CN113622676A - Intelligent vibrating device and method based on multi-degree-of-freedom robot - Google Patents
Intelligent vibrating device and method based on multi-degree-of-freedom robot Download PDFInfo
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- CN113622676A CN113622676A CN202110918710.2A CN202110918710A CN113622676A CN 113622676 A CN113622676 A CN 113622676A CN 202110918710 A CN202110918710 A CN 202110918710A CN 113622676 A CN113622676 A CN 113622676A
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Abstract
The invention relates to an intelligent vibrating device based on a multi-degree-of-freedom robot, which comprises a three-degree-of-freedom walking system, a multi-degree-of-freedom robot steering system and a vibration damping and isolating system; the three-degree-of-freedom traveling system comprises a winch, a movable sliding block, a steel rail, a steel wire rope, a first pipeline, a second pipeline and a third pipeline; the multi-degree-of-freedom robot steering system is mainly formed by connecting a plurality of sections of rotating pipelines through rotating joints; the vibration reduction and isolation system comprises a flange plate, a bolt and a vibration reduction spring. The invention has the beneficial effects that: the invention adopts a multi-degree-of-freedom robot steering system, realizes free rotation of the vibrating rod by controlling the rotation of the joint, thereby realizing vibration of dead corners in a dock type lock chamber wall structure, and is suitable for lock chamber walls with high reinforcement cage density, irregular vibration areas, height of more than 10m, thickness of more than 30cm, large workload, complex working conditions and severe working environment.
Description
Technical Field
The invention relates to a vibrating device, in particular to an intelligent vibrating device and method based on a multi-degree-of-freedom robot.
Background
In general construction conditions, the total length of the gate chamber is about several hundred meters, and the gate chamber is mostly of a dock type structure. The lock chamber wall is the most important part in the whole ship lock transportation channel, the quality of the lock chamber wall is directly related to whether the transportation channel can be completed smoothly, and the lock chamber wall directly influences whether water transportation work is smooth or not due to the fact that the working environment is severe, the existing vibration technology is imperfect, the quality requirement is high, and construction needs to take a long time, so that under the condition that the quality of the lock chamber wall is guaranteed, the construction period needs to be saved as far as possible, labor force is reduced, the quality and the safety coefficient of the lock chamber wall are improved, the navigation target of the channel is achieved as soon as possible, and social benefits are improved.
With the development of science and technology, the vibration technology is changing day by day with the development of the times. At present, concrete vibration modes are mainly divided into manual vibration and mechanical vibration.
For manual vibration, the defects are that the rapid insertion and the slow pulling are required in the construction process, the method is not practical for a lock chamber wall project with short engineering time, the vibration progress is slow, the construction work efficiency is low, and the labor consumption is large.
For mechanical vibration, it is mainly classified into the following categories:
1) inner vibrator (plug-in vibrator)
The disadvantage is that it is not suitable for structures and components where the reinforcement is particularly dense and thin, and the chamber wall is precisely such a component; the high-frequency vibration can reduce the time, but the time is at least more than 10s, the time cannot be completely and accurately controlled during working, if the time is too short, the concrete is not easy to tap, if the time is too long, segregation can be caused, the quality of the lock chamber wall can be directly influenced, and common lock chamber wall field constructors do not have extremely high professional literacy and can not accurately grasp the time.
2) Surface vibrator (Flat vibrator)
The method has the disadvantages that the areas need to be divided before use, and the vibrating times of all the areas are inconsistent because the gate chamber walls are of dock structures and the areas are irregular in shape; the moving distance of the vibrating rod is 5cm which covers the last vibrating distance, so that the utilization rate of the vibrating range of the vibrating rod is low, the project construction period is influenced, and whether the ship lock project is successfully completed or not is directly influenced; an electric vibrator with an eccentric block is required to be arranged on a steel film or a template, the template is easily damaged under high-frequency vibration, the precision of a split bolt is influenced, and the template and a reinforcement cage are easily not tightly matched; it is only suitable for the construction with large vibrating area and small thickness, the cast-in-place floor, the terrace and the prefabricated slab, and the lock chamber wall is a precise component, so the method is not suitable for the lock chamber wall with particularly dense reinforcing bars and irregular shape.
3) External vibrator (attachment vibrator)
The method has the defects that the method is only suitable for the occasions with dense steel bars and less than 30cm thick wall column beams and small density and thickness, and the thickness of the common lock chamber wall is more than two meters, so the method is not suitable for the working condition of the lock chamber wall; when the template is used, the template is fixed, the electric vibrator with the eccentric block is required to be fixed on the outer side of the template through bolts, the template is easily damaged under high-frequency vibration, the precision of the stay bolts is influenced, the template and the reinforcement cage are easily not matched tightly, and the appearance and the quality of a brake chamber wall are directly influenced.
4) Vibration table
The method has the defect that the method is only suitable for vibrating the concrete prefabricated part and tamping a test block manufactured in a laboratory and is not suitable for vibrating the concrete in the wall of the lock chamber.
The following problem mainly exists when current vibrating rod vibrates:
1. problems of movement of the vibrating rod
Because manual vibration is adopted in most projects, the manual vibration is far from sufficient in the situations of deep height, narrow entrance and large project amount, and the consumed labor force and the construction period efficiency are far from expected values.
2. The vibrating rod cannot be used under complex working conditions
Because some cross sections in some projects (such as structures of a lock chamber wall, a dam, a special-shaped column and the like) cannot be vibrated by means of the existing vibrating technology (such as manual vibrating, a vibrating table, an attached vibrator and the like), or some severe environments (such as underground projects, ship mooring columns and the like) exist, when manual vibrating is used, the situation that workers cannot enter a construction site or some narrow structures cannot be vibrated can occur.
Most of the existing building structures are of reinforced concrete structures, and because a large number of embedded parts exist in large-scale engineering, errors generated during welding of reinforcing steel bars and the operation of constructors is not standard, when vibration is carried out, the rod head of the vibration rod is in a long cylindrical shape, and therefore a place which cannot be vibrated exists.
3. Problems of vibration parameters
The existing vibrating rods in the market are generally investigated to be vibrating rods with a fixed frequency system or a frequency sweeping system, namely, only the vibration frequency and the vibration amplitude are quantitatively controlled and adjusted, but in the vibrating process, factors such as the insertion depth, the vibrating time, the insertion interval, the swing angle and the like also exist.
4. Problem of vibration damage
When the vibrating rod is inserted into concrete, because constructor misoperation or the part of vibrating is the intensive part of reinforcing bar distribution, cause the contact of vibrating rod stick head and reinforcing bar for reinforcing bar and overall structure vibrate jointly, easily cause the whole resonance of structure, cause the structural skeleton to take place to destroy, so should pay attention to the geometric dimensions of reinforcing bar distribution and reinforcing bar intensity problem itself.
At present, a manual vibration mode is still adopted in a ship lock construction site. Firstly, due to the limited skill of constructors, randomness exists in the guarantee of the quality of the lock chamber wall. For vibration of a common lock chamber wall of a ship lock, due to the limitation of field construction environment, workers can only go deep into a lock chamber wall template which is ten meters deep, a working mode of pouring and vibrating is carried out at the same time, when the lock chamber wall template works in summer, the temperature inside the lock chamber wall template is extremely high, life safety of the workers can be threatened, and because the lock chamber wall adopts a dock structure, manual vibration can not effectively vibrate dead corners, so that the quality and safety coefficient of the lock chamber wall can have some problems.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an intelligent vibrating device and method based on a multi-degree-of-freedom robot.
The intelligent vibrating device based on the multi-degree-of-freedom robot comprises a three-degree-of-freedom walking system, a multi-degree-of-freedom robot steering system and a vibration damping and isolating system;
the three-degree-of-freedom traveling system comprises a winch, a movable sliding block, a steel rail, a steel wire rope, a first pipeline, a second pipeline and a third pipeline; the steel rail is laid on the edges of the two side templates, and the movable sliding block is arranged on the steel rail and is in sliding connection with the steel rail; triangular steel plates on two sides of an upper top plate of the pipeline I are connected with steel wheels through rotating shafts, and the steel wheels are arranged on a track of the movable sliding block; the winch is connected and welded with the upper surface of the first pipeline through a bolt and is arranged in the center of a section of the pipeline; the first pipeline is sleeved with the second pipeline, and the second pipeline is sleeved with the third pipeline; a steel wire rope of the winch penetrates through the first pipeline, the second pipeline and the third pipeline; the upper surface of the third inner bottom plate of the pipeline is provided with a connecting piece, a rotating shaft is arranged in the connecting piece and is connected with a steel wire rope, one end of the steel wire rope is connected with the rotating shaft of the winch, and the other end of the steel wire rope is connected with the rotating shaft on the upper surface of the third inner bottom plate of the pipeline;
the multi-degree-of-freedom robot steering system is mainly formed by connecting a plurality of sections of rotating pipelines through rotating joints, wherein motors are arranged in the rotating joints, a base at the upper end of the first section of rotating pipeline is connected with the bottoms of the three pipelines through bolts, the last section of rotating pipeline is connected with a cylindrical sleeve through threads, a vibrating rod motor and a vibrating rod hose which are connected are arranged in the cylindrical sleeve, and the vibrating rod hose is connected with a vibrating rod;
the vibration reduction and isolation system comprises a flange plate, a bolt and a vibration reduction spring; the vibrating rod penetrates through and is clamped on the flange plate, the flange plate is connected with the cylindrical sleeve through bolts, and the damping spring is installed on the outer side of each bolt.
Preferably, the method comprises the following steps: the steel rail is connected with the template through bolts.
Preferably, the method comprises the following steps: the steel wire rope falling point of the winch is superposed with the center of a section of the pipeline.
Preferably, the method comprises the following steps: and rectangular flanges are arranged at the upper end and the lower end of the first pipeline, the second pipeline and the third pipeline.
Preferably, the method comprises the following steps: the outer sections and the inner sections of the first pipeline, the second pipeline and the third pipeline are all rectangular sections, and four corners of each rectangle are all arranged to be chamfered.
Preferably, the method comprises the following steps: the lower surface of a top plate of the cylindrical sleeve is connected with a vibrating rod motor through a bolt, and the vibrating rod motor, a vibrating rod hose and a vibrating rod are sequentially connected.
Preferably, the method comprises the following steps: and a power line in the multi-degree-of-freedom robot steering system passes through the inside of the rotating pipeline, passes through the third pipeline, the second pipeline and the first pipeline, is connected out from a rectangular opening on the upper surface of the first pipeline, and is connected to the electric cabinet together with the winch.
Preferably, the method comprises the following steps: a plurality of holes are arranged on the flange plate, a plurality of holes are correspondingly formed in the lower surface of the cylindrical sleeve, and the bolts penetrate through the holes.
The method for installing and using the intelligent vibrating device based on the multi-degree-of-freedom robot comprises the following steps:
s1, designing a template of the intelligent vibrating device: designing the size of a template according to the actual size of the lock chamber wall, so that the template is matched with the steel reinforcement cage, arranging the edge of the template on the outer side, arranging the steel rail on the template, and connecting the template and the steel rail by adopting bolts;
s2, designing a three-degree-of-freedom walking system:
s2-1, splicing the templates by utilizing bolt connection and welding on a construction site for a walking system along the direction of the lock chamber wall, welding the steel rails and the edges of the templates, installing servo motors and verifying the levelness of the steel rails on two sides;
s2-2, for the traveling system perpendicular to the direction of the lock chamber wall, assembling the first pipeline and the pulley on a construction site, hoisting the movable sliding block to the steel rail, and hoisting the first pipeline to the movable sliding block;
s2-3, completing the connection of the winch and the first pipeline on the construction site for the traveling system going deep into the direction of the lock chamber wall, and hoisting the pipelines into the previous pipeline connected with the winch section by section;
s3, for the multi-degree-of-freedom robot steering system, after the pipelines are connected, the last pipeline is hung at the highest point, the multi-degree-of-freedom robot steering system is connected with the last pipeline on an operation platform near a steel rail, and a vibrating rod and a vibration damping and isolating system are installed at the lower end of the multi-degree-of-freedom robot steering system;
s4, connecting an electric cabinet: the power line in the multi-degree-of-freedom robot steering system passes through the interior of the rotating pipeline, sequentially passes through the pipeline III, the pipeline II and the pipeline I, is connected out from a rectangular opening on the upper surface of the pipeline I, and is connected to the electric cabinet together with the winch;
s5, debugging after the intelligent vibrating device is assembled; starting a servo motor to drive a movable sliding block to be positioned right above concrete to be vibrated, starting a winch after the concrete enters a lock chamber wall through a pumping machine, inserting a vibrating rod into the concrete, and controlling the expansion of a pipeline through the winch to enable the vibrating rod to reach a specified vibrating position; if the robot encounters a place where vertical vibration cannot act, a motor of a steering system of the multi-degree-of-freedom robot is started to rotate and deform the motor to the place needing vibration, and then a vibrating rod motor is started to vibrate;
s6, arranging a displacement sensor or an infrared sensor on the outer wall of a rotating pipeline of the multi-degree-of-freedom robot steering system to judge the overall distribution condition of the reinforcement cage, designing a walking route of the intelligent vibrating device, and setting related vibrating parameters according to the characteristics of the liquid concrete material.
Preferably, the method comprises the following steps: in step S5, setting a vibration interval, a vibration time, an insertion depth and an insertion angle by control software; a sensor or a camera is arranged on a steering system of the multi-degree-of-freedom robot, the conditions of slurry discharge and bubbles are observed, and whether the vibration is dense or not is judged.
The invention has the beneficial effects that:
1) the invention adopts a multi-degree-of-freedom robot steering system, realizes free rotation of the vibrating rod by controlling the rotation of the joint, thereby realizing vibration of dead corners in a dock type lock chamber wall structure, and is suitable for lock chamber walls with high reinforcement cage density, irregular vibration areas, height of more than 10m, thickness of more than 30cm, large workload, complex working conditions and severe working environment.
2) The invention adopts the three-degree-of-freedom walking system, can realize walking along the direction of the lock chamber wall, the direction vertical to the lock chamber wall and the direction deep into the lock chamber wall, replaces workers to deep into different positions for vibration, prevents the life danger of the workers due to misoperation, has high moving speed, can save the construction period, and is suitable for occasions with insufficient professional knowledge, large engineering quantity and high precision of constructors.
3) The invention adopts the three-degree-of-freedom walking system and the multi-degree-of-freedom robot steering system, realizes automatic construction, can reduce the number of constructors and reduce unnecessary labor loss. Moreover, the equipment can be suitable for working conditions with different structural shapes, the utilization rate is high, the equipment can be repeatedly utilized, and the cost is saved.
Drawings
FIG. 1 is a perspective view of an intelligent vibrating device based on a multi-degree-of-freedom robot;
FIG. 2 is a rear view of the intelligent vibrating device based on the multi-degree-of-freedom robot;
FIG. 3 is a left side view of the intelligent vibration device based on a multi-degree-of-freedom robot;
FIG. 4 is a front view of the intelligent vibrating device based on the multi-degree-of-freedom robot;
FIG. 5 is a right side view of the intelligent vibration device based on a multi-degree-of-freedom robot;
FIG. 6 is a top view of the intelligent vibration device based on the multi-degree-of-freedom robot;
FIG. 7 is a bottom view of the intelligent vibrating device based on a multi-degree-of-freedom robot;
FIG. 8 is a schematic view of a pipeline;
FIG. 9 is a schematic view of an inner and outer rectangular flange of a pipe;
FIG. 10 is a view of a pipe connection;
FIG. 11 is a schematic view of a vibrating rod;
FIG. 12 is a schematic view of a triangular steel plate and a wire rope;
FIG. 13 is a schematic view of a multi-degree of freedom robot steering system;
fig. 14 is a schematic view of a vibration damping and isolating system.
Description of reference numerals: the device comprises a winch 1, a triangular steel plate 2, a movable sliding block 3, a steel rail 4, a steel wire rope 5, a pipeline I6, a pipeline II 7, a pipeline III 8, an inner rectangular flange 9, an outer rectangular flange 10, a cylindrical sleeve 11, a vibrating rod 12, a flange plate 13, a bolt 14 and a damping spring 15.
Detailed Description
The present invention will be further described with reference to the following examples. The following examples are set forth merely to aid in the understanding of the invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
This patent is mainly from concrete quality safety, researches the concrete vibration problem in complicated, large-scale, the abominable operating mode, mainly solves the problem of channel lock chamber wall vibration.
Example one
The embodiment of the application provides an intelligent vibrating device based on a multi-degree-of-freedom robot, which comprises a three-degree-of-freedom walking system, a multi-degree-of-freedom robot steering system and a vibration damping and isolating system.
The three-degree-of-freedom walking system is characterized in that the three degrees of freedom are along the direction of the lock chamber wall, perpendicular to the direction of the lock chamber wall and deep into the direction of the lock chamber wall. The steel wheel and the triangular steel plates 2 on two sides of the upper top plate of the pipeline I form a revolute pair, the steel wheel and the movable sliding block 3 form a movable pair, the movable sliding block 3 and the steel rail 4 form a movable pair, and the pipeline form a movable pair.
For a walking system along the direction of the lock chamber wall, the steel rail 4 is laid on the edges of the two side templates, the two templates are connected by high-strength bolts, and then the movable sliding block 3 is arranged on the steel rail 4 in a movable pair mode.
For a walking system vertical to the direction of the lock chamber wall, the triangular steel plates 2 on two sides of the upper top plate of the first pipeline are connected with the steel wheels in a revolute pair mode through rotating shafts, then the first pipeline 6 is placed on a track of the movable sliding block 3, and the first pipeline 6 and the movable sliding block 3 form a movable pair.
For a traveling system which extends deep into a lock chamber wall, a winch 1 and the upper surface of a first pipeline 6 are connected and welded through a rigid bolt from top to bottom and are arranged in the center of a section of the pipeline, the drop point of a steel wire rope 5 of the winch 1 is coincident with the centroid of the section of the first pipeline, then the first pipeline 6 is connected with a second pipeline 7 through a moving pair, rectangular flanges are arranged at the upper end and the lower end of each pipeline, power can be transmitted between the pipelines to the last section of pipeline (namely a third pipeline 8), a connecting piece is arranged on the upper surface of a bottom plate in the last section of pipeline, a rotating shaft is arranged in the connecting piece and is connected with the steel wire rope 5, namely one end of the steel wire rope 5 is connected with the rotating shaft of the winch 1, and the other end of the steel wire rope is connected with the rotating shaft on the upper surface of the bottom plate in the last section of pipeline.
For the power system of the walking system, for the walking system along the direction of the lock chamber wall, the power source is the pushing of workers or the driving of a servo motor; for a walking system vertical to the direction of the gate wall, a servo motor can be used for driving a ball screw to realize walking vertical to the direction of the gate wall or manually pushed to slide; for a walking system which goes deep into the direction of the lock chamber wall, when the walking system descends, the walking system freely descends by the self gravity of the lower structure, and when the lower pipeline descends to a threshold value, the inner rectangular flange 9 at the lower end of the upper pipeline section stops descending the outer rectangular flange 10 at the upper end of the lower pipeline section. The connection between the pipelines is that the next section of pipeline is placed in the inner wall of the previous section of pipeline to form a sleeve joint. When the pipeline is stretched, the inner rectangular flange 9 at the lower end of the upper section of pipeline is contacted with the outer rectangular flange 10 at the upper end of the lower section of pipeline, so that the two pipelines are limited to be separated; when the pipeline shrinks, the outer rectangular flange 10 at the lower end of the next section of pipeline is contacted with the outer rectangular flange 10 at the lower end of the previous section of pipeline, and the shrinkage is limited to continue.
And (3) braking by using a winch reducer until the vibrating rod descends to a specified depth through the expansion and contraction of the pipeline. Wherein, at the descending in-process, for preventing because the pipeline overlength leads to the dislocation of the horizontal plane to slide between pipeline and the pipeline to appear, cause the structure unstability, all make the rectangular cross section of the same type with pipeline outer cross-section and inner cross-section to all make the chamfer type with the rectangle four corners, make the great machining error of permission. When the pipeline is lifted, the winch accelerates to work at a constant speed, the steel wire rope is used for driving the connecting piece on the upper surface of the bottom plate in the last section of pipeline, firstly, the last section of pipeline starts to lift, the outer rectangular flange at the lower end of the last section of pipeline is contacted with the outer rectangular flange at the lower end of the penultimate section of pipeline, the last section of pipeline provides upward supporting force for the penultimate section of pipeline, and the rest of the subsequent pipeline is analogized until the vibrating rod leaves the plane where the steel bar is located.
The multi freedom degree robot steering system mainly comprises a plurality of sections of rotating pipelines through rotating the joint connection, set up motor control in the rotation joint and rotate, rotate the base of pipeline upper end with first section and be connected through high strength bolt with pipeline three 8, last section of rotating pipeline is connected through the screw thread with cylinder sleeve 11, set up the excellent motor that shakes and the excellent hose that shakes in the cylinder sleeve 11, arrange the excellent motor that shakes with bolted connection form at the roof lower surface of cylinder sleeve 11, the excellent motor that shakes is connected and shakes the excellent hose, the excellent hose connection that shakes is shaken excellent 12, it is a whole to shake the excellent, what adopt is current to shake the excellent, for the rigid hard tube. The vibrating rod power line and the robot power line are connected out from a rectangular opening on the upper surface of the first pipeline through the inside of the rotating pipeline, penetrate through the third pipeline and the second pipeline and are connected to an electric cabinet (namely a control system of the invention) together with a winch. The vibrating rod has the working principle that: the inside of the vibrating rod hose and the inside of the vibrating rod are both provided with steel wire ropes, and the rotating shaft of the vibrating rod motor drives the steel wire ropes in the pipe to enable the steel wire ropes in the pipe to rotate eccentrically at a high speed to form vibration.
The vibration damping and isolating system comprises a flange plate 13, bolts 14, a vibration damping spring 15 and the like. The vibrating rod 12 penetrates through and is clamped on the flange plate 13, when the rigid pipe of the vibrating rod is fixed by hands or related structures, vibration can be generated, and when the steel wire rope rotates eccentrically at a high speed, the flange plate can vibrate along with the vibrating rod. Therefore, four holes are arranged on the flange 13, four holes are arranged on the lower surface of the cylindrical sleeve 11, the flange 13 and the cylindrical sleeve 11 are connected by four bolts 14, and a damping spring 15 is arranged on the screw rod of the middle contact surface.
Example two
The second embodiment of the application provides an installation and use method of an intelligent vibrating device based on a multi-degree-of-freedom robot, which comprises the following steps:
s1, designing a template of the intelligent vibrating device: the size of the template is designed according to the actual size of the lock chamber wall, the template is matched with the steel reinforcement cage, the edge of the template is arranged on the outer side, the steel rail 4 is arranged on the template, and the template is connected with the steel rail 4 through high-strength bolts.
S2, designing a three-degree-of-freedom walking system:
s2-1, for the traveling system along the direction of the lock chamber wall, splicing the templates by utilizing high-strength bolt connection and welding on a construction site, welding the edges of the steel rails 4 and the templates, selecting whether to install a servo motor according to the cost condition, and verifying the levelness of the steel rails on two sides.
S2-2, for the traveling system perpendicular to the direction of the lock chamber wall, assembling the first pipeline 6 and the pulley on a construction site, hoisting the movable sliding block 3 to the steel rail 4, and hoisting the first pipeline 6 to the movable sliding block 3.
And S2-3, completing the connection of the winch and the first pipeline on the construction site for the traveling system which goes deep into the direction of the gate wall, and hoisting the pipelines into the previous pipeline connected with the winch section by section.
And S3, for the multi-degree-of-freedom robot steering system, after the pipelines are connected, hanging the highest point on the last pipeline, completing the connection between the multi-degree-of-freedom robot steering system and the last pipeline on an operation platform near the steel rail 4, and installing the vibrating rod 12 and the vibration damping and isolating system at the lower end of the multi-degree-of-freedom robot steering system.
S4, designing an electric cabinet: because of taking the security as the principle, under the condition that does not influence the device operation, carry out the line arrangement along the pipeline inner wall as far as possible, select reasonable route as far as possible to reduce the cost, guarantee safety.
And S5, debugging after the device is assembled. The steel rail servo motor is started, the motor for controlling the ball screw is used for driving the movable sliding block 3 to be right above concrete to be vibrated, after a certain layer of concrete enters a lock chamber wall through the pumping machine, the winch 1 is started, the vibrating rod 12 is inserted into the concrete, and the telescopic effect of the pipeline is controlled through the winch, so that the vibrating rod reaches the appointed vibrating position. If the structure chamfer vibrates, the place that can not be acted on promptly perpendicularly vibrates, start multi freedom robot a steering system's motor, make its rotation, warp to the place that needs vibrate, restart the excellent motor that vibrates, vibrate to through overall device control software, set up parameters such as vibration interval, vibration time, the depth of insertion, insertion angle, and can install sensor or camera on multi freedom robot a steering system, observe out thick liquid and bubble condition, judge whether vibrate closely knit.
S6, a displacement sensor or an infrared sensor can be arranged on the outer wall of a rotating pipeline of the multi-degree-of-freedom robot steering system to judge the overall distribution condition of the reinforcement cage, if the distribution condition of the reinforcement of the building is known, the walking route of the intelligent vibrating device can be intelligently edited for a determined vibrating area, and relevant vibrating parameters are set according to the characteristics of the liquid concrete material.
The invention adopts a multi-degree-of-freedom robot steering system, and realizes the free rotation of the vibrating rod by controlling the rotation between the joints, thereby realizing the vibration of dead corners in the dock-type lock chamber wall structure.
The invention adopts the three-degree-of-freedom walking system, can realize walking along the direction of the lock chamber wall, the direction vertical to the lock chamber wall and the direction deep into the lock chamber wall, replaces workers to deep into different positions for vibration, has high moving speed and can save the construction period.
The invention replaces workers to carry out construction, and the machine can enter a deep lock chamber wall of more than ten meters, thereby preventing the life danger of the workers due to misoperation.
Because the worker technique is limited, the vibration process is difficult to avoid to generate the places which are not vibrated, the vibration times of each place are difficult to avoid to generate large deviation, and the machine can scientifically plan the route through calculation to prevent the situations. And the worker does not need to hold the machine to work back and forth, and the movement of any position can be realized through the walking system.
For some practical projects, such as a gate chamber wall dock type structure, edge corner angles are difficult to avoid, and vibration of any position and any corner can be realized through a multi-degree-of-freedom robot steering system and a three-degree-of-freedom walking system.
The self-control of the related vibration parameters not only includes the control of vibration frequency and vibration amplitude, but also can play a role in controlling other parameters, thereby ensuring the compactness and the strength of the concrete.
Claims (10)
1. The utility model provides an intelligence device that vibrates based on multi freedom robot which characterized in that: the system comprises a three-degree-of-freedom walking system, a multi-degree-of-freedom robot steering system and a vibration damping and isolating system;
the three-degree-of-freedom traveling system comprises a winch (1), a movable sliding block (3), a steel rail (4), a steel wire rope (5), a first pipeline (6), a second pipeline (7) and a third pipeline (8); the steel rail (4) is laid on the edges of the two side templates, and the movable sliding block (3) is arranged on the steel rail (4) and is in sliding connection with the steel rail (4); the triangular steel plates (2) on two sides of the upper top plate of the pipeline I (6) are connected with steel wheels through rotating shafts, and the steel wheels are arranged on the tracks of the movable sliding blocks (3); the winch (1) is connected and welded with the upper surface of the first pipeline (6) through a bolt and is arranged in the center of a section of the pipeline; the first pipeline (6) is sleeved with the second pipeline (7), and the second pipeline (7) is sleeved with the third pipeline (8); a steel wire rope (5) of the winch (1) penetrates through the first pipeline (6), the second pipeline (7) and the third pipeline (8); a connecting piece is arranged on the upper surface of the bottom plate in the third pipeline (8), a rotating shaft is arranged in the connecting piece, the rotating shaft is connected with a steel wire rope (5), one end of the steel wire rope (5) is connected with the rotating shaft of the winch (1), and the other end of the steel wire rope is connected with the rotating shaft on the upper surface of the bottom plate in the third pipeline (8);
the multi-degree-of-freedom robot steering system is mainly formed by connecting a plurality of sections of rotating pipelines through rotating joints, wherein a motor is arranged in each rotating joint, a base at the upper end of the first section of rotating pipeline is connected with the bottom of a pipeline III (8) through a bolt, the last section of rotating pipeline is connected with a cylindrical sleeve (11) through threads, a vibrating rod motor and a vibrating rod hose which are connected are arranged in the cylindrical sleeve (11), and the vibrating rod hose is connected with a vibrating rod (12);
the vibration reduction and isolation system comprises a flange plate (13), a bolt (14) and a vibration reduction spring (15); the vibrating rod (12) penetrates through and is clamped on the flange plate (13), the flange plate (13) is connected with the cylindrical sleeve (11) through a bolt (14), and a damping spring (15) is installed on the outer side of the bolt (14).
2. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: the steel rail (4) is connected with the template through bolts.
3. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: the drop point of a steel wire rope (5) of the winch (1) is superposed with the center of a section of the pipeline.
4. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: rectangular flanges are arranged at the upper end and the lower end of the first pipeline (6), the second pipeline (7) and the third pipeline (8).
5. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: the outer sections and the inner sections of the first pipeline (6), the second pipeline (7) and the third pipeline (8) are all rectangular sections, and four corners of each rectangle are all arranged to be of a chamfer shape.
6. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: the lower surface of the top plate of the cylindrical sleeve (11) is connected with a vibrating rod motor through a bolt, and the vibrating rod motor, the vibrating rod hose and the vibrating rod are sequentially connected.
7. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: and a power line in the multi-degree-of-freedom robot steering system passes through the inside of the rotating pipeline, passes through the third pipeline, the second pipeline and the first pipeline, is connected out from a rectangular opening on the upper surface of the first pipeline, and is connected to the electric cabinet together with the winch.
8. The intelligent vibration device based on the multi-degree-of-freedom robot according to claim 1, wherein: a plurality of holes are arranged on the flange plate (13), a plurality of holes are correspondingly formed in the lower surface of the cylindrical sleeve (11), and the bolts (14) penetrate through the holes.
9. The method for installing and using the intelligent vibrating device based on the multi-degree-of-freedom robot as claimed in claim 1, is characterized by comprising the following steps:
s1, designing a template of the intelligent vibrating device: designing the size of a template according to the actual size of the lock chamber wall, so that the template is matched with the reinforcement cage, arranging the edge of the template on the outer side, arranging the steel rail (4) on the template, and connecting the template with the steel rail (4) by adopting bolts;
s2, designing a three-degree-of-freedom walking system:
s2-1, splicing the templates by utilizing bolt connection and welding on a construction site for the traveling system along the direction of the lock chamber wall, welding the steel rail (4) and the edges of the templates, installing a servo motor, and verifying the levelness of the steel rails on two sides;
s2-2, for a traveling system perpendicular to the direction of the lock chamber wall, assembling a pipeline I (6) and a pulley on a construction site, hoisting the movable sliding block (3) to the steel rail (4), and hoisting the pipeline I (6) to the movable sliding block (3);
s2-3, completing the connection of the winch (1) and the pipeline I (6) on the construction site for the traveling system going deep into the direction of the lock chamber wall, and hoisting the pipeline into the previous section of pipeline connected with the winch section by section;
s3, for the multi-degree-of-freedom robot steering system, after the pipelines are connected, the highest point of the last pipeline is hung, the multi-degree-of-freedom robot steering system is connected with the last pipeline on an operation platform near a steel rail (4), and a vibrating rod (12) and a vibration damping and isolating system are installed at the lower end of the multi-degree-of-freedom robot steering system;
s4, connecting an electric cabinet: the power line in the multi-degree-of-freedom robot steering system passes through the interior of the rotating pipeline, sequentially passes through the pipeline III (8), the pipeline II (7) and the pipeline I (6), is connected out from a rectangular opening on the upper surface of the pipeline I, and is connected to the electric cabinet together with the winch (1);
s5, debugging after the intelligent vibrating device is assembled; starting a servo motor to drive a movable sliding block (3) to be right above concrete to be vibrated, starting a winch (1) after the concrete enters a lock chamber wall through a pumping machine, inserting a vibrating rod (12) into the concrete, and controlling the expansion of a pipeline through the winch to enable the vibrating rod to reach a specified vibrating position; if the robot encounters a place where vertical vibration cannot act, a motor of a steering system of the multi-degree-of-freedom robot is started to rotate and deform the motor to the place needing vibration, and then a vibrating rod motor is started to vibrate;
s6, arranging a displacement sensor or an infrared sensor on the outer wall of a rotating pipeline of the multi-degree-of-freedom robot steering system to judge the overall distribution condition of the reinforcement cage, designing a walking route of the intelligent vibrating device, and setting related vibrating parameters according to the characteristics of the liquid concrete material.
10. The method for installing and using the intelligent vibrating device based on the multi-degree-of-freedom robot as claimed in claim 9, wherein: in step S5, setting a vibration interval, a vibration time, an insertion depth and an insertion angle by control software; a sensor or a camera is arranged on a steering system of the multi-degree-of-freedom robot, the conditions of slurry discharge and bubbles are observed, and whether the vibration is dense or not is judged.
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