CN113445754A - Cement vibration robot - Google Patents
Cement vibration robot Download PDFInfo
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- CN113445754A CN113445754A CN202110180308.9A CN202110180308A CN113445754A CN 113445754 A CN113445754 A CN 113445754A CN 202110180308 A CN202110180308 A CN 202110180308A CN 113445754 A CN113445754 A CN 113445754A
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- vibrating
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/04—Producing shaped prefabricated articles from the material by tamping or ramming
- B28B1/045—Producing shaped prefabricated articles from the material by tamping or ramming combined with vibrating or jolting
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- Mechanical Engineering (AREA)
- Architecture (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
The invention discloses a cement vibration robot, which comprises a vibrating bar, a moving trolley, a lifting device and a control system, wherein the vibrating bar is arranged on the moving trolley; the vibrating spear is arranged in the lifting device and is used for vibrating in the cement under the control of the control system; the lifting device is arranged on the movable trolley and is used for driving the vibrating spear to ascend and/or descend and/or tilt under the control of the control system; the control system is used for controlling the moving trolley to move. According to the cement vibrating robot provided by the invention, the vibrating rod is placed on the moving trolley which can move independently, and the vibrating rod can automatically ascend, descend and incline, so that the automation of cement vibrating operation is realized, and the cement vibrating efficiency is greatly improved.
Description
Technical Field
The invention relates to the field of construction machinery, in particular to a cement vibration robot.
Background
Currently, concrete buildings using cement are widely applied to the construction of roads, bridges, houses and the like. In order to make concrete compact and combine, eliminate the phenomena of cellular pitted surface of concrete and the like, and improve the strength of concrete, a cement vibrating rod is practically used for vibrating unset cement. Present cement vibrting spear is the manual operation, and the operator is carrying on the back the cement vibrting spear, inserts the vibrting spear in the cement that paves on the operation face, carries out the operation of vibrating, still need vibrate a lot of points on the operation face, and the operation of vibrating is wasted time and energy, and cement vibrates inefficiency.
Disclosure of Invention
The invention aims to overcome the defects that the vibration operation is time-consuming and labor-consuming and the cement vibration efficiency is low by manually operating a cement vibrating bar in the prior art, and provides a cement vibration robot.
The invention solves the technical problems through the following technical scheme:
the invention provides a cement vibration robot which comprises a vibrating bar, a moving trolley, a lifting device and a control system, wherein the vibrating bar is arranged on the moving trolley;
the vibrating spear is arranged in the lifting device and is used for vibrating in cement under the control of the control system;
the lifting device is arranged on the moving trolley and is used for driving the vibrating rod to ascend and/or descend and/or tilt under the control of the control system;
the control system is used for controlling the moving trolley to move.
Preferably, the control system comprises a controller and an interface board, and the interface board is respectively connected with the moving trolley, the vibrating bar and the lifting device; and a control algorithm is operated in the controller and used for controlling the position movement of the movable trolley, the vibration operation of the vibrating spear and the lifting device to drive the vibrating spear to ascend and/or descend and/or tilt.
Preferably, the movable trolley comprises a hollow base, a first through hole is formed in the hollow base, and the vibrating rod penetrates through the first through hole to perform ascending and/or descending and/or inclining motion.
Preferably, the mobile trolley further comprises a suspension fixed on the hollow base, the suspension comprises a suspension top plate and at least three upright columns, the length of each upright column is the same and the upright columns are perpendicular to the hollow base, the suspension top plate is fixed at the top ends of the upright columns, and the suspension top plate is perpendicular to the upright columns;
the lifting device comprises a parallel mechanism and a lifting mechanism; the parallel mechanism is used for fixing the vibrating rod on the suspension, and the lifting mechanism is used for driving the vibrating rod to ascend and/or descend and/or tilt.
Preferably, the parallel mechanism comprises a movable platform, a fixed platform, a triangular chuck and a branch mechanism;
the fixed platform is fixed below the suspension top plate, the branch mechanism comprises at least three telescopic rods, one fixed end of each telescopic rod is fixed on the fixed platform, and one telescopic end of each telescopic rod is fixed on the movable platform;
the triangular chuck is fixed on the movable platform and used for fixing the vibrating rod; and a second through hole is formed in the middle of the movable platform, and the vibrating rod passes through the second through hole to perform ascending and/or descending and/or inclining motion.
Preferably, the lifting mechanism comprises a retraction turntable, a guide roller and a retraction motor;
the retractable turntable is fixed on the suspension top plate, is positioned on a central shaft of the suspension top plate and rotates around the central shaft;
the guide roller is fixed on the upper surface of the suspension top plate and the side surface of the retractable turntable, and a vibrating rod cable bypasses the guide roller, penetrates through the suspension top plate and is electrically connected with the vibrating rod;
the charge and discharge machine is used for driving the vibrating spear to ascend and/or descend and/or tilt together with the branch mechanism and the movable platform under the control of the control system.
Preferably, the moving trolley further comprises four wheels, and the wheels are positioned below the hollow base; the four wheels are respectively a left differential wheel, a right differential wheel, a front universal follow-up wheel and a rear universal follow-up wheel.
Preferably, the cement vibration robot further comprises a first binocular camera and a reinforced concrete recognition system; the first binocular camera is used for shooting an image of a working face, the reinforced concrete recognition system comprises a vision processing algorithm, and the vision processing algorithm is used for recognizing the distance between the concrete face and the reinforced concrete face in the working face according to the image of the working face.
Preferably, the cement vibration robot further comprises a second binocular camera, a map building system and a path navigation system;
the second binocular camera is used for shooting an environment image, the map construction system comprises a map construction algorithm, and the map construction algorithm is used for constructing an environment map according to the environment image;
the path navigation system comprises a sensor, an inertial device and a path processor, wherein the sensor is used for sensing the position of an obstacle in the environment, the inertial device is used for sensing the advancing direction and the acceleration of the mobile trolley, the path processor is used for running a path navigation algorithm, and the path navigation algorithm is used for planning a path according to the environment map, the position of the obstacle, the advancing direction and the acceleration of the mobile trolley.
Preferably, the sensor comprises a lidar and/or an ultrasonic sensor and the inertial device comprises an electronic gyroscope.
The positive progress effects of the invention are as follows: compared with the prior art, the cement vibrating robot provided by the invention has the advantages that the vibrating rod is placed on the moving trolley capable of moving independently, and the vibrating rod can automatically ascend, descend and incline, so that the automation of cement vibrating operation is realized, and the cement vibrating efficiency is greatly improved. Furthermore, the automatic obstacle avoidance walking of the cement vibration robot is realized through a map construction system and a path navigation system, the vibration operation is completely free of manual operation, and the full automation of the cement vibration operation is realized.
Drawings
Fig. 1 is a structural diagram of a cement vibration robot according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of the vertical descending movement of the cement vibration robot according to embodiment 1 of the present invention.
Fig. 3 is a schematic view of the tilt-down start position of the cement vibration robot according to embodiment 1 of the present invention.
Fig. 4 is a schematic view of the tilt-down end position of the cement vibration robot according to embodiment 1 of the present invention.
Fig. 5 is a block diagram showing a structure of a cement vibration robot according to embodiment 2 of the present invention.
Description of reference numerals:
vibrating rod 1
Lifting device 3
Reinforced cement identification system 5
First binocular camera 6
Second binocular camera 9
The first through hole 211
Suspension top plate 221
Upright 222
Four wheels 23
Second through hole 3111
Fixed platform 312
Triangle chuck 313
Retracting and releasing motor 323
Cement upper plane 101 in reinforcing mesh
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The present embodiment provides a cement vibration robot, as shown in fig. 1, the cement vibration robot includes a vibrating bar 1, a moving trolley 2, a lifting device 3 and a control system.
The vibrating spear 1 is mounted in a lifting device 3 for performing a vibrating operation in the cement under the control of a control system. The lifting device 3 is arranged on the moving trolley 2 and is used for driving the vibrating rod 1 to ascend and/or descend and/or tilt under the control of the control system. The control system is used for controlling the moving trolley 1 to move in position.
The control system comprises a controller and an interface board, and the interface board is respectively connected with the moving trolley 3, the vibrating bar 1 and the lifting device 2; and a control algorithm is operated in the controller and is used for controlling the position movement of the movable trolley 3, the vibration operation of the vibrating spear 1 and the ascending, descending or inclining movement of the vibrating spear 1 driven by the lifting device 2.
The control system can be a remote control device, can receive instructions to control the moving trolley 3 to move forward, retreat, move left, move right, turn left or turn right, can also receive instructions to control the vibrating frequency and intensity of the vibrating rod 1, and can also receive instructions to control the lifting device 2 to drive the vibrating rod 1 to ascend, descend or incline so as to facilitate the vibrating operation of the vibrating rod 1 at a proper depth and angle when entering cement. The limitations of the remote control device herein do not affect other devices that can perform the above functions as a control system.
As shown in fig. 1, the mobile cart 2 includes a hollow base 21, a suspension 22, and four wheels 23. The hollow base 21 is provided with a first through hole 211, and the vibrating rod 1 is raised, lowered or tilted into the cement through the first through hole 211. The suspension 22 is fixed on the hollow base 21, the suspension 22 comprises a suspension top plate 221 and at least three upright posts 222, the four upright posts are adopted in the embodiment, the lengths of the upright posts 222 are the same and are vertical to the hollow base 21, and the suspension top plate 221 is fixed at the top ends of the upright posts 222 and is vertical to the upright posts 222. The four wheels 23 are located below the hollow base 21, and are respectively a left differential wheel, a right differential wheel, a front universal follower wheel and a rear universal follower wheel, so that the moving trolley 2 can smoothly move forward, backward, left, right, left and right, and can move on the working surface.
As shown in fig. 1, the lifting device 3 includes a parallel mechanism 31 and a lifting mechanism 32, the parallel mechanism 31 is used for fixing the vibrating rod 1 on the suspension 22, and the lifting mechanism 32 is used for driving the vibrating rod 1 to move up, down or tilt.
The parallel mechanism 31 comprises a movable platform 311, a fixed platform 312, a triangular chuck 313 and a branch mechanism 314. The fixed platform 311 is fixed below the suspension top plate 221, the branch mechanism 314 comprises at least three telescopic rods 3141, one end of each telescopic rod 3141 is fixed on the fixed platform 312, one telescopic end of each telescopic rod 3141 is fixed on the movable platform 311, the movable platform 311 can ascend or descend along with the same degree of extension of the three telescopic rods 3141, and the movable platform 311 can incline along with unequal degree of extension of the three telescopic rods 3141.
The triangular chuck 313 is fixed on the movable platform 311, and the triangular chuck 313 is used for fixing the vibrating rod 1; the middle of the movable platform 311 is provided with a second through hole 3111, and the vibrating rod 1 passes through the second through hole 3111 and the first through hole 211 on the movable trolley to move up, down or tilt, and enters the cement to vibrate.
The lifting mechanism 32 includes a retraction turntable 321, a guide roller 322, and a retraction motor 323. The storing turntable 321 is fixed on the upper surface of the suspension top plate 221, is positioned on the central shaft of the suspension top plate 221, and can rotate around the central shaft to store the redundant vibrating rod cable on the storing turntable 321. The guide roller 322 is fixed on the upper surface of the suspension top plate 221 and the side surface of the take-up turntable 321, and the vibrating rod cable electrically connected with the vibrating rod bypasses the guide roller 322 and passes through the suspension top plate 221, so that the cable is prevented from being damaged due to friction between the vibrating rod cable and the suspension top plate when the vibrating rod moves. The retraction motor 323 is used for driving the vibrating spear 1 to ascend, descend or tilt together with the branch mechanism 314 and the movable platform 311 under the control of the control system.
During reinforced cement operation, the reinforcing mesh can be tied into multiple layers, cement is also paved and vibrated in a layered mode, the cement vibrating operation needs to be carried out immediately after each layer of cement is paved, and the vibrating operation is completed before the cement is solidified. As shown in fig. 2, the rebar grid is tall with cement below the rebar grid, in which case the vibrating rod cable needs to go below the cement level in the rebar grid. The control system instructs to loosen the triangular chuck 313, then the retracting motor 333 rotates to pull the vibrating spear 1 to descend under the action of gravity, when the lower head of the vibrating spear 1 contacts the upper plane of the reinforcing mesh, the control system instructs the triangular chuck 313 to hug the vibrating spear 1, the three telescopic rods 3141 of the branch mechanism 314 extend to the same extent, the movable platform 311 embraces the vibrating spear 1 to vertically move downwards, if the movable platform 311 does not move in place once, the triangular chuck 313 can be loosened, the movable platform 311 moves upwards to the highest position, the triangular chuck 313 embraces the vibrating spear 1 again or the vibrating spear cable to vertically move downwards, the relay moves downwards until the vibrating spear 1 reaches the required depth and stops, the triangular chuck 313 is loosened, and the vibrating spear 1 can start vibrating operation. After one vibrating point finishes vibrating operation, the retracting motor 333 reversely rotates to pull the vibrating rod 1 to rise until the upper edge of the vibrating rod 1 reaches the movable platform 311, and the triangular chuck 313 holds the vibrating rod 1 tightly. The control system controls the three telescopic rods 3141 of the branch mechanism 314 to shorten to the same extent, and drives the movable platform 311 to ascend until the lower edge of the vibrating rod 1 leaves the upper plane of the reinforcing mesh. The control system controls the moving trolley 2 to move to the next position to be vibrated, and the work is repeated.
In order to uniformly vibrate the cement at the gaps of the reinforcing mesh, the vibrating rods are required to be inclined for vibrating. As shown in fig. 3, the three telescopic rods 3141 of the branch mechanism 314 extend to different extents, the movable platform 311 holds the vibrating rod 1 to be lifted and inclined, the vibrating rod 1 can be obliquely fed into the cement according to the same movement process of vertical descending, and as shown in fig. 4, the vibrating rod 1 is obliquely vibrated after reaching a proper depth.
Compared with the prior art, the cement vibrating robot that this embodiment provided is through placing the vibrting spear on the travelling car that can independently move to this vibrting spear can rise automatically, descend and slope, has realized the automation of cement work of vibrating from this, has improved the efficiency that cement vibrated greatly.
Example 2
The present embodiment is a further improvement of the cement vibration robot based on embodiment 1, and as shown in fig. 5, the cement vibration robot further includes a reinforced concrete recognition system 5, a first binocular camera 6, a map construction system 7, a path navigation system 8, and a second binocular camera 9.
The first binocular camera 6 is mounted on the movable platform 311 and is used to capture an image of the work surface. The reinforced concrete recognition system 5 comprises a vision processing algorithm, the vision processing algorithm is used for recognizing the distance between the cement surface and the steel bar surface in the operation surface according to the operation surface image shot by the first binocular camera 6, and the control system controls the depth of the vibrating rod 1 entering the steel bar surface according to the distance between the cement surface and the steel bar surface.
The second binocular camera 9 is installed on the stationary platform 312 for photographing an environment image. The map construction system 7 includes a map construction algorithm for constructing an environment map from the work surface image environment image captured by the second binocular camera 9. The path guidance system 8 comprises a sensor 81, an inertial device 82 and a path processor 83, the sensor 81 comprising a lidar or ultrasonic sensor for sensing the position of obstacles in the environment; the inertial device 82 comprises an electronic gyroscope for sensing the direction of advance and the acceleration of the mobile trolley 2; the path processor 83 is configured to run a path navigation algorithm, and the path navigation algorithm is configured to perform path planning according to an environment map, the position of an obstacle, the advancing direction of the mobile cart 2, and the acceleration, to implement autonomous walking and obstacle avoidance of the mobile cart 2, and to implement autonomous intelligent cement vibrating operation of the cement vibrating robot on a working surface.
The first binocular camera 6 and the second binocular camera 9 are both provided with protective cases, when the protective cases are moved and identified, the protective cases are opened to shoot images, and when the vibrating spear 1 vibrates, the protective cases are closed to protect the cameras.
The visual processing algorithm, the map construction algorithm and the path navigation algorithm in the embodiment are mature algorithms, can be used, and can be improved according to needs, and are not described herein again.
The cement vibration robot that this embodiment provided, through map construction system and route navigation, realize that cement vibration robot's automation keeps away barrier walking, the automatic movement of vibrting spear, and the operation of vibrating does not need the manpower to control completely, realizes the full automatization of cement vibration operation.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The cement vibration robot is characterized by comprising a vibrating bar, a moving trolley, a lifting device and a control system;
the vibrating spear is arranged in the lifting device and is used for vibrating in cement under the control of the control system;
the lifting device is arranged on the moving trolley and is used for driving the vibrating rod to ascend and/or descend and/or tilt under the control of the control system;
the control system is used for controlling the moving trolley to move.
2. The cement vibration robot as claimed in claim 1, wherein said control system comprises a controller and an interface board, said interface board being connected to said traveling carriage, said vibrating rod and said lifting device, respectively; and a control algorithm is operated in the controller and used for controlling the position movement of the movable trolley, the vibration operation of the vibrating spear and the lifting device to drive the vibrating spear to ascend and/or descend and/or tilt.
3. The cement vibration robot as claimed in claim 2, wherein said moving cart comprises a hollow base, said hollow base having a first through hole, said vibrating rod moving up and/or down and/or tilting through said first through hole.
4. The cement vibration robot as claimed in claim 3, wherein said moving cart further comprises a suspension fixed on said hollow base, said suspension comprising a suspension top plate and at least three vertical columns, said vertical columns being of the same length and perpendicular to said hollow base, said suspension top plate being fixed on top ends of said vertical columns, said suspension top plate being perpendicular to said vertical columns;
the lifting device comprises a parallel mechanism and a lifting mechanism; the parallel mechanism is used for fixing the vibrating rod on the suspension, and the lifting mechanism is used for driving the vibrating rod to ascend and/or descend and/or tilt.
5. The cement vibration robot as claimed in claim 4, wherein said parallel mechanism comprises a moving platform, a fixed platform, a triangular chuck and a branch mechanism;
the fixed platform is fixed below the suspension top plate, the branch mechanism comprises at least three telescopic rods, one fixed end of each telescopic rod is fixed on the fixed platform, and one telescopic end of each telescopic rod is fixed on the movable platform;
the triangular chuck is fixed on the movable platform and used for fixing the vibrating rod; and a second through hole is formed in the middle of the movable platform, and the vibrating rod passes through the second through hole to perform ascending and/or descending and/or inclining motion.
6. The cement vibration robot as claimed in claim 5, wherein said lifting mechanism comprises a retraction turntable, a guide roller, a retraction motor;
the retractable turntable is fixed on the suspension top plate, is positioned on a central shaft of the suspension top plate and rotates around the central shaft;
the guide roller is fixed on the upper surface of the suspension top plate and the side surface of the retractable turntable, and a vibrating rod cable bypasses the guide roller, penetrates through the suspension top plate and is electrically connected with the vibrating rod;
the charge and discharge machine is used for driving the vibrating spear to ascend and/or descend and/or tilt together with the branch mechanism and the movable platform under the control of the control system.
7. The cement vibration robot as claimed in claim 3, wherein said traveling carriage further comprises four wheels, said wheels being located below said hollow base; the four wheels are respectively a left differential wheel, a right differential wheel, a front universal follow-up wheel and a rear universal follow-up wheel.
8. The cement vibration robot as claimed in any one of claims 1 to 7, further comprising a first binocular camera and a reinforced cement recognition system; the first binocular camera is used for shooting an image of a working face, the reinforced concrete recognition system comprises a vision processing algorithm, and the vision processing algorithm is used for recognizing the distance between the concrete face and the reinforced concrete face in the working face according to the image of the working face.
9. The cement vibration robot as claimed in claim 8, further comprising a second binocular camera, a mapping system and a path navigation system;
the second binocular camera is used for shooting an environment image, the map construction system comprises a map construction algorithm, and the map construction algorithm is used for constructing an environment map according to the environment image;
the path navigation system comprises a sensor, an inertial device and a path processor, wherein the sensor is used for sensing the position of an obstacle in the environment, the inertial device is used for sensing the advancing direction and the acceleration of the mobile trolley, the path processor is used for running a path navigation algorithm, and the path navigation algorithm is used for planning a path according to the environment map, the position of the obstacle, the advancing direction and the acceleration of the mobile trolley.
10. The cement vibration robot as claimed in claim 9, wherein said sensor comprises a lidar and/or ultrasonic sensor and said inertial device comprises an electronic gyroscope.
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