CN114575598A - Walking type intelligent vibrating robot - Google Patents
Walking type intelligent vibrating robot Download PDFInfo
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- CN114575598A CN114575598A CN202011366510.2A CN202011366510A CN114575598A CN 114575598 A CN114575598 A CN 114575598A CN 202011366510 A CN202011366510 A CN 202011366510A CN 114575598 A CN114575598 A CN 114575598A
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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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- 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 relates to a walking type intelligent vibrating robot which mainly comprises a walking system, a vibrating system and a data processing center. The walking system controls the mechanical foot by a hydraulic rod and a rotating shaft to realize the actions of advancing, steering and the like, and timely adjusts the insertion position and the angle by controlling the hollow mechanical foot at the tail end of the mechanical foot and matching with a plantar stabilizing disc; the vibrating system can accurately insert the vibrating rod into the concrete under the control of the clamping and plugging device, and apply vibration for preset time to the concrete. The invention combines a plurality of groups of vibrating devices, can automatically control the insertion state of the vibrating rod, can realize the action requirement of 'fast insertion and slow pulling' of the vibrating rod, flexibly and intelligently implements vibration while improving the efficiency, is suitable for concrete structures with various structures, and realizes safe and efficient construction of the concrete structures.
Description
Technical Field
The invention belongs to the field of concrete construction, and particularly relates to a walking type intelligent vibrating robot which is suitable for accurate, efficient and safe construction under various construction conditions.
Background
Concrete mixtures are loose and contain a large number of gaps, and if the concrete mixtures are hardened without tamping after pouring, excessive air bubbles in the mixtures can cause defects, so that the structural strength is reduced, the permeability is increased, and the durability of the structure is seriously affected. The purpose of vibration is to ensure that the particles in the concrete or mortar are more reasonably arranged, and the pores are filled with the slurry as much as possible, thereby improving the compactness of the concrete. The proper vibration is applied to the concrete, so that the performances such as strength, durability, solid quality and the like can be improved, and the cement consumption under the same strength can be reduced.
At present, the independent technical specification of concrete vibration construction is lacked in China, the vibration construction is only classified into one link in concrete pouring engineering, key parameters such as the insertion position, the insertion angle and the vibration time of a vibrating rod are controlled by constructors according to experience, the vibration construction is difficult to be accurately controlled, and the problems of vibration leakage, under vibration, over vibration and the like often occur. The plug-in type vibrating coverage is small, the interval between the common motor and the vibrating rod is several meters, two persons are required to operate simultaneously, the labor amount is large, and the construction efficiency of concrete is limited. In addition, for some working conditions with severe construction conditions, such as vibration construction in complex severe environments with narrow space, high altitude hypoxia, high ultraviolet irradiation intensity and the like, the influence on the health of constructors is large, and the construction efficiency is obviously reduced.
In the pouring vibration method and the vibration device in the construction of the large-volume concrete structure, the vibration steel bars are inserted into the insertion holes of each cement pier seat, so that the concrete around the vibration steel bar framework is vibrated compactly, the amount of labor for vibration can be reduced, and the structure is complex and the installation is inconvenient. The patent of the method for positioning the vibrating track of the vibrating rod in concrete in real time based on the GPS can intelligently and visually know the concrete pouring vibrating state in real time, provides important real-time dynamic track coordinates, and still relies on manpower and has a complex structure during construction. The patent concrete vibrator noise reduction cover and the patent low-noise plug-in concrete vibrator reduce construction noise through the noise reduction cover and the metal shell, but do not realize nobody, and the construction environment is still bad, which affects the health of constructors.
Through determining the technical parameters of concrete vibration compaction in advance, the robot can be adopted to carry out vibration compaction construction on concrete in a complicated structure and a severe construction environment under the set parameters. Meanwhile, the hexapod robot technology is widely applied to the industries of mechanical automation, unmanned aerial vehicle equipment and the like, has a simple structure and mature technology, has strong terrain adaptability and large capacity, can be transformed with strong performance, can be flexibly controlled, and is an excellent carrier of construction equipment. Therefore, the walking type intelligent vibrating robot is invented by combining the vibrating compaction intelligent evaluation technology and the six-foot robot technology, and can carry out accurate vibrating construction on concrete.
Disclosure of Invention
The walking type intelligent vibrating robot is creatively invented aiming at the current situations of complex construction site conditions, low traditional concrete construction efficiency and low equipment operation precision, is intelligent and efficient, is simple and convenient to operate, and is suitable for concrete accurate construction under various construction environments.
The technical scheme of the invention is as follows: the utility model provides a walking intelligence vibration robot which characterized in that: the robot comprises a walking system, a vibrating system and a data processing center; the walking system consists of a stabilizing disc 1, a hydraulic rod and a rotating shaft 3, mechanical feet 4 and a vehicle body 5, the vibrating system consists of a clamping and plugging device 9, a hollow mechanical foot 2 and a vibrating working system 8, the data processing center consists of a processor 6 and a remote control center 7, the six mechanical feet controlled by the hydraulic rod and the rotating shaft, and the clamping and plugging device 9 fixes the vibrating rod and the vibrating device in the hollow mechanical foot 2.
A walking intelligence vibration robot, its characterized in that: the using method of the device comprises the following steps: the using method of the device comprises the following steps: 1) after the fresh concrete is poured into the template, placing the robot in the area needing vibrating and starting the robot; 2) the remote control device sets and controls the opened vibrating rod, and the vibrating rod is vertically inserted into the concrete under the action of the clamping and inserting device; 3) the remote control device controls the vibrating time to be set as t, the vibrating working system stops working after vibrating, and the clamping and plugging device withdraws the vibrating rod; 4) and (4) the remote control center controls the walking system to reach the next construction point, and the step 3) and the step 4) are repeated until the robot finishes the vibration work of the whole structure.
The utility model provides an automatic walking intelligence vibration robot suitable for complicated environment that vibrates, its characterized in that: the remote control center can be used for manually remotely controlling the robot and can also be used for automatically controlling according to preset parameters such as the input insertion depth h, the input vibrating time t and the like.
A walking intelligence vibration robot, its characterized in that: the clamping and plugging device is a group of rotating shafts with trapezoidal threads, is fixed in the hollow mechanical foot, is carved with the trapezoidal threads on the vibrating rod, and is controlled to be plugged in or pulled out of concrete through forward and reverse rotation of the rotating shafts.
A walking intelligence vibration robot, its characterized in that: the hydraulic stem and pivot can be through the spatial position adjustment of control hollow mechanical foot the male spatial state of vibrating rod, and at the in-process that the vibrating rod inserted the concrete, if touch reinforcing bar, built-in fitting etc. can adjust the point of inserting and insert the angle, guarantee to insert preset degree of depth, angle of adjustment is 0~ 10.
A walking intelligence vibration robot, its characterized in that: the hollow mechanical foot is connected with the stabilizing disc through the bearing in the walking system, the supporting angle of the hollow supporting foot can be flexibly adjusted, the bottom of the walking system is hollow, the diameter of an opening of the walking system is 5-10 mm larger than that of the vibrating rod, the vibrating rod can be smoothly inserted into and pulled out of concrete, and excessive concrete is prevented from entering the hollow foot.
The mechanism of the invention is as follows: the viscosity and the internal friction of the concrete mixture within the effective vibration range are reduced by means of vibration wave energy transfer generated by vibration, the fluidity of the slurry is changed, the aggregate particles sink and slide under the action of gravity, and the large bubbles float upwards and are discharged or are vibrated to be crushed under the action of buoyancy, so that the aggregate in the template is arranged compactly, the slurry is filled fully, and finally the compactness is achieved. The mechanical feet of the vibrating robot can be uniformly and coordinately controlled and can also be independently controlled, and the supporting angles of the supporting feet can be timely adjusted by adjusting the hollow mechanical feet at the tail ends of the mechanical feet and matching with the sole stabilizing disc, so that the inserting positions and angles of the vibrating uppers can be adjusted to meet the construction requirements in different scenes.
The invention has the beneficial effects that: (1) the robot integrates a plurality of groups of vibrating devices, exerts the advantages of a six-legged robot, can stably walk on the surface of concrete just poured, has certain obstacle crossing capability, reduces manual input, and improves the efficiency and quality of concrete vibrating construction. (2) The clamping and plugging device meets the action requirements of inserting and pulling out the vibrating rod, realizes the function of automatically adjusting the inserting angle, the depth and the position of the vibrating rod, and ensures the construction quality while improving the construction efficiency. (3) The whole process of concrete structure vibration construction is controlled by recording vibration parameters such as insertion position, insertion angle, insertion depth, vibration time and the like and corresponding to related structures.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
Fig. 1 is an overall schematic diagram of the vibrating robot, wherein 1 is a stabilizing disc, 2 is a hollow mechanical foot, 3 is a hydraulic rod and a rotating shaft, 4 is a machine foot, 5 is a vehicle body, 6 is a processor, and 7 is a remote control center.
Fig. 2 shows a vibrating system, 8 a vibrating system, 9 a clamping and plugging device.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples with reference to the accompanying drawings. The key parameters of the vibrating working system of the walking type intelligent vibrating robot suitable for the complex construction environment are shown in the table 1, and the mixing proportion and the working performance of the concrete are shown in the table 2.
TABLE 1 key parameters of vibrating working system
TABLE 2 concrete mix proportions and their working properties
A walking intelligent vibrating robot (hereinafter referred to as a robot) comprises the following working steps:
(1) the robot is placed on the surface of concrete to be vibrated, all functions of the robot are started, and the vibrating rod is retracted. Adjusting the angle between the bottom hollow mechanical foot and the horizontal plane to be 0 degree at the beginning, inputting the thickness h =15cm of the pouring layer, and vibrating time s =10 s.
(2) The robot position is adjusted through the remote control center, then 6 vibrating spears of control start vibration, through centre gripping and plug device vertical insertion concrete, insert vertical depth for h =15 cm.
(3) And setting the vibration time as s =10s, withdrawing the vibrating rod by the clamping and plugging device after the vibration is carried out, and stopping the vibration.
(4) And (3) after all the vibrating rod degrees are withdrawn, the remote control center controls the traveling system to travel to the next construction point, and the step (2) and the step (3) are repeated until the robot walks through the whole structure.
(5) After the vibration is finished, the robot can be manually controlled to automatically reach the next concrete structure to be constructed, so that the obstacle crossing capability of the six-foot robot is fully exerted without manual carrying.
(6) After construction is finished, relevant data of vibration are collected and correspond to relevant structures, and the whole construction process of the concrete structure is controlled by recording vibration parameters such as insertion position, insertion angle, insertion depth and vibration time.
The embodiments described above are intended to enable those skilled in the art to understand and apply the invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (6)
1. The utility model provides a walking intelligence vibration robot which characterized in that: the robot comprises a walking system, a vibrating system and a data processing center; the walking system consists of a stabilizing disc 1, a hydraulic rod and a rotating shaft 3, mechanical feet 4 and a vehicle body 5, the vibrating system consists of a clamping and plugging device 9, a hollow mechanical foot 2 and a vibrating working system 8, the data processing center consists of a processor 6 and a remote control center 7, the six mechanical feet controlled by the hydraulic rod and the rotating shaft, and the clamping and plugging device 9 fixes the vibrating rod and the vibrating device in the hollow mechanical foot 2.
2. A walking intelligent vibrating robot as claimed in claim 1, wherein: the using method of the device comprises the following steps: 1) after the fresh concrete is poured into the template, placing the robot in the area needing vibrating and starting the robot; 2) the remote control device sets and controls the opened vibrating rod, and the vibrating rod is vertically inserted into the concrete under the action of the clamping and plugging device; 3) the remote control device controls the vibrating time to be set as t, the vibrating working system stops working after vibrating, and the clamping and plugging device withdraws the vibrating rod; 4) and (4) the remote control center controls the walking system to reach the next construction point, and the step 3) and the step 4) are repeated until the robot finishes the vibration work of the whole structure.
3. The self-propelled intelligent vibration robot suitable for complex vibration environment according to claim 1, wherein: the remote control center can be used for manually remotely controlling the robot and can also be used for automatically controlling according to preset parameters such as the input insertion depth h, the input vibrating time t and the like.
4. A walking intelligent vibrating robot as claimed in claim 1, wherein: the clamping and plugging device is a group of rotating shafts with trapezoidal threads, is fixed in the hollow mechanical foot, is carved with the trapezoidal threads on the vibrating rod, and is controlled to be plugged in or pulled out of concrete through forward and reverse rotation of the rotating shafts.
5. The walking type intelligent vibrating robot of claim 1, characterized in that: the hydraulic stem and pivot can be through the spatial position adjustment of control hollow mechanical foot the male spatial state of vibrating rod, and at the in-process that the vibrating rod inserted the concrete, if touch reinforcing bar, built-in fitting etc. can adjust the point of inserting and insert the angle, guarantee to insert preset degree of depth, angle of adjustment is 0~ 10.
6. A walking intelligent vibrating robot as claimed in claim 1, wherein: the hollow mechanical foot is connected with the stabilizing disc through the bearing in the walking system, the supporting angle of the hollow supporting foot can be flexibly adjusted, the bottom of the walking system is hollow, the diameter of an opening of the walking system is 5-10 mm larger than that of the vibrating rod, the vibrating rod can be smoothly inserted into and pulled out of concrete, and excessive concrete is prevented from entering the hollow foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011366510.2A CN114575598A (en) | 2020-11-30 | 2020-11-30 | Walking type intelligent vibrating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011366510.2A CN114575598A (en) | 2020-11-30 | 2020-11-30 | Walking type intelligent vibrating robot |
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| CN114575598A true CN114575598A (en) | 2022-06-03 |
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| CN202011366510.2A Pending CN114575598A (en) | 2020-11-30 | 2020-11-30 | Walking type intelligent vibrating robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104080579A (en) * | 2012-05-17 | 2014-10-01 | 韩国海洋科学技术院 | Six-legged walking robot having robotic arms for legs and plurality of joints |
| CN204126280U (en) * | 2014-08-15 | 2015-01-28 | 陈靖 | Concrete vibrating equipment |
| CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
| CN108798028A (en) * | 2018-06-12 | 2018-11-13 | 河海大学 | A kind of concrete vibrating machine people |
| CN111997376A (en) * | 2020-08-25 | 2020-11-27 | 南通安恒智能科技发展有限公司 | Intelligent beam type concrete vibrating robot |
-
2020
- 2020-11-30 CN CN202011366510.2A patent/CN114575598A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104080579A (en) * | 2012-05-17 | 2014-10-01 | 韩国海洋科学技术院 | Six-legged walking robot having robotic arms for legs and plurality of joints |
| CN204126280U (en) * | 2014-08-15 | 2015-01-28 | 陈靖 | Concrete vibrating equipment |
| CN108798028A (en) * | 2018-06-12 | 2018-11-13 | 河海大学 | A kind of concrete vibrating machine people |
| CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
| CN111997376A (en) * | 2020-08-25 | 2020-11-27 | 南通安恒智能科技发展有限公司 | Intelligent beam type concrete vibrating robot |
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