CN108798028A - A kind of concrete vibrating machine people - Google Patents
A kind of concrete vibrating machine people Download PDFInfo
- Publication number
- CN108798028A CN108798028A CN201810600010.7A CN201810600010A CN108798028A CN 108798028 A CN108798028 A CN 108798028A CN 201810600010 A CN201810600010 A CN 201810600010A CN 108798028 A CN108798028 A CN 108798028A
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- China
- Prior art keywords
- vibrating
- pedipulator
- mechanical
- fixed
- concrete
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- E04G21/06—Solidifying concrete, e.g. by application of vacuum before hardening
- E04G21/08—Internal vibrators, e.g. needle vibrators
Abstract
The present invention is to be related to a kind of concrete vibrating machine people, can be used for vibrating for concrete on construction site.The present invention is mainly made of following sections：1. six sufficient formula mobile chassis；2. control assembly；3. drive module；4. module of vibrating.Vibrating spear is fixed on multilegged robot by the present invention, the travel direction and speed of the robot that can be vibrated by APP wireless remote controls, can be realized and accurately vibrated with the unlatching of wireless remote control vibrating spear and frequency of vibrating.Small volume of the present invention can adapt to the landform of narrow complexity；Vibration compacting Du Dugao, quality of vibrating is good, and vibration efficiency is high, time saving and energy saving, round-the-clock can vibrate；Shorten the construction period easy to operate, upper quick-moving, the requirement to staff is relatively low.The robot that vibrates can easily be controlled by cell phone application to travel and vibrate, to construction personnel muscle power and skill requirement vibrate far below hand-held.The present invention is by installation and simulation of vibrating, it was demonstrated that the feasibility and reliability of its vibrated concrete.
Description
Technical field
The present invention relates to a kind of robot models, relate in particular to one kind and belonging to engineering construction field, can be used for coagulation
The intelligent robot that soil vibrates.
Background technology
In construction process, concrete performance by many factors such as material, environment, construction and standard shadow
It rings.From the point of view of construction angle is to the influence of concrete performance, concrete vibrating technique is undoubtedly mostly important influence factor.It is mixed
The compaction rate that solidifying soil vibrates directly affects the intensity of concrete, the impervious and performances such as freeze proof, to building engineering construction quality and
Using having a huge impact.Currently, domestic concrete vibrating technique is in relatively backward state, only up to abroad prosperity
National 40 years pervious levels, are primarily present the deficiency of three aspects：1. quality of vibrating standard is low, detection means falls behind.Cement
In concrete product and concrete mix quality control standards (QCS), the internal mass standards of the frequency of vibrating and concrete body lack
Weary, measuring means falls behind.Lack and intuitively vibrates frequency measuring instrument and standard in order to hold data in construction.The country is mixed
The quality of vibrating standard that solidifying native produce itself is set is low, and concrete vibrating quality control standards (QCS) is not stringent, lacks corresponding inspection
Means lead to concrete product poor quality；2. construction environment is severe, Vibration Technology is complicated.In some engineerings, concrete shakes
Smash live bar-mat reinforcement and template be densely distributed, narrow space, construction personnel is difficult to enter, cause quality of vibrating cannot be guaranteed or
It can not vibrate, reduce the service life of concrete.3. concrete vibrating code requirement is complicated, concrete vibration stick is as a plug
Example, code requirement straight up and down, pull out slowly by fast insert, and point is uniform, and speed is moderate etc. is inserted, to operator's degree of being skilled in technique, sense of responsibility
Very high requirement is proposed with factors such as physical situations, concrete vibrating quality and efficiency are often difficult to ensure, have delayed engineering
Progress.
In order to improve concrete vibrating quality, vibration efficiency and precision are improved, the present invention proposes that a kind of new concrete shakes
Smash robot.
Invention content
In order to overcome the shortcomings of that existing Vibration Technology, the present invention provide a kind of concrete vibrating machine people, six sufficient formulas are moved
Dynamic structure and small and exquisite build can be good at adapting to the densely covered construction environment of reinforcing bar, improve the quality of vibrating of concrete transportation,
In addition, can more easily be vibrated by wireless remote control, it is time saving and energy saving, improve efficiency.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is：A kind of concrete vibrating machine people, including
Six sufficient formula mobile chassis, control assembly, drive module, module of vibrating, which is characterized in that described six sufficient formula mobile chassis are by bottom plate
It is formed with pedipulator；Bottom plate is made of two diplopore beams and two single hole beams, is distributed in groined type；Divide on four angle points of bottom plate
It is not fixed together by connecting shaft and pedipulator；In pan front arranged on left and right sides, a fixation is fixed by connecting shaft respectively
Leg, Convenient table can be rotated around connecting shaft；It is set to two mechanical foreleg connections of same single hole beam and is in herringbone, be set to
The mechanical back leg of two of same single hole beam connects and is in herringbone, and connection leg is connected with Convenient table, connection leg, mechanical foreleg, machine
Tool back leg is fixed on driving motor end；Connection leg, mechanical foreleg and mechanical back leg rotate together when driving motor rotates, machinery
With rotation ascending descending variation in cycles again occurs for angle between leg, and then realizes that robot advances
Or it retreats；When left and right driving motor rotating speed be arranged it is inconsistent when, robot rotate realization turning.
Left and right driving motor is used to respectively drive the rotation for the pedipulator installed on two single hole beams；The machinery
Leg includes mechanical back leg, mechanical foreleg, connection leg, Convenient table；Angle between pedipulator refers between two mechanical forelegs, two
Angle between mechanical back leg.
The control assembly is made of MegiPi control modules and sensor assembly；MegiPi control modules are fixed on bottom plate
On front beam, ultrasonic sensor, infrared sensor and bluetooth module are sequentially inserted into MegiPi control modules；USB interface
In front of MegiPi control modules, lithium battery is located at MegiPi control modules rear, and motor driving interface is located at MegiPi controls
On molding block.
Drive module is made of driving motor, optical axis and electric machine support；Two driving motors are solid by electric machine support respectively
It is scheduled on underframe longitudinal member；Driving motor end is connected with pedipulator, and pedipulator is driven to advance, and realizes robot traveling.Driving electricity
It is connect at machine link position directly common with mechanical foreleg, mechanical back leg, connection leg three.
Module of vibrating is made of vertical supports, 86RPM motors, gear, rotating bracket and vibrating spear；Two vertical beams are fixed
In on bottom plate rear cross beam and as vertical supports, rotary electric machine is fixed on by optical axis at the top of vertical supports, and gear wheel passes through light
Axis, gear wheel are engaged with rotary electric machine end pinion gear；Another two vertical beam passes through optical axis and is fixed on gear wheel, another two
Vertical beam rotates on optical axis together as rotating bracket and with gear wheel；Vibrating spear is fixed at the top of rotating bracket, is directed downward.
Six sufficient formula mobile chassis are mainly made of single hole beam, diplopore beam.Each pedipulator can be with pivoting, by single hole beam
Groined type frame both sides are individually fixed in by the six sufficient pedipulators that screw forms, middle leg and segmental appendage are fixed on driving motor turntable
On, leg rotates in being driven when driving motor starts, and according to machine driving, segmental appendage drives entire foreleg and back leg movement, entire machine
Device people can advance or retreat.By the two driving motor rotating speeds in setting left and right, the rotation of driving motor is realized.
Control assembly is mainly multiplexed by MegiPi electron plates, lithium battery, ultrasonic sensor, infrared sensor, direct current
Driving and bluetooth module composition.MegiPi electron plates are the integration hubs of electronic module, control plug-in in chip, pass through
Integrated circuit receives, sends digital signal and control motor, and bluetooth module realizes that wireless control, cell phone application send order and pass through
Bluetooth module sends order to control chip, controls moving and vibrating for robot.
Drive component mainly encodes motor, electric machine support and connection sheet by two 185RPM and forms.Coding motor is fixed on
Well word frame both sides are placed in by connection sheet on electric machine support, motor end part is not connected by optical axis with six sufficient formula pedipulators,
MegiPi electron plates are connect by motor lines with motor, are powered for it.
Module of vibrating mainly is made of single hole beam, diplopore beam, gear, 86RPM motors and vibrating spear.It is made of single hole beam
Holder is fixed in floor beam, and motor is fixed by the bracket on left side vertical beam, and inwardly, gear is fixed on across branch in direction
On the optical axis of frame, by being rotated with the engagement of motor end pinion gear, the vibrating spear rotation being fixed on optical axis is driven, is shaken
Tamper built-in power can pass through wireless aps P controls keying and power.
The workflow of concrete vibrating machine people's model is：It after powering on, turns on the power switch, passes through cell phone application
Instruction is sent to control chip, motor drives six sufficient formula pedipulator rotations, realizes and advance and turn to, and arrival is vibrated behind destination,
The motor rotation for module of being vibrated by APP controls, vibrating spear rotate with, and after vibrating spear is inserted into concrete, open switch, into
Row vibrates, and power and direction are adjusted immediately by APP in process of vibrating.
Compared with the existing technology, the present invention realizes following advantageous effect：（1）It is adaptable.Concrete vibrating machine people's mould
Type small volume can travel in narrow environment, and six sufficient formula pedipulators are compared with in-wheel driving, can reinforcing bar it is densely covered apply
Work scene is freely turned, and earth-grasping force is strong.（2）Vibration compacting Du Dugao, quality of vibrating are good.Compared with artificial vibrate, vibrate machine
The power and number to vibrate can be arranged in people, and the time and intensity to vibrate can meet code requirement, can give full play to coagulation
The performance of soil.（3）Vibration efficiency is high, time saving and energy saving, round-the-clock can vibrate, shortens the construction period.The robot that vibrates is affected by environment
It is small, it can be vibrated with 24 hours, save a large amount of time, be conducive to accelerate construction progress, shorten the construction period.（4）It is easy to operate, left-hand seat
Soon, relatively low to the requirement of staff.The robot that vibrates can easily be controlled by cell phone application to travel and vibrate, to applying
Worker person ground muscle power and skill requirement vibrate far below hand-held.
Description of the drawings
Fig. 1 is the stereoscopic figure of concrete vibrating machine people's model of the present invention；
Fig. 2 is the appearance left view of concrete vibrating machine people's model of the present invention；（The robot that vibrates is eliminated for the ease of observation
Motor lines）；
Fig. 3 is the appearance vertical view of concrete vibrating machine people's model of the present invention（The robot that vibrates is eliminated for the ease of observation
Vibrating spear motor lines）；
Fig. 4 is the module diagram that vibrates of concrete vibrating machine people's model of the present invention（Machinery is eliminated for the ease of observation
Leg）；
In figure：1 mechanical foreleg；2 Convenient tables；3 connection legs；4 and 5 mechanical back legs；6 vibrating spears；7 gears；8 underframe longitudinal members；9 bottom plates
Rear cross beam；10 vertical beams；11 optical axises；12 rotary electric machines；13 driving motors；14,15,16 motor driving interface；17 lithium batteries；
18USB interfaces；19MegiPi control modules；20 ultrasonic sensors；21 front floor crossmembers；22 infrared sensors；23 bluetooths
Module；24 connecting shafts；25 flat soles, 26 vertical supports, 27 rotating brackets.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
As shown in Figs. 1-3, a kind of concrete vibrating machine people, including six sufficient formula mobile chassis, control assembly, driving mould
Block, module of vibrating.
Described six sufficient formula mobile chassis are by bottom plate and pedipulator（Refer to mechanical foreleg and mechanical back leg, connection leg, Convenient table）.
Four angles of bottom plate are supported by flat sole 25.Bottom plate by two 192mm diplopore beam（Bottom plate rear cross beam 9, front floor crossmember 21）
With the single hole beam of two 220mm（Underframe longitudinal member 8, two underframe longitudinal members 8 are arranged in parallel）Composition is distributed in groined type.Bottom
Pass through connecting shaft 24 and pedipulator respectively on four angle points of plate（Refer to mechanical foreleg and mechanical back leg）It is fixed together, pedipulator
It can be rotated around connecting shaft.In addition, in pan front arranged on left and right sides, a Convenient table 2 is fixed by connecting shaft 24 respectively, Gu
Determining leg can rotate around connecting shaft 24.By screw connection it is in herringbone positioned at two of same single hole beam front end mechanical forelegs 1,
Mechanical back leg 4,5 positioned at same single hole beam rear end by screw connection is equally in that herringbone is distributed, connection leg 3 by screw and
Convenient table 2 is connected, and connection leg 3 is fixed on motor end together by screw and mechanical foreleg, mechanical back leg.Pedipulator motor
Reason is：Motor rotation makes connection leg, mechanical foreleg and mechanical back leg rotate together, due to herringbone pedipulator（The mechanical foreleg of finger,
Mechanical back leg）The other end is fixed on by connecting shaft on bottom plate, pedipulator（Refer mainly to two mechanical forelegs and/or two machineries
Back leg）Between angle ascending descending variation in cycles again can occur with rotation, and then realize robot
Ground moves forward or back.When left and right motor rotating speed be arranged it is inconsistent when, robot will rotate realization turning.
The control assembly is by MegiPi control modules（By the objective workshop production of wound, model Makeblock MegaPi masters
Control plate）It is formed with each sensor assembly.MegiPi control modules 19 are screwed on front floor crossmember 21, on the right side of it
It is sequentially inserted into ultrasonic sensor 20, infrared sensor 22 and bluetooth module 23, usb 18 is located at MegiPi control modules
Front, lithium battery 17 are located at MegiPi control templates rear, and motor driving interface 14,15,16 is sequentially located at MegiPi control moulds
On the left of block.
Drive module is made of motor, optical axis and electric machine support.Two 185RPM motors（That is driving motor 13）Lead to respectively
Electric machine support is crossed to be fixed on underframe longitudinal member 8.Driving motor end is connected with pedipulator（Driving motor 13 directly with before machinery
It is connected at the common link position of leg, mechanical back leg, connection leg three）, drive pedipulator to advance, realize robot traveling.
Module of vibrating is by vertical supports, 86RPM motors（That is rotary electric machine 12）, gear 7,6 groups of rotating bracket and vibrating spear
At.As shown in figure 4, two vertical beams 10, which are fixed on bottom plate rear cross beam 9, is used as vertical supports 26, rotary electric machine 12 passes through optical axis
11 are fixed at the top of vertical supports, and gear wheel 7 passes through optical axis 11 and engaged with 12 end pinion gear of rotary electric machine, same two
Vertical beam 10 is fixed on gear wheel across optical axis 11 and is used as rotating bracket 27, and rotating bracket can be with gear wheel together around optical axis
Rotation；Last vibrating spear 6 is fixed at the top of rotating bracket, is directed downward.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific terminology）With meaning identical with the general understanding of the those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
The meaning of " connection " described herein can be directly connected to can also be to pass through between component between component
Other components are indirectly connected with.
The above display describes the basic principles and main features and advantage of the present invention.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, what is described in the above embodiment and the description is only saying the principle of the present invention,
Without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements are all
It drops into the claimed scope of the invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (6)
1. a kind of concrete vibrating machine people, including six sufficient formula mobile chassis, control assembly, drive module, module of vibrating, special
Sign is that described six sufficient formula mobile chassis are made of bottom plate and pedipulator；Bottom plate is made of two diplopore beams and two single hole beams,
It is distributed in groined type；It is fixed together respectively by connecting shaft and pedipulator on four angle points of bottom plate；It is left and right in pan front
Both sides, fix a Convenient table by connecting shaft respectively, and Convenient table can be rotated around connecting shaft；It is set to the two of same single hole beam
A machinery foreleg connects and is in herringbone, is set to two mechanical back legs connections of same single hole beam and is in herringbone, connection leg
It is connected with Convenient table, connection leg, mechanical foreleg, mechanical back leg are fixed on driving motor end；Driving motor rotate when connection leg,
Mechanical foreleg and mechanical back leg rotate together, and with rotation occurs for the angle between pedipulator ascending descending week again
And the variation renewed, and then realize that robot moves forward or back；When left and right driving motor rotating speed be arranged it is inconsistent when,
Robot, which rotates, realizes turning.
2. a kind of concrete vibrating machine people according to claim 1, which is characterized in that left and right driving motor is used for
Respectively drive the rotation for the pedipulator installed on two single hole beams；The pedipulator includes mechanical back leg, mechanical foreleg, connection
Leg, Convenient table；Angle between pedipulator refers between two mechanical forelegs, the angle between two mechanical back legs.
3. a kind of concrete vibrating machine people according to claim 1, which is characterized in that the control assembly is by MegiPi
Control module and sensor assembly composition；MegiPi control modules are fixed on front floor crossmember, in MegiPi control modules according to
Secondary insertion ultrasonic sensor, infrared sensor and bluetooth module；USB interface is located in front of MegiPi control modules, lithium electricity
Pond is located at MegiPi control modules rear, and motor driving interface is located in MegiPi control modules.
4. a kind of concrete vibrating machine people according to claim 1, which is characterized in that drive module by driving motor,
Optical axis and electric machine support composition；Two driving motors are fixed on by electric machine support on underframe longitudinal member respectively；Driving motor end
It is connected with pedipulator, pedipulator is driven to advance, realizes robot traveling.
5. a kind of concrete vibrating machine people according to claim 4, which is characterized in that driving motor directly with before machinery
It is connected at the common link position of leg, mechanical back leg, connection leg three.
6. a kind of concrete vibrating machine people according to claim 1, which is characterized in that module of vibrating by vertical supports,
86RPM motors, gear, rotating bracket and vibrating spear composition；Two vertical beams are fixed on bottom plate rear cross beam and as vertical branch
Frame, rotary electric machine are fixed on by optical axis at the top of vertical supports, and gear wheel passes through optical axis, gear wheel and the small tooth in rotary electric machine end
Wheel engagement；Another two vertical beam is passed through and optical axis and is fixed on gear wheel, the another two vertical beam as rotating bracket and
It rotates on optical axis together with gear wheel；Vibrating spear is fixed at the top of rotating bracket, is directed downward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810600010.7A CN108798028A (en) | 2018-06-12 | 2018-06-12 | A kind of concrete vibrating machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810600010.7A CN108798028A (en) | 2018-06-12 | 2018-06-12 | A kind of concrete vibrating machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108798028A true CN108798028A (en) | 2018-11-13 |
Family
ID=64085456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810600010.7A Pending CN108798028A (en) | 2018-06-12 | 2018-06-12 | A kind of concrete vibrating machine people |
Country Status (1)
| Country | Link |
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| CN (1) | CN108798028A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110528362A (en) * | 2019-08-26 | 2019-12-03 | 逯龙 | A kind of Municipal Engineering Construction concrete compaction device |
| CN113445754A (en) * | 2021-02-09 | 2021-09-28 | 南京玖玖教育科技有限公司 | Cement vibration robot |
| CN114575598A (en) * | 2020-11-30 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Walking type intelligent vibrating robot |
| CN114578751A (en) * | 2022-03-30 | 2022-06-03 | 河海大学常州校区 | Control system and control method of automatic vibrating device |
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| CN102416986A (en) * | 2011-11-01 | 2012-04-18 | 北京航空航天大学 | Six-foot ant robot |
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| CN106088614A (en) * | 2016-08-03 | 2016-11-09 | 中天建设集团有限公司天津分公司 | A kind of concrete multifunction vibrates machinery and construction method |
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| JPH07109835A (en) * | 1993-10-13 | 1995-04-25 | Shimizu Corp | Compacting device |
| JPH07233639A (en) * | 1994-02-22 | 1995-09-05 | Penta Ocean Constr Co Ltd | Automatic concrete compacting device |
| CN2765739Y (en) * | 2005-01-14 | 2006-03-22 | 上海市宝山区青少年科学技术指导站 | Modular Olympic series walking robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110528362A (en) * | 2019-08-26 | 2019-12-03 | 逯龙 | A kind of Municipal Engineering Construction concrete compaction device |
| CN110528362B (en) * | 2019-08-26 | 2021-08-03 | 逯龙 | Concrete jolt ramming device is used in municipal works construction |
| CN114575598A (en) * | 2020-11-30 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Walking type intelligent vibrating robot |
| CN113445754A (en) * | 2021-02-09 | 2021-09-28 | 南京玖玖教育科技有限公司 | Cement vibration robot |
| CN113445754B (en) * | 2021-02-09 | 2022-09-09 | 南京玖玖教育科技有限公司 | Cement vibration robot |
| CN114578751A (en) * | 2022-03-30 | 2022-06-03 | 河海大学常州校区 | Control system and control method of automatic vibrating device |
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Application publication date: 20181113 |
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