CN111997376A - Intelligent beam type concrete vibrating robot - Google Patents
Intelligent beam type concrete vibrating robot Download PDFInfo
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- CN111997376A CN111997376A CN202010862388.1A CN202010862388A CN111997376A CN 111997376 A CN111997376 A CN 111997376A CN 202010862388 A CN202010862388 A CN 202010862388A CN 111997376 A CN111997376 A CN 111997376A
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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
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- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
- C09D133/00—Coating compositions based on homopolymers or copolymers of compounds having one or more unsaturated aliphatic radicals, each having only one carbon-to-carbon double bond, and at least one being terminated by only one carboxyl radical, or of salts, anhydrides, esters, amides, imides, or nitriles thereof; Coating compositions based on derivatives of such polymers
- C09D133/04—Homopolymers or copolymers of esters
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- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
- C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
- C09D5/16—Antifouling paints; Underwater paints
- C09D5/1656—Antifouling paints; Underwater paints characterised by the film-forming substance
- C09D5/1662—Synthetic film-forming substance
- C09D5/1668—Vinyl-type polymers
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- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
- C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
- C09D5/16—Antifouling paints; Underwater paints
- C09D5/1687—Use of special additives
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
- C08K3/20—Oxides; Hydroxides
- C08K3/22—Oxides; Hydroxides of metals
- C08K2003/2237—Oxides; Hydroxides of metals of titanium
- C08K2003/2241—Titanium dioxide
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/02—Polymer mixtures characterised by other features containing two or more polymers of the same C08L -group
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
- C08L2205/035—Polymer mixtures characterised by other features containing three or more polymers in a blend containing four or more polymers in a blend
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Materials Engineering (AREA)
- Wood Science & Technology (AREA)
- Organic Chemistry (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention discloses an intelligent beam type concrete vibrating robot, which has the technical scheme that: the method comprises the following steps: an assembled frame; the walking mechanism is used for driving the assembled rack to walk; a plurality of groups of plug-in vibrators arranged on the assembled rack; the lifting mechanism is used for driving the vibrating rods in a plurality of groups of the plug-in vibrators to lift; the adjusting mechanism is used for driving the vibrating rod in the plug-in vibrator to rotate; the electric control box and the control host are fixed on the assembled rack; this intelligence beam type concrete vibrating robot does not need the manual work to utilize the vibrator to vibrate the operation, can avoid the improper problem of manual operation to can adjust the depth of insertion and the angle of the pole of vibrating in the bayonet vibrator in a flexible way, still have the efficient advantage of vibrating simultaneously, can practice thrift the cost input, reduction of erection time.
Description
Technical Field
The invention relates to the field of buildings, in particular to an intelligent beam type concrete vibrating robot.
Background
At present, the requirement of the industry on the construction quality is higher and higher, and the requirement on intelligent construction machines is continuously improved. In particular, in the process of processing and forming concrete in the field of construction, the concrete needs to be compacted by using a vibrating rod.
However, there are some disadvantages in the actual construction process: if manual compaction operation is needed, personnel are concentrated to cause concentrated load increase and group death and group injury accidents of formwork support collapse occur, the manual misoperation often causes that the structure and the position of a reinforcing steel bar are damaged when a vibrating rod vibrates, or the insertion depth is insufficient to cause that concrete vibrates insufficiently dense, or the vibrating time is not well controlled to cause that the concrete does not meet the quality requirement; in addition, the problem of low efficiency of concrete vibration is also widely existed, which results in increased investment and increased engineering labor cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent beam type concrete vibrating robot to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent beam concrete vibrating robot comprising:
an assembled frame;
the walking mechanism is used for driving the assembled rack to walk;
a plurality of groups of plug-in vibrators arranged on the assembled rack;
the lifting mechanism is used for driving the vibrating rods in a plurality of groups of the plug-in vibrators to lift;
the adjusting mechanism is used for driving the vibrating rod in the plug-in vibrator to rotate;
and the electric control box and the control host are fixed on the assembled rack.
By adopting the technical scheme, the intelligent beam type concrete vibrating robot does not need to manually utilize a vibrator to carry out vibrating operation, can avoid the problem of improper manual operation, can flexibly adjust the insertion depth and angle of a vibrating rod in an insertion type vibrator, has the advantage of high vibrating efficiency, can save cost investment and shorten the construction period; when the robot is used for operation, an operator drives the assembled rack and the multiple groups of plug-in vibrators on the assembled rack to travel by utilizing the traveling mechanism and carries out multipoint vibration, and the depth and the angle of the vibrating rod in the plug-in vibrators can be adjusted by utilizing the lifting mechanism and the adjusting mechanism.
Further, running gear includes braced frame, first walking wheel, second walking wheel, servo motor, reduction gear, first band pulley, second band pulley and belt, braced frame installs the below of assembled frame, first walking wheel with the second walking wheel rotates respectively and connects in braced frame, servo motor fixes be used for driving on the braced frame first walking wheel rotates, the reduction gear is connected servo motor's motor shaft tip, first band pulley is fixed the pivot of first walking wheel is outside, the second band pulley is fixed the pivot of second walking wheel is outside, belt drive connects first band pulley with the outside of second band pulley.
Through adopting above-mentioned technical scheme, when starting the servo motor on the braced frame, it can drive first walking wheel and rotate, drives first band pulley and rotates to drive the rotation of second band pulley through the belt, drive the rotation of second walking wheel, walking structure is reliable, stable.
Further, elevating system includes supporting seat, sliding seat, a plurality of pneumatic cylinder, guide block, guide way and bearing rod, the supporting seat is fixed in the assembled frame, the sliding seat slides along vertical direction and connects and be in on the supporting seat, a plurality of the cylinder body of pneumatic cylinder is fixed respectively the supporting seat top, a plurality of the piston rod tip of pneumatic cylinder is fixed respectively the sliding seat top, the guide block is fixed sliding seat one side, the guide way is seted up supply in the supporting seat the vertical slip of guide block, the bearing rod sets up on the sliding seat, a plurality of groups among the bayonet vibrator the pole of vibrating is installed respectively on the bearing rod.
Through adopting above-mentioned technical scheme, when starting fixed pneumatic cylinder on the supporting seat among the elevating system, it can drive the sliding seat and slide on the supporting seat to can utilize guide block and guide way to lead for the slip of sliding seat, conveniently adjust the height that the bearing pole was located, thereby carry out height control to the vibrating rod in the plug-in vibrator.
Further, adjustment mechanism includes rotary cylinder and dead lever, rotary cylinder's cylinder body is fixed sliding seat one side, the dead lever passes through the bearing and rotates to be connected in the sliding seat, dead lever threaded connection be in bearing rod tip, rotary cylinder's piston rod end is fixed rod tip.
Through adopting above-mentioned technical scheme, when the rotatory hydro-cylinder among the start-up adjustment mechanism, it can drive the dead lever and rotate to the convenient angle to the bearing rod is adjusted, thereby adjusts the angle of the pole that vibrates in the plug-in vibrator.
Furthermore, the assembled rack comprises a bottom rack, a top rack and a connecting truss, and the bottom rack and the top rack are welded and fixed through the connecting truss.
By adopting the technical scheme, the assembled rack can be conveniently welded and assembled by utilizing the bottom frame, the top frame and the connecting truss, and the structure is simple, stable and reliable.
Further, the outside cover of bearing rod is equipped with solid fixed ring, fixed cover is fixed through the first bolt of a plurality of the outside of bearing rod, gu fixed ring's external fixation has the bearing seat, among the bayonet vibrator the installation of vibrating rod is fixed in the bearing seat.
Through adopting above-mentioned technical scheme, utilize solid fixed ring and first bolt can conveniently fix the bearing seat in the bearing pole outside.
Furthermore, a hoop seat is fixed above the supporting frame through a plurality of second bolts, the hoop seat is hooped and fixed outside a rod piece in the assembled rack, two hook plates are welded and fixed on the supporting frame, and the two hook plates are respectively hooked and fixed outside the assembled rack.
Through adopting above-mentioned technical scheme, can conveniently fix braced frame and assembled frame through utilizing hoop seat and second bolt, utilize to collude the board and can increase braced frame and assembled frame's stability of being connected.
Furthermore, a pressure sensor is installed at the end part of the vibrating rod in the plug-in vibrator, and the pressure sensor is electrically connected with the control host.
Through adopting above-mentioned technical scheme, pressure sensor can give the control host computer with data feedback and revise the depth of insertion of the pole that shakes in the plug-in vibrator.
Furthermore, the electric appliance control box receives the instruction of the control host computer and controls the starting and stopping of the travelling mechanism, the lifting mechanism and the plug-in vibrator.
By adopting the technical scheme, the automation degree of the robot can be improved by the control mode.
Furthermore, the vibrating rod in the plug-in vibrator is fixed in the bearing seat in a pin joint, clamping and spiral connection mode.
Through adopting above-mentioned technical scheme, can make things convenient for the installation of the pole of vibrating and tamping in the bayonet vibrator and bearing seat fixed through above mode.
Furthermore, the surface of the vibrating rod is coated with an antifouling coating, so that the preparation method of the antifouling coating is provided, and the specific preparation method comprises the following steps:
the following components are taken by weight: 60-80 parts of polytetrafluoroethylene, 80-100 parts of acrylic resin, 60-80 parts of epoxy resin, 20-40 parts of ethyl acetate, 20-40 parts of phenol, 20-30 parts of CAB cellulose acetate butyrate, 10-20 parts of R90 adhesion promoter, 10-20 parts of nitrocellulose, 10-20 parts of titanium dioxide and 10-20 parts of sodium dodecyl sulfate;
s1, preparing an antifouling coating pre-preparation liquid: adding polytetrafluoroethylene, acrylic resin and epoxy resin into a reaction kettle at the temperature of 190-;
s2, preparing an antifouling coating intermediate liquid: adding ethyl acetate, phenol, CAB cellulose acetate butyrate, an R90 adhesion promoter and nitrocellulose into the antifouling coating pre-preparation liquid, uniformly stirring, carrying out heat preservation treatment for 20-30min, and cooling to 80-90 ℃ to obtain an antifouling coating intermediate liquid;
s3, preparing an antifouling coating solution: adding titanium dioxide and sodium dodecyl sulfate into the antifouling coating intermediate solution in the S2, and fully and uniformly dispersing the titanium dioxide and the sodium dodecyl sulfate to obtain an antifouling coating solution;
s4, high-pressure spraying: uniformly spraying the antifouling coating solution of S3 to the surface of a vibrating rod by using a spray gun;
s5, UV curing: curing by using ultraviolet rays, wherein the intensity of the ultraviolet rays is controlled to be 60-70uw/cm2, and the curing time is 2-3 h.
In summary, the invention mainly has the following beneficial effects:
the intelligent beam type concrete vibrating robot does not need to manually utilize a vibrator to vibrate, can avoid the problem of improper manual operation, can flexibly adjust the insertion depth and the angle of a vibrating rod in an insertion vibrator, has the advantage of high vibrating efficiency, can save cost investment and shorten the construction period; when the robot is used for operation, an operator drives the assembled rack and the multiple groups of plug-in vibrators on the assembled rack to travel by utilizing the traveling mechanism and carries out multipoint vibration, and the depth and the angle of the vibrating rod in the plug-in vibrators can be adjusted by utilizing the lifting mechanism and the adjusting mechanism.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
FIG. 3 is a second schematic structural diagram of the present invention;
FIG. 4 is an enlarged view of FIG. 3 at B;
fig. 5 is a schematic structural diagram for showing a traveling mechanism according to the present invention.
In the figure: 1. an assembled frame; 2. a traveling mechanism; 3. an insertion vibrator; 31. vibrating a tamping rod; 4. a lifting mechanism; 5. an adjustment mechanism; 21. a support frame; 22. a first running wheel; 23. a second road wheel; 24. a servo motor; 25. a speed reducer; 26. a first pulley; 27. a second pulley; 28. a belt; 41. a supporting seat; 42. a sliding seat; 43. a hydraulic cylinder; 44. a guide block; 45. a guide groove; 46. a support rod; 51. rotating the oil cylinder; 52. fixing the rod; 11. a bottom shelf; 12. a top frame; 13. connecting a truss; 461. a fixing ring; 462. a first bolt; 463. a bearing seat; 211. a second bolt; 212. a hoop base; 213. and (7) hooking the board.
Detailed Description
The present invention is described in further detail below with reference to figures 1-5.
Example 1
Referring to fig. 1, 2 and 3, an intelligent beam type concrete vibrating robot mainly includes the following parts:
an assembled frame 1;
a traveling mechanism 2 for driving the assembled frame 1 to travel;
a plurality of groups of inserted vibrators 3 arranged on the assembled rack 1;
the lifting mechanism 4 is used for driving the vibrating rods 31 of a plurality of groups of inserted vibrators 3 to lift;
the adjusting mechanism 5 is used for driving the vibrating rod 31 in the plug-in vibrator 3 to rotate;
and an electric control box and a control host which are fixed on the assembled frame 1.
Referring to fig. 1, 2 and 3, the intelligent beam type concrete vibrating robot does not need to manually vibrate by using a vibrator, can avoid the problem of improper manual operation, can flexibly adjust the insertion depth and angle of a vibrating rod 31 in an insertion vibrator 3, and has the advantages of high vibrating efficiency, cost investment saving and construction period shortening; when the robot is used for operation, an operator drives the assembled rack 1 and the multiple groups of plug-in vibrators 3 on the assembled rack 1 to travel by using the traveling mechanism 2 and performs multipoint vibration, and the depth and the angle of the vibrating rod 31 in the plug-in vibrators 3 can be adjusted by using the lifting mechanism 4 and the adjusting mechanism 5.
Referring to fig. 1 and 5, the traveling mechanism 2 includes a supporting frame 21, a first traveling wheel 22, a second traveling wheel 23, a servo motor 24, a speed reducer 25, a first belt wheel 26, a second belt wheel 27 and a belt 28, the supporting frame 21 is installed below the assembled rack 1, the first traveling wheel 22 and the second traveling wheel 23 are respectively and rotatably connected in the supporting frame 21, the servo motor 24 is fixed on the supporting frame 21 for driving the first traveling wheel 22 to rotate, the speed reducer 25 is connected to an end of a motor shaft of the servo motor 24, the first belt wheel 26 is fixed outside a rotating shaft of the first traveling wheel 22, the second belt wheel 27 is fixed outside a rotating shaft of the second traveling wheel 23, and the belt 28 is in transmission connection with the outside of the first belt wheel 26 and the second belt wheel 27; when the servo motor 24 on the supporting frame 21 is started, it can drive the first traveling wheel 22 to rotate, and drive the first belt wheel 26 to rotate, so as to drive the second belt wheel 27 to rotate through the belt 28, and drive the second traveling wheel 23 to rotate to travel, and the traveling structure is reliable and stable.
Referring to fig. 1 and 2, the lifting mechanism 4 includes a supporting seat 41, a sliding seat 42, a plurality of hydraulic cylinders 43, a guiding block 44, a guiding groove 45 and a supporting rod 46, the supporting seat 41 is fixed on the assembled rack 1, the sliding seat 42 is connected to the supporting seat 41 in a sliding manner along the vertical direction, the cylinders of the plurality of hydraulic cylinders 43 are respectively fixed above the supporting seat 41, the ends of the piston rods of the plurality of hydraulic cylinders 43 are respectively fixed above the sliding seat 42, the guiding block 44 is fixed on one side of the sliding seat 42, the guiding groove 45 is arranged in the supporting seat 41 for the guiding block 44 to vertically slide, the supporting rod 46 is arranged on the sliding seat 42, and the vibrating rods 31 in the plurality of groups of inserted vibrators 3 are respectively mounted on the supporting rod 46; when the hydraulic cylinder 43 fixed on the supporting seat 41 in the lifting mechanism 4 is started, the sliding seat 42 can be driven to slide on the supporting seat 41, and the guide block 44 and the guide groove 45 can be used for guiding the sliding of the sliding seat 42, so that the height of the bearing rod 46 is conveniently adjusted, and the height of the vibrating rod 31 in the plug-in vibrator 3 is adjusted.
Referring to fig. 1 and 2, the adjusting mechanism 5 includes a rotary cylinder 51 and a fixed rod 52, a cylinder body of the rotary cylinder 51 is fixed on one side of the sliding seat 42, the fixed rod 52 is rotatably connected in the sliding seat 42 through a bearing, the fixed rod 52 is in threaded connection with the end of the bearing rod 46, and the end of a piston rod of the rotary cylinder 51 is fixed on the end of the fixed rod 52; when the rotary cylinder 51 in the adjusting mechanism 5 is activated, it can drive the fixed rod 52 to rotate, thereby facilitating the adjustment of the angle of the support rod 46, and thus the angle of the vibrating rod 31 in the insertion vibrator 3.
Referring to fig. 1 and 3, the modular frame 1 includes a bottom frame 11, a top frame 12 and a connecting truss 13, the bottom frame 11 and the top frame 12 are welded and fixed by the connecting truss 13, and the modular frame 1 can be conveniently welded and assembled by using the bottom frame 11, the top frame 12 and the connecting truss 13, and is simple, stable and reliable in structure.
Referring to fig. 1 and 2, a fixing ring 461 is sleeved on the outer portion of the support rod 46, the fixing ring is fixed on the outer portion of the support rod 46 through a plurality of first bolts 462, a support seat 463 is fixed on the outer portion of the fixing ring 461, the vibrating rod 31 in the insert vibrator 3 is fixed in the support seat 463, and the support seat 463 can be conveniently fixed on the outer portion of the support rod 46 through the fixing ring 461 and the first bolts 462; wherein the vibrating rod 31 in the plug-in vibrator 3 is fixed in the bearing seat 463 through the modes of pin joint, clamping and screw connection, and the vibrating rod 31 in the plug-in vibrator 3 can be conveniently fixed with the installation of the bearing seat 463 through the above modes.
Referring to fig. 3 and 4, a hoop base 212 is fixed above the supporting frame 21 by a plurality of second bolts 211, the hoop base 212 is hooped and fixed outside a rod in the assembly type frame 1, two hook plates 213 are welded and fixed on the supporting frame 21, and the two hook plates 213 are respectively hooked and fixed outside the assembly type frame 1; the support frame 21 and the assembly type frame 1 can be conveniently fixed by using the hoop base 212 and the second bolt 211, and the connection stability of the support frame 21 and the assembly type frame 1 can be increased by using the hook plate 213.
Referring to fig. 1 and 3, a pressure sensor is mounted at the end of the vibrating rod 31 in the plug-in vibrator 3, the pressure sensor is electrically connected with a control host, and the pressure sensor can feed data back to the control host to correct the insertion depth of the vibrating rod 31 in the plug-in vibrator 3; the electric appliance control box receives the instruction of the control host, controls the starting and stopping of the traveling mechanism 2, the lifting mechanism 4 and the plug-in vibrator 3, and can improve the automation degree of the robot through the control mode.
Example 2
The difference from the embodiment 1 is that the surface of the vibrating rod 31 is coated with an antifouling coating, and since the surface of the vibrating rod 31 is easily contaminated by concrete when in use, the surface of the vibrating rod 31 is coated with the antifouling coating, so that a preparation method of the antifouling coating is provided, which has the advantages of short preparation process and simple preparation, wherein the preparation method of the antifouling coating on the surface of the vibrating rod 31 comprises the following steps:
the following components are taken by weight: 60 parts of polytetrafluoroethylene, 80 parts of acrylic resin, 60 parts of epoxy resin, 20 parts of ethyl acetate, 20 parts of phenol, 20 parts of CAB cellulose acetate butyrate, 10 parts of R90 adhesion promoter, 10 parts of nitrocellulose, 10 parts of titanium dioxide and 10 parts of sodium dodecyl sulfate;
s1, preparing an antifouling coating pre-preparation liquid: adding polytetrafluoroethylene, acrylic resin and epoxy resin into a reaction kettle at 190 ℃, heating and mixing for 30min to obtain antifouling coating pre-preparation liquid;
s2, preparing an antifouling coating intermediate liquid: adding ethyl acetate, phenol, CAB cellulose acetate butyrate, R90 adhesion promoter and nitrocellulose into the antifouling coating pre-preparation liquid, uniformly stirring, carrying out heat preservation treatment for 20min, and cooling to 80 ℃ to obtain an antifouling coating intermediate liquid;
s3, preparing an antifouling coating solution: adding titanium dioxide and sodium dodecyl sulfate into the antifouling coating intermediate solution in S2, and fully and uniformly dispersing the titanium dioxide and the sodium dodecyl sulfate to obtain an antifouling coating solution;
s4, high-pressure spraying: uniformly spraying the antifouling coating solution of S3 on the surface of the vibrating rod 31 by using a spray gun;
s5, UV curing: curing was carried out by ultraviolet rays, the intensity of which was controlled to be 60uw/cm2, and the curing time was 2 hours.
Example 3
The difference from the example 2 lies in the preparation of the antifouling coating on the surface of the vibrating rod 31, wherein the antifouling coating is prepared by the following method:
the following components are taken by weight: 65 parts of polytetrafluoroethylene, 85 parts of acrylic resin, 65 parts of epoxy resin, 25 parts of ethyl acetate, 20 parts of phenol, 20 parts of CAB cellulose acetate butyrate, 10 parts of R90 adhesion promoter, 10 parts of nitrocellulose, 10 parts of titanium dioxide and 10 parts of sodium dodecyl sulfate;
s1, preparing an antifouling coating pre-preparation liquid: adding polytetrafluoroethylene, acrylic resin and epoxy resin into a 193 ℃ reaction kettle, heating and mixing for 30min to obtain antifouling coating pre-preparation liquid;
s2, preparing an antifouling coating intermediate liquid: adding ethyl acetate, phenol, CAB cellulose acetate butyrate, an R90 adhesion promoter and nitrocellulose into the antifouling coating pre-preparation liquid, uniformly stirring, carrying out heat preservation treatment for 20min, and cooling to 83 ℃ to obtain an antifouling coating intermediate liquid;
s3, preparing an antifouling coating solution: adding titanium dioxide and sodium dodecyl sulfate into the antifouling coating intermediate solution in S2, and fully and uniformly dispersing the titanium dioxide and the sodium dodecyl sulfate to obtain an antifouling coating solution;
s4, high-pressure spraying: uniformly spraying the antifouling coating solution of S3 on the surface of the vibrating rod 31 by using a spray gun;
s5, UV curing: curing was carried out by ultraviolet rays, the intensity of which was controlled to be 62uw/cm2, and the curing time was 2 hours.
Example 4
The difference from the example 2 lies in the preparation of the antifouling coating on the surface of the vibrating rod 31, wherein the antifouling coating is prepared by the following method:
the following components are taken by weight: 65 parts of polytetrafluoroethylene, 85 parts of acrylic resin, 65 parts of epoxy resin, 25 parts of ethyl acetate, 25 parts of phenol, 25 parts of CAB cellulose acetate butyrate, 14 parts of R90 adhesion promoter, 14 parts of nitrocellulose, 10 parts of titanium dioxide and 10 parts of sodium dodecyl sulfate;
s1, preparing an antifouling coating pre-preparation liquid: adding polytetrafluoroethylene, acrylic resin and epoxy resin into a reaction kettle at 196 ℃, heating and mixing for 30min to obtain antifouling coating pre-preparation liquid;
s2, preparing an antifouling coating intermediate liquid: adding ethyl acetate, phenol, CAB cellulose acetate butyrate, an R90 adhesion promoter and nitrocellulose into the antifouling coating pre-preparation liquid, uniformly stirring, carrying out heat preservation treatment for 20min, and cooling to 83 ℃ to obtain an antifouling coating intermediate liquid;
s3, preparing an antifouling coating solution: adding titanium dioxide and sodium dodecyl sulfate into the antifouling coating intermediate solution in S2, and fully and uniformly dispersing the titanium dioxide and the sodium dodecyl sulfate to obtain an antifouling coating solution;
s4, high-pressure spraying: uniformly spraying the antifouling coating solution of S3 on the surface of the vibrating rod 31 by using a spray gun;
s5, UV curing: curing was carried out by ultraviolet rays, the intensity of which was controlled to be 62uw/cm2, and the curing time was 2 hours.
Example 5
The difference from the example 2 lies in the preparation of the antifouling coating on the surface of the vibrating rod 31, wherein the antifouling coating is prepared by the following method:
the following components are taken by weight: 75 parts of polytetrafluoroethylene, 95 parts of acrylic resin, 75 parts of epoxy resin, 25 parts of ethyl acetate, 25 parts of phenol, 25 parts of CAB cellulose acetate butyrate, 14 parts of R90 adhesion promoter, 14 parts of nitrocellulose, 10 parts of titanium dioxide and 10 parts of sodium dodecyl sulfate;
s1, preparing an antifouling coating pre-preparation liquid: adding polytetrafluoroethylene, acrylic resin and epoxy resin into a reaction kettle at 198 ℃, heating and mixing for 30min to obtain antifouling coating pre-preparation liquid;
s2, preparing an antifouling coating intermediate liquid: adding ethyl acetate, phenol, CAB cellulose acetate butyrate, an R90 adhesion promoter and nitrocellulose into the antifouling coating pre-preparation liquid, uniformly stirring, carrying out heat preservation treatment for 20min, and cooling to 85 ℃ to obtain an antifouling coating intermediate liquid;
s3, preparing an antifouling coating solution: adding titanium dioxide and sodium dodecyl sulfate into the antifouling coating intermediate solution in S2, and fully and uniformly dispersing the titanium dioxide and the sodium dodecyl sulfate to obtain an antifouling coating solution;
s4, high-pressure spraying: uniformly spraying the antifouling coating solution of S3 on the surface of the vibrating rod 31 by using a spray gun;
s5, UV curing: curing was carried out by ultraviolet rays, the intensity of which was controlled to be 66uw/cm2, and the curing time was 2 hours.
Example 6
The difference from the example 2 lies in the preparation of the antifouling coating on the surface of the vibrating rod 31, wherein the antifouling coating is prepared by the following method:
the following components are taken by weight: 80 parts of polytetrafluoroethylene, 100 parts of acrylic resin, 80 parts of epoxy resin, 40 parts of ethyl acetate, 40 parts of phenol, 30 parts of CAB cellulose acetate butyrate, 20 parts of R90 adhesion promoter, 20 parts of nitrocellulose, 20 parts of titanium dioxide and 20 parts of sodium dodecyl sulfate;
s1, preparing an antifouling coating pre-preparation liquid: adding polytetrafluoroethylene, acrylic resin and epoxy resin into a reaction kettle at the temperature of 200 ℃, heating and mixing for 30min to obtain antifouling coating pre-preparation liquid;
s2, preparing an antifouling coating intermediate liquid: adding ethyl acetate, phenol, CAB cellulose acetate butyrate, an R90 adhesion promoter and nitrocellulose into the antifouling coating pre-preparation liquid, uniformly stirring, carrying out heat preservation treatment for 20min, and cooling to 90 ℃ to obtain an antifouling coating intermediate liquid;
s3, preparing an antifouling coating solution: adding titanium dioxide and sodium dodecyl sulfate into the antifouling coating intermediate solution in S2, and fully and uniformly dispersing the titanium dioxide and the sodium dodecyl sulfate to obtain an antifouling coating solution;
s4, high-pressure spraying: uniformly spraying the antifouling coating solution of S3 on the surface of the vibrating rod 31 by using a spray gun;
s5, UV curing: curing was carried out by ultraviolet rays, the intensity of which was controlled to be 70uw/cm2, and the curing time was 2 hours.
For the tests of the surface hardness and the peel strength of the tamper bars 31 coated with the antifouling coatings of examples 2 to 6, the data of all examples were normalized based on the data of example 2 for the sake of comparison.
TABLE 1
| Surface hardness | Peel strength | |
| Example 2 | 100% | 100% |
| Example 3 | 101% | 103% |
| Example 4 | 102% | 106% |
| Example 5 | 112% | 115% |
| Example 6 | 106% | 108% |
As can be seen from the above, the method for preparing the anti-fouling coating given in example 5 is the most preferable choice because the test results of the surface hardness and peel strength of the vibrating rod 31 in example 5 are higher than those of the other examples coated with the anti-fouling coating.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an intelligence beam type concrete vibration robot which characterized in that: the method comprises the following steps:
an assembled frame (1);
a traveling mechanism (2) for driving the assembled rack (1) to travel;
a plurality of groups of inserted vibrators (3) arranged on the assembled rack (1);
the lifting mechanism (4) is used for driving the vibrating rods (31) in a plurality of groups of the plug-in vibrators (3) to lift;
the adjusting mechanism (5) is used for driving the vibrating rod (31) in the plug-in vibrator (3) to rotate;
and an electric control box and a control host which are fixed on the assembled frame (1).
2. An intelligent beam concrete vibrating robot as claimed in claim 1, wherein: the walking mechanism (2) comprises a supporting frame (21), a first walking wheel (22), a second walking wheel (23), a servo motor (24), a speed reducer (25), a first belt wheel (26), a second belt wheel (27) and a belt (28), wherein the supporting frame (21) is installed below the assembled rack (1), the first walking wheel (22) and the second walking wheel (23) are respectively and rotatably connected in the supporting frame (21), the servo motor (24) is fixed on the supporting frame (21) and used for driving the first walking wheel (22) to rotate, the speed reducer (25) is connected at the end part of a motor shaft of the servo motor (24), the first belt wheel (26) is fixed outside the rotating shaft of the first walking wheel (22), and the second belt wheel (27) is fixed outside the rotating shaft of the second walking wheel (23), the belt (28) is in transmission connection with the outer parts of the first belt wheel (26) and the second belt wheel (27).
3. An intelligent beam concrete vibrating robot as claimed in claim 1, wherein: the lifting mechanism (4) comprises a supporting seat (41), a sliding seat (42), a plurality of hydraulic cylinders (43), a guide block (44), a guide groove (45) and a supporting rod (46), the supporting seat (41) is fixed on the assembled rack (1), the sliding seat (42) is connected on the supporting seat (41) in a sliding manner along the vertical direction, the cylinder bodies of the hydraulic cylinders (43) are respectively fixed above the supporting seat (41), the end parts of the piston rods of the hydraulic cylinders (43) are respectively fixed above the sliding seat (42), the guide block (44) is fixed on one side of the sliding seat (42), the guide groove (45) is arranged in the supporting seat (41) for the guide block (44) to vertically slide, the bearing rod (46) is arranged on the sliding seat (42), and the vibrating rods (31) in a plurality of groups of the plug-in vibrators (3) are respectively arranged on the bearing rod (46).
4. An intelligent beam concrete vibrating robot as claimed in claim 3, wherein: adjustment mechanism (5) are including rotary cylinder (51) and dead lever (52), the cylinder body of rotary cylinder (51) is fixed sliding seat (42) one side, dead lever (52) are connected through the bearing rotation in sliding seat (42), dead lever (52) threaded connection be in bearing rod (46) tip, the piston rod end of rotary cylinder (51) is fixed dead lever (52) tip.
5. An intelligent beam concrete vibrating robot as claimed in claim 1, wherein: the assembled rack (1) comprises a bottom rack (11), a top rack (12) and a connecting truss (13), wherein the bottom rack (11) and the top rack (12) are welded and fixed through the connecting truss (13).
6. An intelligent beam concrete vibrating robot as claimed in claim 3, wherein: the outside cover of bearing rod (46) is equipped with solid fixed ring (461), fixed cover is fixed through a plurality of first bolt (462) the outside of bearing rod (46), the outside of solid fixed ring (461) is fixed with bearing seat (463), among bayonet vibrator (3) shake pole (31) installation and fix in bearing seat (463).
7. An intelligent beam concrete vibrating robot as claimed in claim 3, wherein: braced frame (21) top is fixed with hoop seat (212) through a plurality of second bolt (211), hoop seat (212) are cramped and are fixed the member outside in assembled frame (1), braced frame (21) is gone up welded fastening has two and colludes board (213), two collude board (213) and collude respectively and fix the outside of assembled frame (1).
8. An intelligent beam concrete vibrating robot as claimed in claim 3, wherein: and a pressure sensor is arranged at the end part of the vibrating rod (31) in the plug-in vibrator (3), and the pressure sensor is electrically connected with the control host.
9. An intelligent beam concrete vibrating robot as claimed in claim 1, wherein: and the electric appliance control box receives the instruction of the control host and controls the starting and stopping of the travelling mechanism (2), the lifting mechanism (4) and the plug-in vibrator (3).
10. An intelligent beam concrete vibrating robot as claimed in claim 6, wherein: the vibrating rod (31) in the plug-in vibrator (3) is fixed in the bearing seat (463) in a pin joint, clamping connection and screw connection mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010862388.1A CN111997376A (en) | 2020-08-25 | 2020-08-25 | Intelligent beam type concrete vibrating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010862388.1A CN111997376A (en) | 2020-08-25 | 2020-08-25 | Intelligent beam type concrete vibrating robot |
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| CN111997376A true CN111997376A (en) | 2020-11-27 |
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| CN202010862388.1A Pending CN111997376A (en) | 2020-08-25 | 2020-08-25 | Intelligent beam type concrete vibrating robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873481A (en) * | 2021-01-11 | 2021-06-01 | 广东博智林机器人有限公司 | Vibrating device and working method thereof |
| 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 |
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| JPH09158482A (en) * | 1995-12-12 | 1997-06-17 | Ohbayashi Corp | Compaction device for concrete |
| CN105442851A (en) * | 2015-12-17 | 2016-03-30 | 河海大学 | Real-time and intelligent judgment device and method for valid vibration depth and state of concrete |
| CN208870410U (en) * | 2018-08-17 | 2019-05-17 | 中交一公局集团有限公司 | A kind of mass concrete quality control system |
| CN109826076A (en) * | 2019-03-05 | 2019-05-31 | 湖北乾奥建设工程有限公司 | A kind of concrete vibrating device and method |
| CN211229568U (en) * | 2019-10-30 | 2020-08-11 | 南通天安特种混凝土制品有限公司 | Vibrating machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09158482A (en) * | 1995-12-12 | 1997-06-17 | Ohbayashi Corp | Compaction device for concrete |
| CN105442851A (en) * | 2015-12-17 | 2016-03-30 | 河海大学 | Real-time and intelligent judgment device and method for valid vibration depth and state of concrete |
| CN208870410U (en) * | 2018-08-17 | 2019-05-17 | 中交一公局集团有限公司 | A kind of mass concrete quality control system |
| CN109826076A (en) * | 2019-03-05 | 2019-05-31 | 湖北乾奥建设工程有限公司 | A kind of concrete vibrating device and method |
| CN211229568U (en) * | 2019-10-30 | 2020-08-11 | 南通天安特种混凝土制品有限公司 | Vibrating machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN112873481A (en) * | 2021-01-11 | 2021-06-01 | 广东博智林机器人有限公司 | Vibrating device and working method thereof |
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