry extracting mechanism includes: 
     a first frame connected to the main body; 
     a vibrating assembly slidably connected to the first frame in a vertical direction. The vibrating assembly includes a vibrating roller and a vibration motor configured to drive the vibrating roller to vibrate. 
     In one of the embodiments, the vibrating slurry extracting mechanism further includes: 
     a first linear driving member mounted on the first frame. An output end of the first linear driving member is connected to the vibrating assembly in a transmission manner. The first linear driving member is capable of driving the vibrating assembly to move in the vertical direction. 
     In one of the embodiments, the vibrating assembly further includes: 
     a vibration beam connected to the output end of the first linear driving member. The vibration motor is mounted on the vibration beam. The vibrating roller is provided below the vibration beam. The vibrating roller is rotatable connected to the vibration beam and is capable of rolling on the construction surface. 
     In one of the embodiments, the vibrating slurry extracting mechanism further includes: 
     a guide shaft provided in the vertical direction, an upper end of the guide shaft being connected to the output end of the first linear driving member in a transmission manner, and a lower end of the guide shaft being connected to the vibrating assembly; and 
     a linear bearing, wherein the guide shaft is vertically slidably connected to the main body through the linear bearing. 
     In one of the embodiments, a vibration isolator is further provided between the guide shaft and the vibrating assembly. The vibration isolator is configured to prevent the vibrating assembly from transmitting the vibration to the main body along the guide shaft. 
     In one of the embodiments, the troweling device further includes: 
     a slurry combing spatula mechanism mounted on the main body and provided behind the vibrating slurry extracting mechanism in the traveling, direction of the troweling, device. The slurry combing spatula mechanism includes: 
     a slurry combing plate, including, a comb tooth structure configured to smooth raised slurry on the construction surface, and 
     a troweling plate provided behind the slurry combing plate and capable of abutting against and troweling the construction surface. A lowest point of the slurry combing plate is located at a position higher than a position where a lowest point of the troweling plate is located. 
     In one of the embodiments, the slurry combing plate includes, sequentially provided along the traveling, direction of the troweling device: 
     a first slurry guiding portion having a height that gradually decreases from front to back; 
     a first main plate portion having a front end that is connected to a rear end of the first slurry guiding portion, and the first main plate portion being provided as a flat and straight plate structure; and 
     a comb tooth portion having a height that gradually decreases from front to back. A front end of the comb tooth portion is connected to a rear end of the first main plate portion, and a rear end of the comb tooth portion is provided with a comb tooth structure. 
     In one of the embodiments, the slurry combing spatula mechanism further includes: 
     a lifting assembly mounted on the main body. An output end of the lifting assembly is connected to both the slurry combing, plate and the troweling plate, and is capable of driving the slurry combing plate and the troweling plate to move up and down synchronously. 
     A troweling robot is further provided, which includes the above-mentioned troweling device. 
     The beneficial effects of the present disclosure are as follows. 
     The troweling device according to the present disclosure includes a roller traveling, mechanism and a vibrating slurry extracting mechanism. When the troweling device is working, the roller traveling, mechanism drives the whole troweling device to move on the construction surface. On the one hand, the roller traveling mechanism performs preliminary slurry rolling and extracting on the slurry on the construction surface, on the other hand, the vibrating slurry extracting mechanism abuts against the construction surface under gravity, and vibrates on the construction surface so as to perform secondary slurry extracting on the slurry on the construction surface. The troweling device according to the present disclosure extracts the slurry twice in a working stroke, thereby ensuring sufficient floating slurry, improving the slurry extracting effect, and guaranteeing the quality of subsequent troweling. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In order to illustrate the technical solutions in the embodiments of the present disclosure more clearly, the accompanying drawings used in the description of the embodiments of the present disclosure will be briefly introduced below. Apparently, the drawings in the following description are merely some embodiments of the present disclosure. For those of ordinary skill in the art, without creative work, other drawings can be derived from the content of the embodiments of the present disclosure and these drawings. 
         FIG. 1  is a front view of a troweling device according to an embodiment of the present disclosure. 
         FIG. 2  is a schematic structural view of a troweling device according to an embodiment of the present disclosure. 
         FIG. 3  is an enlarged schematic view of an area A in  FIG. 2 . 
         FIG. 4  is a schematic structural view of a vibrating slurry extracting mechanism according to an embodiment of the present disclosure. 
         FIG. 5  is a front view of a vibrating slurry extracting mechanism according to an embodiment of the present disclosure. 
         FIG. 6  is a partial schematic view of a troweling device according to an embodiment of the present disclosure. 
         FIG. 7  is a schematic structural view of a slurry combing plate according to an embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in further detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are merely a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present disclosure. 
     As shown in  FIGS. 1 to 7 , the present embodiment provides a troweling device for troweling a construction surface. The troweling device has a prominent troweling effect, especially on a working surface of concrete in an initial setting stage. The troweling device includes a main body  1 , a roller traveling mechanism and a vibrating slurry extracting mechanism  3 . The roller traveling mechanism is mounted on the main body  1 . The vibrating slurry extracting mechanism  3  is mounted on the main body  1 , and is located behind the roller traveling mechanism in a traveling direction of the troweling device. The vibrating slurry extracting mechanism  3  includes a first frame  301  and a vibrating assembly. The first frame  301  is connected to the main body  1 . The vibrating assembly is slidably connected to the first frame  301  in a vertical direction. The vibrating assembly includes a vibrating roller  302  and a vibration motor  303  configured to drive the vibrating roller  302  to vibrate. When the troweling device is working, the roller traveling mechanism drives the whole troweling device to move on the construction surface. On the one hand, the roller traveling mechanism performs preliminary slurry rolling and extracting on slurry on the construction surface; on the other hand, the vibrating roller  302  of the vibrating slurry extracting mechanism  3  abuts against the construction surface under gravity, and the vibration motor  303  drives the vibrating roller  302  to vibrate on the construction surface so as to perform secondary slurry extracting on the slurry on the construction surface. The troweling device according to this embodiment extracts the slurry twice successively in a working stroke, thereby ensuring sufficient floating slurry, improving the slurry extracting effect, and guaranteeing the quality of subsequent troweling. 
     Further, the vibrating assembly further includes a vibration beam  304 . The vibration motor  303  is mounted at a center of the vibration beam  304  in its extending direction through a mounting plate  305 . Both ends of the vibration beam  304  are rotatably connected to and correspond to both ends of the vibrating roller  302  respectively. When the troweling device travels for working, the vibrating roller  302  rolls on the construction surface, while the vibration motor  303  mounted on the vibration beam  304  drives itself to vibrate, thus driving the vibrating roller  302  to vibrate together to vibrate the slurry on the construction surface, thereby achieving the slurry extracting effect. 
     Certainly, the vibrating roller  302  can also abut against the construction surface driven by a driving member. Specifically, the vibrating slurry extracting mechanism  3  further includes a first linear driving member  306 . The first linear driving member  306  is mounted on the first frame  301 . An output end of the first linear driving member  306  is connected to the vibration beam  304  in a transmission manner. When the troweling device is in a non-working state or needs to pass over obstacles, the first linear driving member  306  retracts in the vertical direction, driving the vibrating assembly to move vertically upwards. When the troweling device is required to be switched to a working state, the first linear driving member  306  extends in the vertical direction, driving the vibrating assembly to move vertically downwards and abut against the construction surface. 
     In one of the embodiments, the first linear driving member  306  adopts an electric push rod. Therefore, the first linear driving member  306  not only has a compact structure, but also has high precision in movement and good self-locking performance. Certainly, in other embodiments, the first linear driving member  306  may also adopt other linear driving members such as air cylinders and oil cylinders and the like. 
     Further, the vibrating slurry extracting mechanism  3  further includes a guide shaft  307  and a linear bearing  308 . The guide shaft  307  is provided in the vertical direction, an upper end of which is connected to the output end of the first linear driving member  306  in a transmission manner, and a lower end of which is connected to the vibration beam  304 . The linear bearing  308  is fixedly connected to the main body  1 . The guide shaft  307  extends through the linear bearing  308 . The guide shaft  307  and the linear bearing  308  together provide reliable guidance to move the vibrating assembly up and down. 
     In one of the embodiments, a vibration isolator  309  is provided between the guide shaft  307  and the vibration beam  304 . 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 , to prevent the vibrating assembly from transmitting vibration to the main body  1  along the guide shaft  307 . When the vibrating slurry extracting mechanism  3  is working, the vibration isolator  309  can reduce an impact of the vibration generated by the vibration motor  303  on other components of the troweling device except the vibrating assembly, ensuring the overall construction quality. 
     Further, two guide shafts  307  are provided in the vibrating slurry extracting mechanism  3 . Correspondingly, two linear bearings  308  are provided to match the guide shafts  307  in a one-to-one correspondence. A beam  311  is further horizontally provided between the first linear driving member  306  and the guide shaft  307 . A middle portion of the beam  311  is connected to the output end of the first linear driving member  306 . Both ends of the beam  311  are respectively connected to the two guide shafts  307 . Specifically, the two sets of guide shafts  307  and linear bearings  308  jointly guide the vibrating assembly to move up and down, such that the moving up and down of the vibrating assembly is more stable, and rotation of the vibrating assembly in a horizontal direction with respect to the first frame  301  is restricted. 
     Furthermore, the troweling device further includes a combing spatula mechanism  4 , which is mounted on the main body  1 , and is provided behind the vibrating slurry extracting mechanism  3  in the traveling direction of the troweling device. The combing spatula mechanism  4  includes a slurry combing plate  402  and a troweling plate  403 . The slurry combing plate  402  is provided with a comb tooth structure extending in a horizontal direction perpendicular to the traveling direction of the troweling device. The troweling plate  403  is provided behind the slurry combing plate  402 . A lowest point of the slurry combing plate  402  is located at a position higher than a position where a lowest point of the troweling plate  403  is located. Specifically, after the roller traveling mechanism and the vibrating slurry extracting mechanism  3  have successively performed slurry extracting on the construction surface twice, the slurry combing plate  402  firstly passes through the construction surface subjected to the slurry extracting, and thus the comb tooth structure on the slurry combing plate  402  can effectively smooth the raised slurry on the construction surface. Following closely, the troweling plate  403  passes through the construction surface smoothed by the slurry combing plate  402 . Since the height of the lowest point of the troweling plate  403  is lower than that of the slurry combing board  402  and the troweling plate  403  abuts against the construction surface, the troweling plate  403  can effectively fill relatively depressed areas of the construction surface with the floating slurry on the construction surface. The slurry combing plate  402  and the troweling plate  403  cooperatively complete the work of removing the heights and filling in the depressions on the construction surface improving the flatness of the construction surface and ensuring the construction accuracy. 
     Further, the slurry combing plate  402  includes a first slurry guiding portion  4021 , a first main plate portion  4022 , and a comb tooth portion  4023  that are sequentially connected end to end, from front to back along the traveling direction of the troweling device. A height of the first slurry guiding portion  4021  gradually decreases from front to back. The first main plate portion  4022  is provided as a flat and straight plate structure. A height of the comb tooth portion  4023  gradually decreases from front to back. A rear end of the comb tooth portion  4023  is provided with a comb tooth structure extending in the horizontal direction perpendicular to the traveling direction of the troweling device. Specifically, the first slurry guiding portion  4021  and the comb tooth portion  4023  can be provided as an arc-shaped plate structure with a front end tilted upward, or can be provided as a flat plate structure which has an elevation angle with the traveling direction of the troweling device greater than zero. Through such configuration, the floating slurry on the construction surface is preliminary smoothed along a bottom surface contour of the first slurry guiding portion  4021  by the first main plate portion  4022  and the comb tooth portion  4023 , reducing the floating slurry scraped to an upper surface of the slurry combing plate  402 . In addition, it can further reduce a height of the floating slurry on the construction surface after being scraped by the comb tooth portion  4023 , such that the floating slurry is easier to be covered by the troweling plate  403  thus reducing the floating slurry that is scraped to an upper surface of the troweling plate  403 . 
     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 along the traveling direction of the troweling device. The second slurry guiding portion  4031  gradually decreases in height from front to back. The second main plate portion  4032  is provided as a flat and straight plate structure. Specifically, the second slurry guiding portion  4031  can be provided as an arc-shaped plate structure with a front end tilted upward, or can be provided as a flat plate structure which has an elevation angle with the traveling direction of the troweling device greater than zero. Through such configuration, the floating slurry on the construction surface is troweled along a bottom surface contour of the second slurry guiding portion  4031  by the second main plate portion  4032 , reducing the floating slurry scraped to an upper surface of the troweling plate  403 , ensuring quality of filling the relatively depressed areas of the construction surface with the slurry. 
     In one of the embodiments, the slurry combing plate  402  and the troweling plate  403  are both connected to the mounting frame  404  side by side by a snap-fit  409 , resulting in a simple and compact structure and easy manipulation. 
     Furthermore, the slurry combing spatula mechanism  4  further includes a lifting assembly, which is mounted on the main body  1  through the first frame  301 . The lifting assembly is connected to the mounting frame  404 . Specifically, the lifting assembly includes a second frame  401  and a second linear driving member  406 . The second frame  401  is fixedly connected to the first frame  301 . The second linear driving member  406  is mounted on the second frame  401 . The second linear driving member  406  can extend and retract in the vertical direction. An output end of the second linear driving member  406  is connected to the mounting frame  404 . Driven by the second linear driving member  406 , the slurry combing plate  402  and the troweling plate  403  can be moved up and down synchronously, thus adjusting a height of the troweled slurry. 
     In one of the embodiments, the second linear driving member  406  adopts an electric push rod. Therefore, the second linear driving member  406  is not only compact in structure, but also has high precision in movement and good self-locking performance. Certainly, in other embodiments, the second linear driving member  406  may also adopt other linear driving members such as air cylinders and oil cylinders. 
     Further, a wedge block  405  is further provided between the output end of the second linear driving member  406  and the mounting frame  404 . An upper bottom surface of the wedge block  405  is provided in the horizontal direction, and a lower bottom surface thereof gradually increases in height along the traveling direction of the troweling device. The output end of the second linear driving member  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 , such that the slurry combing plate  402  and the troweling plate  403  as a whole has an elevation angle with the traveling direction of the troweling device greater than zero, which improves the smoothness and quality of troweling. 
     In one of the embodiments, the lifting assembly further includes a sliding rail  407  and a slider  408  that are slidably connected. The sliding rail  407  is provided on the second frame  401  in the vertical direction. The slider  408  is connected to the wedge block  405  through a movable plate  410 . The output end of the second linear driving member  406  is also connected to the wedge block  405  through the movable plate  410 . The configuration of the sliding rail  407  and the slider  408  provides a reliable guidance for the synchronous moving up and down of the slurry combing plate  402  and the troweling plate  403 . 
     Further, the roller traveling mechanism includes a front roller  21 , a rear roller  22  and a roller driving motor. Both the front roller  21  and the rear roller  22  can roll on the construction surface. The rear roller  22  is disposed at a rear end of the front roller  21  and spaced apart from it. The roller driving motor is connected to at least one of the front roller  21  and the rear roller  22  in a transmission manner, in order to drive the front roller  21  and the rear roller  22  to roll, so as to compact the construction surface. 
     Specifically, when the troweling device is working on the construction surface, the vibrating roller  302  abuts against the construction surface under gravity, and both the front roller  21  and the rear roller  22  are rolled on the construction surface, driving the main body  1  to move, while the slurry on the construction surface undergoes preliminary slurry rolling and extracting. The vibrating, roller  302  vibrates driven by the vibration motor  303 , so as to perform secondary slurry extracting on the slurry subjected to the preliminary slurry rolling and extracting. Then, the slurry combing plate  402  and the troweling plate  403  cooperatively complete the work of removing the heights and filling in the depressions on the construction surface, thus realizing a final troweling of the construction surface. 
     In one of the embodiments, a laser receiver  6  is further provided on the upper bottom surface of the wedge block  405 . The laser receiver  6  is used to obtain a position information of a laser base surface. The lifting assembly can adjust the heights of the slurry combing plate  402  and the troweling plate  403  according to the position information received by the laser receiver  6 . Specifically, the laser transmitter can be provided on the construction surface to emit the laser base surface. The laser base surface can be parallel to a horizontal plane. The laser receiver  6  can receive a laser signal emitted by the laser transmitter to obtain an information of a distance between the slurry combing plate  402  or the troweling plate  403  and the construction surface and the lifting assembly can obtain the distance information obtained by the laser receiver  6  to adjust the distance information between the slurry combing plate  402  and the construction surface and between the troweling plate  403  and the construction surface, such that the slurry combing spatula mechanism  4  can trowel the construction surface to the same height, thereby improving the effect of the troweling operation. 
     In one of the embodiments, two lifting assemblies and two laser receivers  6  are provided. The two lifting assemblies are symmetrically provided with respect to the traveling direction of the troweling device. The two laser receivers  6  are also provided symmetrically with respect to the traveling direction of the troweling device. 
     In one of the embodiments, the troweling device further includes an auxiliary traveling mechanism  5 , which is mounted on the main body  1 , and is provided between the front roller  21  and the rear roller  22 . The auxiliary traveling mechanism  5  can drive the main body  1  to travel, and can also rotate around the vertical direction with respect to the main body  1 , and extend and retract in the vertical direction. When the troweling device is required to change a moving direction in the case of maintaining a constant posture, the auxiliary traveling mechanism  5  firstly retracts in the vertical direction, and rotates to a target direction around the vertical direction, then extends in the vertical direction and raises the main body  1 , and finally drives the main body  1  to move. The traveling, extending, and retracting, and rotating motions of the auxiliary traveling mechanism  5  can be respectively realized through the cooperation of driving members such as conventional motors, electric push rods, and transmission mechanisms such as speed reducers, ball screws and the like, which belong to the prior art and will not be repeated here. 
     Furthermore, this embodiment also provides a troweling robot, which includes the above-mentioned troweling device. 
     It should be noted that the above only illustrates the embodiments and the applied technical principles of the present disclosure. It can be understood by those skilled in the art that the present disclosure is not limited to the specific embodiments described herein. To those skilled in the art, various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments, and can also include more equivalent embodiments without departing from the concept of the present disclosure. The scope of present disclosure shall be subject to the appended claims.