CN117733983A - Intelligent vibrating device for prefabricated box girder - Google Patents

Abstract

The invention relates to an intelligent vibrating device for prefabricated box girders, and belongs to the technical field of road and bridge construction. This prefabricated case roof beam intelligence vibrating device includes: a truss mechanism; the oblique inserting vibrating mechanism comprises at least one oblique vibrating unit, wherein the oblique vibrating unit comprises a mechanical arm and a first vibrating rod, and the first vibrating rod extends out from the front end of the mechanical arm; the vertical vibrating mechanism comprises a plurality of vertical vibrating units which are distributed at intervals; the paving compaction mechanism comprises at least two paving compaction units, and the paving compaction units comprise rotatable rollers. The truss mechanism can walk along the top of prefabricated case roof beam, inserts the vibrating mechanism to one side and is used for vibrating the web concrete of prefabricated case roof beam, and perpendicular vibrating mechanism is used for vibrating the roof concrete of prefabricated case roof beam, and the compaction mechanism that paves is used for spreading, compacting and napping the top surface of prefabricated case roof beam. The device can realize automatic vibrating, paving, compacting and the like, and has higher degree of automation and easier control of the quality of the prefabricated box girder.

Description

Intelligent vibrating device for prefabricated box girder

Technical Field

The invention belongs to the technical field of road and bridge construction, and particularly relates to an intelligent vibrating device for prefabricated box girders.

Background

In bridge construction, prefabricated box girders are usually prefabricated, and then the prefabricated box girders are installed on piers. The prefabricated box girder can be formed by casting a bottom plate, a web plate and a top plate at one time, specifically, firstly, steel bars are paved to manufacture a framework, then, concrete is cast, and after the concrete is cast, a vibrating rod is needed to be used for vibrating operation. The existing vibrating process has the defects of large requirements for vibrating personnel, repeated work, high labor intensity and severe working environment in manual vibration, uneven vibrating quality and leakage, excessive vibration and incompact vibration.

Referring to the patent of CN219276136U entitled "a concrete vibrating device for box girder", in the prior art, some automatic vibrating devices exist, but because the vibrating requirements of each portion of the prefabricated box girder are different, for example, the top plate and the web plate of the prefabricated box girder are different due to the inclination angle, the distribution of reinforcing steel bars, etc., the required inserting depth and inserting angle of the vibrating rod are different, and the existing automatic vibrating devices are difficult to meet the vibrating requirement of the prefabricated box girder.

Disclosure of Invention

In view of the above, the invention aims to provide an intelligent vibrating device for precast box girders, which can realize automatic vibrating of web plates and top plate concrete of the precast box girders, and can perform paving and compacting operations on the top surfaces of the precast box girders, and has higher automation degree of equipment.

The technical scheme of the invention is as follows:

the invention provides an intelligent vibrating device for prefabricated box girders, which is characterized by comprising the following components: a truss mechanism; the oblique inserting and vibrating mechanism comprises at least one oblique vibrating unit, wherein the oblique vibrating unit comprises a mechanical arm and a first vibrating rod, and the first vibrating rod extends out from the front end of the mechanical arm; the vertical vibrating mechanism comprises a plurality of vertical vibrating units which are distributed at intervals, wherein each vertical vibrating unit comprises a three-dimensional moving module and a second vibrating rod, and the second vibrating rod is arranged on the three-dimensional moving module; the paving compaction mechanism comprises at least two paving compaction units, and the paving compaction units comprise rotatable rollers.

As an alternative of the above technical solution, the truss mechanism includes a truss, a track and a wire take-up assembly, the truss is matched with the track, the wire take-up assembly includes a wire collecting groove for accommodating a cable and a wire take-up reel for winding the cable, the wire collecting groove is adjacent to the track for laying, and the wire take-up reel is rotatably arranged on the truss.

As an alternative to the above technical solution, the take-up reel has a coil spring that causes the take-up reel to have a tendency to rotate.

As an alternative of the above technical solution, the wire winding assembly further includes at least one wire arranging wheel, where the wire arranging wheel is disposed on the truss mechanism and above the wire gathering groove.

As an alternative to the above-mentioned technical solution, one of the wire arranging wheels is adjacent to the take-up reel and is movably disposed in the truss along an axial direction of the take-up reel.

As an alternative to the above technical solution, the take-up reel is movably disposed in the truss in an axial direction.

As an alternative to the above technical solution, the truss includes a cross beam and two uprights, and two ends of the cross beam are respectively connected with the two uprights in a liftable manner.

As an alternative of the technical scheme, the truss mechanism further comprises a positioning assembly, the positioning assembly comprises a corresponding positioning sensor and a plurality of positioning points, the positioning sensor is arranged at one end of the truss, and the positioning points are arranged at intervals on the track.

As an alternative to the above technical solution, the positioning sensor includes a flexible portion and a sensor, and the sensor is disposed at a bottom end of the flexible portion.

As an alternative scheme of the technical scheme, the positioning points comprise a positioning frame and a plurality of positioning bolts arranged at intervals, the positioning bolts are arranged on the positioning frame in a lifting manner, and positioning plates are arranged at the top ends of the positioning bolts.

As an alternative to the above technical solution, a manual operation platform is provided on one side of the truss.

As an alternative scheme of the technical scheme, the oblique vibration unit further comprises a retraction assembly, the retraction assembly comprises a driving wheel and a driven wheel which are opposite to each other, and the driving wheel and the driven wheel are rotatably arranged on the mechanical arm and form a retraction channel.

As an alternative scheme of the technical scheme, the retraction assembly further comprises a movable sliding block and a movable spring, wherein the movable sliding block is slidably arranged on the mechanical arm, two ends of the driven wheel are respectively rotatably supported on the movable sliding block, and the movable spring enables the driven wheel to have a trend of approaching to the driving wheel.

As the alternative scheme of above-mentioned technical scheme, receive and release subassembly still includes mounting panel and guide bolt, be provided with one end open-ended movable spout on the main part, the mounting panel with main part detachably connects and will the open end of movable spout is sealed, be provided with the guiding hole on the mounting panel, guide bolt slidable wears to locate the guiding hole and with movable slider threaded connection.

As an alternative scheme of the technical scheme, the oblique vibration unit comprises at least two retraction assemblies, and the central lines of the driving wheels of the at least two retraction assemblies are arranged at an included angle.

As an alternative to the above technical solution, the at least two retraction assemblies are divided into two groups, and the center lines of the driving wheels of the two groups of retraction assemblies are vertical.

As an alternative of the above technical solution, the oblique vibration unit further includes a guide assembly, the guide assembly includes a telescopic guide tube, and the vibrating head of the first vibrating rod is located in the guide tube.

As an alternative of the above technical solution, the guide assembly includes a buffer gear and a driving rack, the output end of the driving motor is provided with a driving gear engaged with the buffer gear, and the driving rack is disposed on one side of the guide tube and engaged with the buffer gear.

As an alternative of the above technical solution, the guide assembly includes a buffer slider and a first buffer spring, both ends of the buffer gear are rotatably supported by the buffer slider, the buffer slider is slidably disposed on the mechanical arm, and the first buffer spring makes the buffer slider have a reset tendency.

As an alternative of the above technical solution, the oblique vibration unit further includes a tube collecting assembly, the tube collecting assembly includes a wire spool, and the hose of the first vibration rod is wound on the wire spool and extends along the direction of the mechanical arm.

As an alternative scheme of the technical scheme, two roller groups are arranged on one side of the mechanical arm, each roller group comprises a plurality of rollers, and a hose of the mechanical arm is arranged between the two roller groups in a penetrating mode.

As an alternative of the above technical solution, the vertical vibrating unit further includes an obstacle avoidance assembly, where the obstacle avoidance assembly is configured to detect a bottom end resistance of the first vibrating rod, and when the bottom end of the first vibrating rod encounters an obstacle, the three-dimensional moving module controls the first vibrating rod to reach the compensation position.

As the alternative scheme of above-mentioned technical scheme, keep away the barrier subassembly and include keep away the barrier slider, detection piece and keep away the barrier spring, keep away the barrier slider liftable set up in three-dimensional removal module and with the second is vibrated the stick and is connected, detection piece is used for detecting keep away the position of barrier slider, it makes to keep away the barrier slider has the trend of downward movement to keep away the barrier spring.

As an alternative to the above technical solution, the detecting element includes a proximity switch, and the proximity switch can be triggered when the obstacle avoidance slider slides upward by a preset distance threshold.

As the alternative scheme of above-mentioned technical scheme, keep away the barrier slider with three-dimensional removal module corresponds and is provided with two at least slip subassemblies, slip subassembly includes two relative slide rails and a plurality of slider, a plurality of the slider dislocation set up in two between the slide rail and in turn with two slide rail sliding fit, two at least slip subassemblies the slider direction is unanimous.

As the alternative scheme of above-mentioned technical scheme, keep away the barrier subassembly still includes and keeps away the barrier bolt, keep away the barrier slider with three-dimensional removal module all is provided with connecting portion, keep away the barrier bolt and pass two respectively connecting portion and spacing, it locates to keep away the barrier spring housing keep away barrier bolt and both ends respectively with two connecting portion butt.

As an alternative scheme of the technical scheme, the obstacle avoidance sliding block comprises a first fixing frame, a second fixing frame and a second buffer spring, wherein the first fixing frame is movably connected with the second fixing frame and can be mutually close to or far away from each other along the horizontal direction, and the second buffer spring enables the second fixing frame to have a trend of being far away from the first fixing frame.

As an alternative scheme of the technical scheme, the first fixing frame is connected with the second fixing frame through a plurality of connecting bolts, and the second buffer spring is sleeved on the connecting bolts and is respectively abutted with the first fixing frame and the second fixing frame.

As an alternative to the above technical solution, the three-dimensional moving module includes an X-axis assembly, a Y-axis assembly and a Z-axis assembly, and the X-axis assembly is slidably matched with the frame.

As an alternative scheme of the technical scheme, the X-axis assembly is provided with a gear, a rack is arranged on the rack, and the gear is in transmission fit with the rack.

As an alternative scheme of the technical scheme, the X-axis assembly, the Y-axis assembly and the Z-axis assembly are provided with a plurality of first limit sensors for calibrating the limit position and the zero position.

As an alternative to the above technical scheme, two ends of the roller are liftably disposed on the truss mechanism.

As an alternative of the above technical solution, the paving compacting mechanism includes at least two paving compacting units, each paving compacting unit includes a power component and a roller, two ends of each roller are rotatably and liftably supported on the truss, the power component is disposed on the truss and is used for driving the roller to rotate, one end of each roller is provided with a transmission part, and an anti-splash bucket with an upward opening is disposed on the outer side of each transmission part.

As an alternative to the above solution, the drum is disposed obliquely with respect to the horizontal plane.

The beneficial effects of the invention are as follows:

according to the intelligent vibrating device for the prefabricated box girder, the truss mechanism can walk above the prefabricated box girder, the oblique inserting vibrating mechanism is used for vibrating web concrete of the prefabricated box girder, the vertical vibrating mechanism is used for vibrating roof concrete of the prefabricated box girder, and the paving compacting mechanism is used for paving, compacting and napping the top surface of the prefabricated box girder. The device can realize automatic vibrating, paving, compacting and the like, and has higher degree of automation and easier control of the quality of the prefabricated box girder.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the several views of the drawings. The drawings are not intended to be drawn to scale, with emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a schematic structural diagram of an intelligent vibrating device for prefabricated box girders according to an embodiment of the present invention; fig. 2 is a schematic structural diagram II of an intelligent vibrating device for prefabricated box girders according to an embodiment of the present invention; fig. 3 is a reference diagram of a use state of the intelligent vibrating device for the prefabricated box girder according to the embodiment of the invention; FIG. 4 is a schematic view of the truss mechanism of FIG. 1; FIG. 5 is a second schematic structural view of the truss mechanism of FIG. 1; FIG. 6 is a schematic diagram of a portion of the structure of FIG. 5; FIG. 7 is a schematic diagram of a portion of the second embodiment of FIG. 5; FIG. 8 is a schematic diagram III of the partial structure of FIG. 5; FIG. 9 is an enlarged partial schematic view of portion A of FIG. 6; FIG. 10 is a schematic diagram of a portion of the structure of FIG. 5; FIG. 11 is an enlarged schematic view of portion B of FIG. 10; FIG. 12 is a partial schematic view of the structure of FIG. 10; fig. 13 is a schematic structural diagram of an oblique insertion vibrating mechanism of the intelligent vibrating device for the prefabricated box girder according to the embodiment of the invention; FIG. 14 is a schematic view of a portion of the structure of FIG. 13; FIG. 15 is a second partial schematic view of the structure of FIG. 13; FIG. 16 is a schematic view III of the partial structure of FIG. 13; FIG. 17 is a schematic diagram of the internal part of FIG. 16; FIG. 18 is a second partial internal schematic view of FIG. 16; FIG. 19 is a schematic view of a portion of the structure of FIG. 18; FIG. 20 is a schematic diagram of a portion of the second embodiment of FIG. 18; FIG. 21 is a schematic view of the guide tube of FIG. 18; FIG. 22 is a schematic diagram III of the internal partial structure of FIG. 16; FIG. 23 is a schematic diagram of the internal partial structure of FIG. 16; FIG. 24 is a schematic view of the internal portion of FIG. 16; FIG. 25 is a schematic diagram of a portion of the structure of FIG. 24; FIG. 26 is a schematic diagram of a portion of the second embodiment of FIG. 24; fig. 27 is a schematic structural diagram of a vertical vibrating mechanism of the intelligent vibrating device for prefabricated box girders according to an embodiment of the present invention; fig. 28 is a schematic structural diagram II of a vertical vibrating mechanism of the intelligent vibrating device for prefabricated box girders according to the embodiment of the present invention; fig. 29 is a schematic structural diagram III of a vertical vibrating mechanism of the intelligent vibrating device for prefabricated box girders according to an embodiment of the present invention; fig. 30 is a schematic diagram of a structure of the vertical vibrating unit of fig. 29; fig. 31 is a second schematic structural view of the vertical vibrating unit of fig. 29; fig. 32 is a schematic diagram III of the vertical vibrating unit of fig. 29; fig. 33 is a schematic diagram of a structure of the vertical vibrating unit of fig. 29; FIG. 34 is an enlarged partial schematic view of portion C of FIG. 29; FIG. 35 is a schematic view of a portion of the structure of FIG. 30; FIG. 36 is a schematic diagram showing a portion of the second embodiment of FIG. 30; FIG. 37 is a schematic view III of the partial structure of FIG. 30; FIG. 38 is a schematic view of the partial structure of FIG. 36; FIG. 39 is a cross-sectional view A-A of FIG. 38; fig. 40 is a schematic structural diagram of a paving compacting mechanism of the intelligent vibrating device for prefabricated box girders according to an embodiment of the present invention; FIG. 41 is an enlarged schematic view of portion D of FIG. 40; fig. 42 is an enlarged partial schematic view of the portion E of fig. 40.

Icon: 100-an intelligent vibrating device for prefabricated box girders; 200-prefabricating a box girder; 10-truss mechanism; 20-obliquely inserting a vibrating mechanism; 30-a vertical vibrating mechanism; 40-paving and compacting mechanism; 11-track; 12-truss; 13-a wire winding assembly; 14-positioning assembly; 120-cross beam; 121-a stand; 122-a manual operation platform; 130-a wire gathering groove; 131-a take-up reel; 132-wire arranging wheels; 140-positioning a sensor; 141-locating the point position; 142-positioning frames; 143-positioning bolts; 144-positioning nuts; 145-positioning plates; 22-oblique vibration unit; 220-a mechanical arm; 221-a first vibrating bar; 230-a tube receiving assembly; 231-wire spool; 232-a roller; 240-a retraction assembly; 241-guide tube; 242-contact windows; 243-a driving wheel; 244-driven wheel; 245-a movable slider; 246-a movable spring; 247-first mounting plate; 248-first guide bolt; 250-drive assembly; 251-a first drive motor; 252-drive assembly; 260-a guidance assembly; 261-guiding tube; 262-a first guide cylinder; 263-a second guide; 264-axially slotting; 265-a detection part; 266-a second drive motor; 267-drive gear; 268-buffer gear; 269-drive rack; 270-a buffer slide; 271-a first buffer spring; 272-a second mounting plate; 273-second guide bolt; 274-a first limit sensor; 31-a carriage; 32-a vertical vibrating unit; 320-a three-dimensional moving module; 321-X axis assembly; 322-Y axis assembly; 323-Z axis assembly; 324-a first gear; 325-a first rack; 326-a second limit sensor; 330-obstacle avoidance assembly; 331-obstacle avoidance slide block; 332-an obstacle avoidance spring; 333-a slide rail; 334-slider; 335-obstacle avoidance bolts; 336-connection; 340-a first fixing frame; 341-a second fixing frame; 342-connecting bolts; 343-a second buffer spring; 350-a second vibrating bar; 42-paving compaction unit; 420-a power assembly; 421-power motor; 422-a decelerator; 423-a transmission member; 424-base; 425-a connection plate; 426-bar-shaped holes; 427-limit seat; 428-limit bolts; 430-a drum; 431-a transmission; 432-splash-proof bucket; 440-lifting assembly; 441-fixing members; 442-a movable member; 443-screw nut mechanism.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Referring to fig. 1 to 3, an embodiment of the present invention provides an intelligent vibrating device 100 for a prefabricated box girder, where the intelligent vibrating device 100 for a prefabricated box girder is mainly used for vibrating, paving, compacting, etc. the prefabricated box girder 200 to be processed.

The prefabricated box girder intelligent vibration device 100 mainly comprises a truss mechanism 10, a vertical vibration mechanism 30, an oblique insertion vibration mechanism 20 and a paving compaction mechanism 40, wherein the vertical vibration mechanism 30, the oblique insertion vibration mechanism 20 and the paving compaction mechanism 40 are all arranged on the truss mechanism 10, the truss mechanism 10 is used for driving the vertical vibration mechanism 30, the oblique insertion vibration mechanism 20 and the paving compaction mechanism 40 to move above a prefabricated box girder 200 to be processed, the vertical vibration system is mainly used for vibrating the top plate concrete of the prefabricated box girder 200, the oblique insertion vibration mechanism 20 is mainly used for vibrating the web concrete of the prefabricated box girder 200, and the paving compaction mechanism 40 is mainly used for paving and compacting the top surface concrete of the prefabricated box girder 200, and each component is discussed in detail below.

The truss mechanism 10 is not limited in structure and may refer to the prior art, such as a gantry hammock or the like. In this embodiment, truss mechanism 10 may take the following forms, but is not limited to: referring to fig. 4 and 5, the truss mechanism 10 is mainly composed of a rail 11, a truss 12 and a wire winding assembly 13.

The number of the rails 11 is not limited, and in general, at least two rails 11 are generally used for maintaining structural stability, and the rails 11 may be rails, and the shape of the rails 11 is not limited. The rails 11 are installed at both sides of the top end of the form, and the rails 11 extend along the length direction of the prefabricated box girder 200 to be fabricated.

The truss 12 can move along the track 11, and the truss 12 is not limited in structure, and may refer to a gantry hammock structure in the prior art, in this embodiment, the following scheme may be adopted, but is not limited to: referring to fig. 6 to 8, the truss 12 includes a cross member 120 and two uprights 121, and both ends of the cross member 120 are connected to the two uprights 121, respectively.

The connection mode between the beam 120 and the stand 121 is not limited, for example, the beam 120 and the stand 121 may be fixedly connected by welding, clamping, or the like, in this embodiment, the beam 120 and the stand 121 may be connected in a lifting manner, specifically, the beam 120 and the stand 121 may be connected by a ball screw structure, where the ball screw structure includes a screw rod and a nut, the screw rod is matched with the screw rod, the screw rod is fixed on the stand 121, the nut is rotatably disposed on the beam 120, and when the nut is screwed, the screw rod can rise or fall along the nut, in addition, a turntable may be disposed on the beam 120, and the turntable is used to control the nut to rotate, and may be connected by bevel gear transmission if the turntable is perpendicular to or is disposed at an included angle with a centerline of the nut. In other embodiments, it is also possible that the screw rod rotates and the nut does not rotate, or that the screw rod is provided on the cross beam 120 and the nut is provided on the stand 121, and the cross beam 120 and the stand 121 may also be connected by a rack and pinion structure.

In addition, in some embodiments, a limiting structure may be further disposed between the beam 120 and the stand 121, where the limiting structure includes a roller 232 and a locking member, specifically, a vertical chute is disposed on the stand 121, the roller 232 is disposed in the chute in a rolling manner, and the locking member is used to lock the beam 120 and the stand 121 with the adjusted heights, so as to prevent the beam 120 from dropping abnormally.

Both ends of the cross beam 120 can be lifted along the vertical frame 121, so that the levelness and the height of the cross beam 120 can be adjusted, the distance between the structure on the cross beam 120 and the top end of the prefabricated box girder 200 can be controlled, and the equipment operation is more accurate.

Both ends of the truss 12 are respectively engaged with the rails 11, that is, the two uprights 121 are respectively engaged with the rails 11, and the engagement relationship between the uprights 121 and the rails 11 is not limited, in this embodiment, at least two rollers 232 are provided at the bottom end of the uprights 121, the rollers 232 are rotatably provided at the uprights 121 and are in contact with the rails 11, and at least one roller 232 is driven to rotate by a motor or the like, so that the rollers 232 can roll along the rails 11.

A manual operation platform 122 may be provided on one side of truss 12, and a worker may be able to stand or sit on manual operation platform 122 to perform a task.

Because the truss 12 can move along the track 11, and many devices on the truss 12 need to be electrified, and the positions of the power supply boxes are fixed, when the truss 12 is at different positions, the lengths of cables between the truss 12 and the power supply boxes are different, if the cables are too short, the truss 12 cannot reach the far end, if the cables are too long, the cables are piled up, and the like. Therefore, in the present embodiment, the length of the cable is adjusted by the winding assembly 13, so that the cable can meet the length requirement and is not stacked.

Specifically, referring to fig. 6-9, the wire winding assembly 13 includes a wire collecting slot 130 and a wire winding drum 131.

The wire gathering groove 130 is used for placing cables, the wire gathering groove 130 is adjacent to one of the tracks 11, the wire gathering groove 130 and the track 11 are arranged side by side and at intervals, the upper side of the wire gathering groove 130 is open, the cables can be laid in the wire gathering groove 130, and the bottom of the wire gathering groove 130 can be closed or hollowed out.

The take-up reel 131 is arranged in the truss 12, and one end of the cable is wound in the take-up reel 131. The take-up reel 131 can rotate, the rotation mode is not limited, the motor can drive the take-up reel to rotate, a coil spring (not shown in the drawing) can also be arranged in the take-up reel 131, the coil spring enables the take-up reel 131 to have a rotation trend, and the structure of the take-up reel 131 with the coil spring can refer to the tape measure structure in the prior art. When the take-up reel 131 rotates forward, the cable in the wire collecting groove 130 can be wound on the take-up reel 131; when the take-up reel 131 is reversed, the cable can gradually be separated from the take-up reel 131 and enter the wire-gathering groove 130. The forward and reverse rotations are relatively speaking herein, e.g. if clockwise rotation is forward rotation, counterclockwise rotation is reverse rotation, and vice versa.

The take-up reel 131 is located above the wire collecting groove 130, and can be right above or obliquely above, so that the cable separated from the take-up reel 131 can smoothly enter the wire collecting groove 130.

Can set up the block terminal on truss 12, the block terminal can follow truss 12 and remove, and the block terminal passes through the cable electricity with the power box and is connected, and other equipment on the truss 12 can be unified power supply by the block terminal, of course, other equipment on the truss 12 directly pass through the cable electricity with the power box and be connected also can. The cable can be led out by the power supply box and connected to the distribution box, redundant cables are wound on the take-up reel 131, or the cable led out from the distribution box is wound on the take-up reel 131, and when the cable is needed to be used, the cable is taken down from the take-up reel 131 and connected to the power supply box.

In addition, in the present embodiment, as shown in fig. 9, the wire winding assembly 13 may further include two wire arranging wheels 132, the number of the wire arranging wheels 132 may be two, the wire arranging wheels 132 may be rotatably disposed on the truss 12, and the wire arranging wheels 132 are located above the wire gathering groove 130. The wire arranging wheel 132 can limit the trend of the cable, so that the cable can be smoothly wound on the wire collecting disc 131 or smoothly enter the wire collecting groove 130. Of course, in other embodiments, the number of wire arranging wheels 132 may be one, three, etc., or the wire arranging wheels 132 may not be provided.

The center line of the wire arranging wheel 132 and the center line of the take-up reel 131 can be parallel, and of course, a certain included angle is allowed between the two, but the included angle can not be too large and can be controlled within 15 degrees.

Because of the fixed position of the wire-gathering slot 130, the cable may be stacked at a certain location when wound on the take-up reel 131, and in some embodiments, the improvement may be achieved by: in the first mode, one of the wire arranging wheels 132 is adjacent to the take-up reel 131, the wire arranging wheel 132 is movably disposed on the truss 12 along the axial direction of the take-up reel 131, and the connection mode of the wire arranging wheel 132 and the cross frame is not limited, for example, a telescopic cylinder is disposed on the cross frame, the wire arranging wheel 132 is rotatably disposed at one end of the telescopic cylinder, or a sliding block is disposed on the cross frame, the sliding block can be driven by a motor and a screw nut structure, and the wire arranging wheel 132 is slidably disposed on the sliding block along the axial direction.

Because the wire arranging wheel 132 can move, the cable is driven to wind at different positions of the wire collecting disc 131, so that the cable is laid on the wire collecting disc 131 layer by layer. In the second mode, the take-up reel 131 is movably disposed on the truss 12 along the axial direction, and the connection mode between the take-up reel 131 and the cross frame is not limited.

When the truss mechanism 10 is installed, the cross beam 120 and the vertical frame 121 are fixed and then moved to the rail 11, so that the roller 232 of the vertical frame 121 contacts the rail 11; the heights of the ends of the cross member 120 are then adjusted so that the cross member 120 is maintained horizontal.

When the truss mechanism 10 needs to be moved for operation, one end of a cable is electrically connected with the power supply box, the other end of the cable is electrically connected with the distribution box, and redundant cables are wound on the take-up reel 131 or paved in the wire gathering groove 130; if the truss mechanism 10 is gradually close to the power supply box, at this time, under the action of no external force, the coil spring drives the take-up reel 131 to rotate forward, and the cable in the wire gathering groove 130 is gradually wound on the take-up reel 131; if the truss mechanism 10 is gradually far away from the power supply box, at this time, the winding drum 131 is reversed under the pulling action of the cable, at this time, the coil spring in the winding drum 131 is tightened, and the cable is gradually separated from the winding drum 131 and falls into the wire gathering groove 130; after the truss mechanism 10 reaches a specified position, functional components such as a vibrating rod and the like on the truss mechanism can perform corresponding operations.

In some embodiments, truss mechanism 10 may also include a positioning assembly 14, although in other embodiments truss mechanism 10 may not include a positioning assembly 14.

Specifically, referring to fig. 10 and 11, the positioning assembly 14 includes a positioning sensor 140 and a plurality of positioning points 141, the positioning sensor 140 is matched with the positioning points 141, and when the positioning sensor 140 moves to the corresponding positioning point 141, the position of the truss mechanism 10 can be determined.

The positioning sensor 140 is disposed at one end of the truss 12, and the structure of the positioning sensor 140 is not limited, and in this embodiment, the following scheme may be adopted, but is not limited to: the positioning sensor 140 includes a flexible portion and a sensor. The flexible portion extends vertically, the flexible portion can be elastically deformed, the material of the flexible portion is not limited, for example, the flexible portion adopts a spring or a rubber soft rod and the like, and the sensor is arranged at the bottom end of the flexible portion. When the positioning sensor 140 moves to the positioning point 141, the sensor can contact the positioning point 141, and the positioning sensor 140 can be a binary sensor, i.e. one or one less for each touch of the sensor to the positioning point 141.

The number of the positioning points 141 is not limited, and the more the number of the positioning points 141 is, the more accurate the positioning is and the higher the cost is. The positioning points 141 are spaced apart from the track 11, and the positioning points 141 may be located below the sensor.

The structure of the positioning point 141 is not limited, and in this embodiment, the following schemes may be adopted but not limited to: referring to fig. 12, the positioning points 141 include a positioning frame 142 and a plurality of positioning bolts 143.

The structure of the positioning frame 142 is not limited, and the extending direction of the positioning frame 142 may be perpendicular to or set at an included angle with the extending direction of the track 11.

The number of the positioning bolts 143 is not limited, for example, three, five, etc., and a plurality of positioning bolts 143 are disposed on the positioning frame 142 at intervals, and each positioning bolt 143 is engaged with one positioning sensor 140.

The positioning bolt 143 is liftably disposed on the positioning frame 142, and the connection mode between the positioning bolt 143 and the positioning frame 142 is not limited, for example, in this embodiment, a positioning hole is disposed on the positioning frame 142, the positioning bolt 143 is disposed in the positioning hole in a penetrating manner, two positioning nuts 144 are disposed on the positioning bolt 143, the two positioning nuts 144 are disposed on the upper and lower sides of the positioning frame 142, and the two positioning nuts 144 clamp and fix the positioning bolt 143 on the positioning frame 142. When the positioning sensor 140 reaches the positioning point 141, the positioning sensor 140 can contact the top of the positioning bolt 143, triggering the positioning sensor 140. When the top end height of the positioning bolt 143 needs to be adjusted, the positions of the two positioning nuts 144 on the positioning bolt 143 are controlled, and the operation is simple and convenient.

In order to ensure the accuracy of the positioning sensor 140, a positioning plate 145 may be disposed at the top end of the positioning bolt 143, so that the contact area of the sensor can be increased, and missed judgment can be prevented.

Referring to fig. 13, the oblique insertion vibrating mechanism 20 is mainly used for vibrating web concrete of the prefabricated box girder 200. Of course, in some embodiments, the tilt-plug vibrating mechanism 20 may also be used to vibrate the concrete of the roof or floor.

The oblique vibrating mechanism 20 mainly comprises at least one oblique vibrating unit 22, the oblique vibrating units 22 are disposed on the truss 12, the number of the oblique vibrating units 22 is not limited, for example, one, two, four, etc., in this embodiment, the oblique vibrating mechanism 20 has two oblique vibrating units 22, and the two oblique vibrating units 22 are disposed at two ends of the truss 12 respectively. In other embodiments, the diagonal vibration unit 22 may be located elsewhere.

Referring to fig. 14-16, the oblique vibration unit 22 includes a mechanical arm 220, a first vibrating rod 221 and a tube collecting assembly 230, where the tube collecting assembly 230 and the first vibrating rod 221 are disposed on the mechanical arm 220.

The structure of the mechanical arm 220 is not limited, and reference may be made to the prior art, in this embodiment, the mechanical arm 220 includes a base 424, a rotary arm, a first arm, a second arm and a telescopic arm, where the base 424 is fixed with the truss 12, the rotary arm is rotatably disposed on the base 424, the rotation center line of the rotary arm extends vertically, and the action of the rotary arm may be driven by a servo motor. The rotary arm, the first arm, the second arm and the telescopic arm are sequentially hinged, a graphite copper sleeve can be selected at the joint, the shaft has the function of wear resistance and self lubrication, and the shaft can be subjected to chromium plating treatment so as to increase the strength of the shaft. The rotary arm, the first arm, the second arm and the telescopic arm can be driven by a hydraulic oil cylinder, wherein an oil pipe of the hydraulic oil cylinder is respectively connected with two ends of the hydraulic split valve, and one end is used for oil feeding and the other end is used for oil returning. An absolute value encoder is arranged at each joint, so that the rotation angle value of the joint can be obtained.

The first vibrating rod 221 is not limited in shape and can refer to the prior art, and generally speaking, the first vibrating rod 221 is composed of a driver, a hose and a vibrating head, a cable is arranged in the hose in a penetrating manner, one end of the hose is connected with the driver, the other end of the hose is connected with the vibrating head, and when the driver is electrified, the vibrating head can vibrate, so that concrete is vibrated. The hose extends along the mechanical arm 220, the vibrating head is arranged at the front end of the mechanical arm 220, the mechanical arm 220 can drive the first vibrating rod 221 to move, the vibrating head reaches a designated position, and the mechanical arm 220 can adjust the inclination angle of the vibrating head.

After the mechanical arm 220 drives the vibrating head to reach the designated position, the vibrating head needs to be extended, and in the process of winding and unwinding the vibrating head, the hose needs to follow the vibrating head to move, if the vibrating head is not timely furled, the hose is piled up, and the vibrating operation is affected. Accordingly, the hose can be retracted through the retraction assembly 230 to ameliorate this problem.

Specifically, the take-up assembly 230 includes a spool 231, and the spool 231 may be rotated by a motor or may be driven by a coil spring. The hose of the first vibrating rod 221 is wound on the wire spool 231, the wire spool 231 is disposed on the mechanical arm 220, the position of the wire spool 231 is not limited, in this embodiment, the wire spool 231 is rotatably disposed on the rotating arm, and thus the wire spool 231 can rotate along with the rotating arm, and the mechanical arm 220 has a smaller load, so that the mechanical arm 220 is easier to drive.

The hose of the first vibrating rod 221 is extended from one end of the mechanical arm 220 to the other end, so that the hose can be more smoothly retracted and extended, and the following improvement scheme is provided in this embodiment: one side of the mechanical arm 220 is provided with two roller 232 sets, each roller 232 set comprises a plurality of rollers 232, the rollers 232 can be distributed on the first arm and the second arm, and a hose of the mechanical arm 220 is arranged between the two roller 232 sets in a penetrating mode. When the hose is wound and unwound, the roller 232 can roll, the friction force is small, and abrasion to the hose is not easy to occur. Of course, in other embodiments, other means of securing the hose to the robotic arm 220 are possible.

Generally speaking, since the hose is soft, the wire spool 231 can be wound up, but during the wire releasing, it is difficult to push the hose and the vibrating head forward, as shown in fig. 17-20, in this embodiment, a winding and unwinding assembly 240 may be additionally provided, specifically, the winding and unwinding assembly 240 is disposed on the mechanical arm 220, its position is not limited, preferably, the winding and unwinding assembly 240 is disposed on the telescopic arm, each winding and unwinding assembly 240 includes a driving wheel 243 and a driven wheel 244, the driving wheel 243 and the driven wheel 244 are rotatably disposed on the mechanical arm 220, a connection manner between the driving wheel 243 and the mechanical arm 220, and a connection manner between the driven wheel 244 and the mechanical arm 220 are not limited, for example, the driving wheel 243 is fixed on a rotating shaft, the rotating shaft and the mechanical arm 220 are rotatably matched through bearings, or the driving wheel 243 is rotatably matched with the rotating shaft through bearings, and the rotating shaft is fixedly connected with the mechanical arm 220. Of course, in other embodiments, the retraction assembly 240 may not be provided, and the vibrating head may be driven to advance by the hardness of the hose or other limiting assembly.

The driving wheel 243 and the driven wheel 244 are disposed opposite to each other, a winding and unwinding passage is formed between the driving wheel 243 and the driven wheel 244, and a hose portion of the first vibrating rod 221 can pass through the winding and unwinding passage. As the name suggests, the driving wheel 243 is driven by a motor or other structure, and when the driving wheel 243 rotates and the first vibrating rod 221 is located in the retraction path, the driving wheel 244 can rotate and drive the first vibrating rod 221 to move.

The circumferential surfaces of the driving wheel 243 and the driven wheel 244 are working surfaces for contacting the first vibrating rod 221, and the working surfaces may be cylindrical surfaces, or the following structures may be adopted but are not limited thereto: the working surface is concave from two sides to the middle, namely, the sections of the driving wheel 243 and the driven wheel 244 are concave towards the middle to form circular arc shapes. By this arrangement, the contact area between the winding and unwinding passage and the hose of the first vibrating rod 221 can be increased, and slipping can be prevented, and the first vibrating rod 221 is not easily deviated to both sides.

In addition, the working surface of the driving wheel 243 may be provided with anti-skid patterns, the anti-skid patterns are not limited, the anti-skid patterns may increase the friction between the driving wheel 243 and the hose, and the slipping may be effectively prevented. The running surface of driven wheel 244 may not be provided with anti-skid features, i.e., the running surface of driven wheel 244 is smooth. Of course, in other embodiments, the working surface of the driving wheel 243 may not be provided with anti-skid patterns, or the working surface of the driven wheel 244 may be provided with anti-skid patterns.

In order to prevent slipping, the center lines of the driving wheels 243 of the at least two retraction assemblies 240 are arranged at an included angle, in this embodiment, the retraction assemblies 240 are divided into two groups, each group includes at least one retraction assembly 240, the center lines of the driving wheels 243 of the retraction assemblies 240 in the same group are parallel, the center lines of the driving wheels 243 of the two retraction assemblies 240 are arranged at an included angle, and the included angle is not limited, for example, 20 °, 60 °, 90 ° and the like, preferably, the included angle is 90 °, that is, the center lines of the driving wheels 243 of the two groups of retraction assemblies 240 are perpendicular. In other embodiments, the retraction assembly 240 may be further divided into three groups or four groups, and the center lines of the driving wheels 243 of different retraction assemblies 240 are disposed at an included angle.

The arrangement is such that different retraction assemblies 240 are in contact with different portions of the first vibrating bar 221, for example, one grouping is in contact with the front and rear sides of the first vibrating bar 221, another grouping is in contact with the left and right sides of the first vibrating bar 221, and so on. Thereby, slipping can be effectively prevented, and the retraction assembly 240 can be ensured to accurately push the first vibrating rod 221. In other embodiments, it is also possible to include only one retraction assembly 240, or to have the centerlines of the drive wheels 243 of multiple retraction assemblies 240 parallel.

Because the flexible tube of the first vibrating rod 221 can deform, when the first vibrating rod 221 encounters an obstruction or a portion of the retraction assembly 240 slips, the flexible tube deforms, which can cause bending and stacking together. Therefore, in this embodiment, a structure for restricting the hose may be added, specifically, as shown in fig. 21, the mechanical arm 220 is provided with a guide tube 241, and the style of the guide tube 241 is not limited, for example, the guide tube 241 may be a round tube, a square tube, or the like, the diameter of the guide tube 241 may be slightly larger than that of the hose, and the diameter difference between the two may be set according to needs.

The guide tube 241 is fixed on the mechanical arm 220, the guide tube 241 sequentially passes through the plurality of retraction channels, a contact window 242 is arranged on the guide tube 241, and the contact window 242 is adjacent to the driving wheel 243 or the driven wheel 244, i.e. the part of the guide tube 241 between the driving wheel 243 and the driven wheel 244 is provided with the contact window 242. The hose of the first vibrating rod 221 is inserted into the guide tube 241, and the hose is exposed at the contact window 242 and is in contact with the driving wheel 243 or the driven wheel 244. By this arrangement, it is ensured that the flexible tube in the guide tube 241 is not easily deformed, and the flexible tube is not folded and stacked in the plurality of folding and unfolding units 240 even if the first vibrating rod 221 encounters a hindrance. Of course, in other embodiments, the guide tube 241 is not provided, and the hose of the first vibrating bar 221 may directly pass through the plurality of retraction passages.

The distance between the driving wheel 243 and the driven wheel 244 may be fixed, i.e., the width of the retraction path remains unchanged, and the positions of the driving wheel 243 and the driven wheel 244 are fixed. However, since the first vibrating rod 221 needs to be inserted into the concrete, the concrete may adhere to the hose of the first vibrating rod 221, which may cause the local thickening of the first vibrating rod 221, and the first vibrating rod 221 may be squeezed when the driving wheel 243 and the driven wheel 244 clamp the first vibrating rod 221, in some embodiments, the following schemes may be used, but are not limited to: the driven wheel 244 is movably disposed on the mechanical arm 220, and the driven wheel 244 can be close to or far from the driving wheel 243, so that the width of the retraction path can be changed.

The connection between the driven wheel 244 and the mechanical arm 220 is not limited, and in this embodiment, the retraction assembly 240 includes a movable slider 245 and a movable spring 246.

The movable slider 245 is slidably disposed on the mechanical arm 220, and two ends of the driven wheel 244 are rotatably supported on the movable slider 245, respectively. The structure capable of achieving the above functions is not limited, and for example, the driven wheel 244 is rotatably connected with the rotating shaft through a bearing, both ends of the rotating shaft serve as the movable slider 245, or the driven wheel 244 is fixedly connected coaxially with the rotating shaft and can rotate synchronously, both ends of the rotating shaft are rotatably connected with the movable slider 245 through a bearing.

The movable spring 246 may be a compression spring or a tension spring, and the connection manner can be referred to in the prior art. The movable spring 246 causes the driven wheel 244 to have a tendency to move toward the driving wheel 243, and the driven wheel 244 can approach the driving wheel 243 without an external force, and when the diameter of the first vibrating rod 221 increases, the first vibrating rod 221 presses the driven wheel 244 outward, and the movable spring 246 is compressed or extended.

The sliding fit manner of the movable slider 245 and the mechanical arm 220 is not limited, and in this embodiment, the following scheme may be adopted, but is not limited to: the retraction assembly 240 further includes a first mounting plate 247 and a first guide bolt 248.

The mechanical arm 220 is provided with a movable chute, and one end of the movable chute is open. The first mounting plate 247 is detachably connected to the mechanical arm 220, and the connection manner of the first mounting plate and the mechanical arm is not limited, for example, the first mounting plate and the mechanical arm are fixedly connected through bolts. The first mounting plate 247 closes the opening end of the movable chute, and the structure of the first mounting plate 247 is not limited and may be plate-shaped, block-shaped, or the like. Be provided with the guiding hole on the first mounting panel 247, the guiding hole can be round hole, square hole etc. and the guiding hole is worn to locate by first guide bolt 248 slidable, and the one end and the movable slider 245 threaded connection of first guide bolt 248, specifically, are provided with the screw hole on the movable slider 245, and the one end screw thread engagement of first guide bolt 248 is in the screw hole. If the movable spring 246 is a compression spring, the movable spring 246 may be sleeved on the first guide bolt 248, and two ends of the movable spring 246 are respectively abutted against the movable slider 245 and the first mounting plate 247. By the arrangement, the driven wheel 244, the movable sliding block 245, the movable spring 246 and the like can be assembled, disassembled and maintained more conveniently.

In some embodiments, an absolute value encoder may be disposed on the driven wheel 244, and the absolute value encoder is used to detect the number of rotations of the driven wheel 244, and in combination with the number of rotations of the driving wheel 243, it may be determined whether the slip phenomenon occurs. For example, if the number of rotations of the driven wheel 244 detected by the absolute value encoder is equal to the number of rotations of the driving wheel 243, it can be considered that no slip phenomenon occurs; if the number of turns of the driven wheel 244 detected by the absolute value encoder is smaller than the number of turns of the driving wheel 243, it can be considered that a slip phenomenon occurs. The number of turns of the driving wheel 243 can be measured by the number of turns of the output shaft of the motor or the like.

Different retraction assemblies 240 can be driven by different motors, but because in different retraction assemblies 240, the advancing distances of the hoses of the first vibrating rod 221 should be equal, if driven by different motors, the advancing distances of the hoses in different retraction assemblies 240 may be different, resulting in bending of the hoses, and meanwhile, a plurality of motors may result in a bulky mechanism and increased mass. Therefore, it is preferable that all the retraction assemblies 240 are driven by the same motor, specifically, the retraction assemblies 240 are correspondingly provided with the driving assemblies 250, the driving assemblies 250 include a first driving motor 251 and a plurality of transmission assemblies 252, the number of the transmission assemblies 252 needs to be determined by combining the number of the groups of the retraction assemblies 240, and generally, the same group can be driven by one transmission assembly 252. In this embodiment, the number of the retraction assemblies 240 is five, and the retraction assemblies 240 are divided into two groups, wherein one group includes two retraction assemblies 240, and the other group includes three retraction assemblies 240, and each group is correspondingly provided with a transmission assembly 252, and each transmission assembly 252 is used for synchronously driving all driving wheels 243 in the same group.

The form of the transmission assembly 252 is not limited, for example, the transmission assembly 252 adopts a sprocket-chain structure, wherein each driving wheel 243 is correspondingly provided with a sprocket, and the driving wheels 243 and the corresponding sprockets are coaxially fixed and can synchronously rotate. In other embodiments, drive assembly 252 may also be driven by a belt structure, a gear structure, or the like.

The first drive motor 251 is in driving fit with one of the drive assemblies 252, and the different drive assemblies 252 are in driving fit through bevel gears, so that synchronous rotation of the drive assemblies 252 in different directions is realized.

In other embodiments, the guide assembly 260 may not be provided, or the guide assembly 260 may only adopt a part of the above-described structure.

The vibrating head of the first vibrating rod 221 extends from one end of the mechanical arm 220, and the reinforcing steel bar becomes a hindrance because the vibrating head needs to be obliquely inserted into the concrete, so that the vibrating head is damaged, and the vibrating head needs to be inserted into a specified depth according to a specified angle, so that the vibrating head cannot be easily realized if only the first vibrating rod 221 is relied on. Therefore, in this embodiment, the guide assembly 260 can guide the vibrating head, so that the vibrating head can not only play a role of avoiding an obstacle, but also increase the insertion depth of the vibrating head. Of course, in other embodiments, no guide assembly 260 is provided.

Specifically, as shown in fig. 22-24, the guide assembly 260 includes a guide tube 261, the guide tube 261 can be extended and contracted, the structure of the guide tube 261 is not limited, and in this embodiment, the guide tube 261 can adopt, but is not limited to, the following schemes: the guide tube 261 includes a first guide tube 262 and a second guide tube 263, the first guide tube 262 is connected with the mechanical arm 220, and the second guide tube 263 is slidably inserted into the first guide tube 262. In some other implementations, the guide tube 261 may further include three or guide tubes slidably sleeved in sequence, or the guide tube 261 may include only one guide tube slidably and telescopically disposed in the mechanical arm 220 in the axial direction, or the like.

The connection mode between the first guide cylinder 262 and the mechanical arm 220 is not limited, and the first guide cylinder 262 and the mechanical arm 220 can be welded, clamped, etc., in this embodiment, a fixed disc is disposed at one end of the first guide cylinder 262, the fixed disc is disposed along the circumferential direction of the first guide cylinder 262, and the fixed disc is detachably connected with the mechanical arm 220 through a bolt. Note that one end of the first guide 262 does not refer to an end face of the first guide 262, but a portion of the first guide 262 near the end face.

The guide tube 261 has an extended state and a contracted state, and the end of the first vibrating rod 221 is inserted into the guide tube 261.

The guide assembly 260 has a first state and a second state: when the guide assembly 260 is in the first state, the guide pipe 261 is in an extended state, and the end part of the first vibrating rod 221 is not exposed in the guide pipe 261, at this time, the guide pipe 261 can guide the first vibrating rod 221 to reach a preset vibrating position according to a specified angle and a specified depth, and in the process, if an obstacle such as a reinforcing steel bar is encountered, the front end of the guide pipe 261 is contacted with the guide pipe, the first vibrating rod 221 is not contacted with the reinforcing steel bar, and the first vibrating rod 221 can be effectively protected from damage; when the guide assembly 260 is in the second state, the guide pipe 261 is in the shortened state, and the end portion of the first vibrating rod 221 protrudes from the front end of the guide pipe 261, and the first vibrating rod 221 can perform the vibrating operation.

The telescopic style of the guide tube 261 is not limited, and in the present embodiment, the following scheme may be adopted, but is not limited to: referring to fig. 25 and 26, the guide assembly 260 further includes a second driving motor 266, a buffer gear 268 and a driving rack 269, the output end of the second driving motor 266 is coaxially connected with the driving gear 267, the second driving motor 266 can drive the driving gear 267 to rotate around its central line, the driving rack 269 is disposed on one side of the guide tube 261, such as the second guide tube 263, the driving rack 269 is disposed along the axial direction of the second guide tube 263, and the driving gear 267 and the driving rack 269 can be in transmission fit through the buffer gear 268. In some other embodiments, a direct engagement transmission of the drive gear 267 with the drive rack 269 is also possible.

One side of the first guide cylinder 262 is provided with an axial slit 264, the axial slit 264 extends along the axial direction of the first guide cylinder 262, the top end of the axial slit 264 is open and the front end is closed, and the driving rack 269 is slidably arranged in the axial slit 264.

Thus, the extension length of the second guide 263 can be limited, and the second guide 263 can be prevented from being abnormally separated from the first guide 262. Of course, in other embodiments, both the top and front ends of the axial slots 264 may be open. The length of the second guide cylinder 263 is generally required to be greater than the length of the first guide cylinder 262, the length of the driving rack 269 is less than the length of the second guide cylinder 263, and the length of the driving rack 269 determines the telescopic range of the guide tube 261. When the front end of the driving rack 269 abuts against the closed end of the axial slit 264, the second guide cylinder 263 protrudes, and the protruding length can be set as required; when the front end of the drive rack 269 is moved away from the closed end of the axial slot 264, the second guide cylinder 263 contracts, and some or all of the second guide cylinder 263 is positioned within the first guide cylinder 262.

If the guide assembly 260 includes the buffer gear 268, the buffer gear 268 is disposed on the robot arm 220, the buffer gear 268 can rotate around its own center line, and the entire buffer gear 268 can move in the direction of the driving rack 269. Defining a first plane: the centerline of the drive gear 267 is located in a first plane that is perpendicular to the direction of extension of the drive rack 269. The center line of the buffer gear 268 can move only on the side of the first plane away from the front end of the guide tube 261.

Since the buffer gear 268 is geared with the driving gear 267, the buffer gear 268 is geared with the driving rack 269 by a rack-and-pinion mechanism, and when the front end of the guide tube 261 encounters an obstacle such as a reinforcing bar, etc., since the driving gear 267 cannot rotate, at this time, in order to prevent damage to the guide tube 261, etc. by an impact, or in order to detect the obstacle and enable adjustment of the control system, the second guide tube 263 can be retracted by a distance, but since the driving gear 267 cannot normally rotate at will, the buffer gear 268 can be moved, and the meshing portion of the buffer gear 268 and the driving gear 267 is reduced until it is disengaged. The shrinkage of the second guide tube 263 or the axial movement of the buffer gear 268 can be detected by the second detecting member, so that it is judged that the front end of the guide tube 261 encounters an obstacle, and the control system can make an adjustment. When the front end of the guide tube 261 encounters an obstacle, the mechanical arm 220 drives the guide tube 261 to reach a compensation position, and the compensation position is not a fixed point, but a point which changes with different obstacle avoidance positions. When the front end of the guide tube 261 encounters an obstacle, the guide tube 261 is at an obstacle avoidance position, and the guide tube 261 is moved by a distance from the obstacle avoidance position in the X-axis direction, a distance in the Y-axis direction, or a distance in the Z-axis direction. The compensation position and the obstacle avoidance position are separated by a first distance along the X-axis direction, a second distance along the Y-axis direction and a third distance along the Z-axis direction, and the first distance, the second distance and the third distance cannot be zero at the same time. For example, when the guide tube 261 encounters an obstacle, the robot arm 220 controls the guide tube 261 and the first vibrating bar 221 to move upward by 1cm in the Z-axis direction, 2cm in the X-axis direction, 3cm in the Y-axis direction, and the like. The X axis, the Y axis and the Z axis are relatively speaking, any two of the three are arranged in an included angle, and the included angle can be an acute angle, an obtuse angle and the like. In this embodiment, the X-axis, Y-axis, and Z-axis are perpendicular to each other.

The connection manner between the buffer gear 268 and the mechanical arm 220 is not limited, and in this embodiment, the following scheme may be adopted, but is not limited to: the guide assembly 260 further includes two buffer sliders 270 and two first buffer springs 271. The style of the buffer slide 270 is not limited, and two buffer slide 270 are respectively located at two ends of the buffer gear 268, and two ends of the buffer gear 268 are rotatably supported by the buffer slide 270. The buffer slider 270 is slidably engaged with the robot arm 220, and the sliding direction of the buffer slider 270 coincides with the extending direction of the driving rack 269. The first buffer spring 271 has a tendency to return the buffer slider 270, and the form of the first buffer spring 271 is not limited, and may be a compression spring or a tension spring, etc. The second detecting member can detect the position of the buffer slider 270, and the second detecting member is not limited in shape, for example, the second detecting member may be a proximity switch, a sensor, or the like, and of course, in other embodiments, the second detecting member may also detect the movement of the second guide 263 or the like to determine whether an obstacle is encountered.

The guide assembly 260 further includes a second mounting plate 272 and a second guide bolt 273, a buffer sliding slot with one end opened is provided on the mechanical arm 220, the second mounting plate 272 is detachably connected with the mechanical arm 220 through a bolt or the like, and the second mounting plate 272 closes the opening end of the buffer sliding slot to limit the moving range of the buffer sliding block 270.

The second mounting plate 272 is provided with a guide hole, and the second guide bolt 273 slidably penetrates through the guide hole and is in threaded connection with the slider. In the present embodiment, the first buffer spring 271 employs a compression spring, and both ends of the first buffer spring 271 are respectively abutted against the slider and the second mounting plate 272. By the arrangement, the buffer gear 268, the buffer slide block 270 and the like are more convenient to install, assemble, disassemble and maintain.

In addition, the guide assembly 260 may further include a first limit sensor 274, the second guide cylinder 263 is provided with a detection portion 265, the detection portion 265 is not limited in shape, and may be disposed at one end or the middle of the second guide cylinder 263, and the first limit sensor 274 is disposed on the mechanical arm 220 and is used for detecting the position of the detection portion 265, so as to determine the telescopic length of the second guide cylinder 263.

As shown in fig. 27-29, the vertical vibrating mechanism 30 mainly comprises a carriage 31 and four vertical vibrating units 32, the carriage 31 is fixed on the truss 12, the carriage 31 can extend along the length direction of the truss 12, that is, along the width direction of the prefabricated box girder 200, and the four vertical vibrating units 32 are sequentially arranged on the carriage 31 at intervals. The number of vertical vibrating units 32 is not limited, and in other embodiments, may be two, three, five, etc. The respective constituent parts of the vertical vibrating mechanism 30 are described in detail below.

Each vertical vibrating unit 32 can be independently controlled, and of course, a plurality of vertical vibrating units 32 may be synchronously controlled. The vertical vibrating units 32 can vibrate concrete, each vertical vibrating unit 32 comprises a three-dimensional moving module 320, an obstacle avoidance assembly 330 and a second vibrating rod 350, the second vibrating rod 350 is connected to the three-dimensional moving module 320 through the obstacle avoidance assembly 330, and the second vibrating rod 350 is not limited in style and can refer to the prior art.

The three-dimensional moving module 320 is disposed on the truss 12, and the structure of the three-dimensional moving module 320 can refer to the prior art, and the three-dimensional moving module 320 can drive the second vibrating rod 350 to move along the X-axis direction, the Y-axis direction, or the Z-axis direction. The X axis, the Y axis and the Z axis are relatively speaking, any two of the three are arranged in an included angle, and the included angle can be an acute angle, an obtuse angle and the like. In this embodiment, the X-axis, Y-axis, and Z-axis are perpendicular to each other.

Specifically, as shown in fig. 30-34, the three-dimensional moving module 320 includes an X-axis assembly 321, a Y-axis assembly 322, and a Z-axis assembly 323, wherein the X-axis assembly 321 is slidably disposed on the carriage 31 along the X-axis direction, the Y-axis assembly 322 is slidably disposed on the X-axis assembly 321 along the Y-axis direction, and the Z-axis assembly 323 is liftable and lowerable disposed on the Y-axis assembly 322 along the Z-axis direction. Of course, in some embodiments, other connection methods of the three are also possible, for example, the X-axis assembly 321 is slidably disposed on the carriage 31 along the X-axis direction, the Z-axis assembly 323 is disposed on the X-axis assembly 321 along the Z-axis direction, and the Y-axis assembly 322 is slidably disposed on the Z-axis assembly 323 along the Y-axis direction.

As shown in fig. 34, the transmission connection between the X-axis assembly 321 and the carriage 31 is not limited, for example, the X-axis assembly 321 and the carriage 31 are in transmission fit through a rack and pinion mechanism, specifically, the X-axis assembly 321 is provided with a first gear 324, and the carriage 31 is provided with a first rack 325, and the first gear 324 is in transmission fit with the first rack 325. The first gear 324 may be a straight first gear 324, an inclined first gear 324, a herringbone first gear 324, etc., and the corresponding first rack 325 may be a straight first rack 325, an inclined first rack 325, a herringbone first rack 325, etc. The first gear 324 may be driven to rotate by a motor, and when the first gear 324 rotates around its own axis, the three-dimensional moving module 320 slides along the carriage 31 due to the first rack 325 being kept stationary.

The transmission connection between the Y-axis assembly 322 and the X-axis assembly 321, and the transmission connection between the Z-axis assembly 323 and the Y-axis assembly 322 are not limited, and may be, for example, a ball screw mechanism, a timing pulley, a cylinder, a sprocket chain mechanism, or the like. The above structure may refer to the prior art and will not be described herein.

In some embodiments, the X-axis assembly 321, the Y-axis assembly 322 and the Z-axis assembly 323 may further be provided with a plurality of second limit sensors 326, where the second limit sensors 326 are used to calibrate the limit position and the zero position, so that the position of the second vibrating rod 350 may be positioned, and the vibrating position is more accurate.

Keep away barrier subassembly 330 can set up on Z axle subassembly 323, and second vibrating rod 350 is fixed in on the barrier subassembly 330 keeps away, keeps away the structure of barrier subassembly 330 and is unlimited, keeps away barrier subassembly 330 mainly used and detects the bottom resistance of second vibrating rod 350, through resistance information, can judge whether second vibrating rod 350 meets the obstacle, namely: when the bottom end resistance of the second vibrating rod 350 is smaller than the preset resistance threshold, it can be considered that the second vibrating rod 350 does not encounter an obstacle; when the bottom end resistance of the second vibrating rod 350 is greater than the preset resistance threshold, the second vibrating rod 350 may be considered to encounter an obstacle. It should be noted that, in combination with the different structures of the three-dimensional moving module 320, the obstacle avoidance assembly 330 is adaptively installed on the end-most assembly of the three-dimensional moving module 320.

In some embodiments, the obstacle avoidance assembly 330 may include a pressure sensor or the like, in which embodiment the obstacle avoidance assembly 330 may employ, but is not limited to, the following: referring to fig. 35-37, the obstacle avoidance assembly 330 includes an obstacle avoidance slider 331, a first detecting member, and an obstacle avoidance spring 332.

The structure of the obstacle avoidance slider 331 is not limited, and the obstacle avoidance slider 331 can slide along the Z-axis assembly 323, and the obstacle avoidance slider 331 can be lifted and lowered relative to the Z-axis.

The obstacle avoidance spring 332 makes the obstacle avoidance slider 331 have a downward movement tendency, that is, the obstacle avoidance spring 332 can push the obstacle avoidance slider 331 downward under no external force. The obstacle avoidance spring 332 may be a compression spring or a tension spring, taking the example that the obstacle avoidance spring 332 adopts a compression spring, two ends of the compression spring are respectively abutted with the Z-axis component 323 and the obstacle avoidance slider 331. Of course, in some embodiments, the obstacle avoidance spring 332 is not provided, so that the obstacle avoidance slider 331 has a downward movement tendency under the gravity action of itself and the second vibrating bar 350.

The first detecting element is used for detecting the position of the obstacle avoidance slider 331, and may be a sensor or the like, or may be a proximity switch (not shown in the figure, and may refer to the prior art), and the proximity switch may be triggered when the obstacle avoidance slider 331 slides up by a preset distance threshold, so that the obstacle avoidance assembly 330 detects that the second vibrating rod 350 encounters an obstacle.

When the bottom end of the second vibrating rod 350 encounters an obstacle, resistance information needs to be fed back to the control system, and the control system can control the three-dimensional moving module 320 to move, so that the three-dimensional moving module 320 can drive the second vibrating rod 350 to move for a certain distance along the X-axis direction, the Y-axis direction or the Z-axis direction, and the second vibrating rod 350 can reach the compensation position.

The connection mode between the obstacle avoidance slider 331 and the three-dimensional moving module 320 is not limited, and in this embodiment, the following technical scheme may be adopted, but is not limited to: as shown in fig. 38 and 39, two sliding components are correspondingly disposed between the obstacle avoidance slider 331 and the three-dimensional moving module 320, each sliding component includes two sliding rails 333 and a plurality of sliding members 334, the sliding rails 333 are disposed on the three-dimensional moving module 320 and the sliding members 334 are disposed on the obstacle avoidance slider 331, or the sliding rails 333 are disposed on the obstacle avoidance slider 331 and the sliding members 334 are disposed on the three-dimensional moving module 320.

The two sliding rails 333 are oppositely arranged, the plurality of sliding pieces 334 are located between the two sliding rails 333, the number of the sliding pieces 334 is not limited, for example, three, four, five and the like, and the plurality of sliding pieces 334 are arranged in a staggered manner.

The plurality of sliding members 334 are alternately slidably engaged with the two sliding rails 333, for example, four sliding members 334 are exemplified, the first and third sliding members 334 are slidably engaged with the left sliding rail 333, and the second and fourth sliding members 334 are slidably engaged with the right sliding rail 333. The manner in which the sliding member 334 is engaged with the sliding rail 333 is not limited, for example, the sliding member 334 is provided with a sliding groove, and the sliding rail 333 and the sliding groove are engaged with each other and have a circular arc-shaped cross section. In some embodiments, the following scheme may also be employed: the slider 334 is cylindrical, and the chute is provided along the circumferential direction of the slider 334.

The sliding members 334 of the two sliding members are oriented in the same direction, and for example, each sliding member comprises four sliding members 334, the first and third of the two sliding member 334 assemblies are each biased to the left, and the second and fourth are each biased to the right. By taking the above structure as an example, the obstacle avoidance slider 331 may be biased to the right, so that the end, i.e. the first slider 334, of the obstacle avoidance slider 331 may enter the two slide rails 333 preferentially, and then the obstacle avoidance slider 331 may be moved to the left, so that the first slider 334 abuts against the left slide rail 333, and then the second slider 334 may enter the two slide rails 333 until all the sliders 334 enter the two slide rails 333. In other embodiments, the number of slide assemblies may also be three, four, etc.

In addition, in this embodiment, the following technical scheme may be further adopted: the obstacle avoidance assembly 330 further comprises an obstacle avoidance bolt 335, the obstacle avoidance slider 331 and the three-dimensional moving module 320 are both provided with connecting portions 336, the two connecting portions 336 are oppositely arranged along the upper and lower direction at intervals, the obstacle avoidance bolt 335 respectively penetrates through the two connecting portions 336, two ends of the obstacle avoidance bolt 335 are limited, at least one connecting portion 336 can move along the axial direction of the obstacle avoidance bolt 335, and the connecting portions 336 cannot be separated from the obstacle avoidance bolt 335. The limiting manner of the two ends of the obstacle avoidance bolt 335 is not limited, for example, the obstacle avoidance bolt 335 is a stud bolt with a nut, and the two ends of the stud bolt are connected with the nut or are in threaded fit with the connecting portion 336.

The obstacle avoidance spring 332 is sleeved on the obstacle avoidance bolt 335, two ends of the obstacle avoidance spring 332 are respectively abutted with the two connecting portions 336, and the obstacle avoidance spring 332 can push the two connecting portions 336 to be away from each other, so that the obstacle avoidance assembly 330 has a downward movement trend.

The structure of the obstacle avoidance slider 331 may adopt, but is not limited to, the following technical scheme: the obstacle avoidance slider 331 includes a first fixing frame 340, a second fixing frame 341, and a second buffer spring 343.

The first fixing frame 340 and the second fixing frame 341 may all adopt plate-shaped, block-shaped structures, wherein the first fixing frame 340 is used for sliding fit with the three-dimensional moving module 320, the second fixing frame 341 is used for being connected with the second vibrating rod 350, the first fixing frame 340 and the second fixing frame 341 are movably connected, and can be mutually close to or far away from each other along the horizontal direction, i.e. the second fixing frame 341 can be close to the first fixing frame 340 or far away from the first fixing frame 340 along the horizontal direction.

The connection mode of the first fixing frame 340 and the second fixing frame 341 is not limited, in this embodiment, the first fixing frame 340 and the second fixing frame 341 are connected by a plurality of connection bolts 342, the connection bolts 342 can pass through the first fixing frame 340 and the second fixing frame 341, and the second fixing frame 341 can slide along the connection bolts 342. The number of the connecting bolts 342 is not limited, and may be two, three, four, etc., in this embodiment, the number of the connecting bolts 342 is four, and four bolts are parallel and rectangular.

The second buffer spring 343 makes the second fixing frame 341 have a trend of being far away from the first fixing frame 340, the second buffer spring 343 can be a compression spring or a tension spring, if the second buffer spring 343 is a compression spring, the second buffer spring 343 is sleeved on the connecting bolt 342, and two ends of the second buffer spring 343 are respectively abutted with the first fixing frame 340 and the second fixing frame 341.

By the above structure, after the second vibrating rod 350 is inserted into the concrete, if the second vibrating rod 350 needs to move along the horizontal direction, the second vibrating rod 350 may touch the reinforcing steel bar or the like, and the second buffer spring 343 may play a role in buffering, so as to avoid damage caused by rigid contact between the second vibrating rod 350 and the reinforcing steel bar.

When the bottom end of the second vibrating rod 350 encounters an obstacle, the second vibrating rod 350 is located at the obstacle avoidance position. At this time, the second vibrating rod 350 needs to be slightly moved by the three-dimensional moving module 320 and controlled to reach the compensation position, and the compensation position is not a fixed point, but a point that varies with the obstacle avoidance position, and the second vibrating rod 350 is moved from the obstacle avoidance position to the X-axis direction by a distance, to the Y-axis direction by a distance, or to the Z-axis direction by a distance. The compensation position and the obstacle avoidance position are separated by a first distance along the X-axis direction, a second distance along the Y-axis direction and a third distance along the Z-axis direction, and the first distance, the second distance and the third distance cannot be zero at the same time. For example, when the second vibrating bar 350 encounters an obstacle, the three-dimensional moving module 320 controls the second vibrating bar 350 to move up 1cm in the Z-axis direction, 2cm in the X-axis direction, 3cm in the Y-axis direction, and so on.

The first distance, the second distance, and the third distance may be preset, and may be adjusted as needed.

The working method of the vertical vibrating mechanism 30 provided in this embodiment is as follows: moving the truss 12 to a position right above the concrete to be vibrated; selecting a vibrating point, and driving the second vibrating rod 350 to reach the position right above the vibrating point through the three-dimensional moving module 320; the three-dimensional moving module 320 drives the second vibrating bar 350 to descend; the resistance applied to the bottom end of the second vibrating rod 350 is detected by the obstacle avoidance assembly 330; if the resistance received by the bottom end of the second vibrating rod 350 is smaller than the preset resistance threshold, the bottom end of the second vibrating rod 350 is considered to be free from the obstacle, and the second vibrating rod 350 can continue to descend; when the second vibrating rod 350 is inserted into the concrete but does not touch the reinforcing steel bars, the bottom end of the second vibrating rod 350 also encounters certain resistance, but at the moment, the bottom end of the second vibrating rod 350 can still be considered as not encountering an obstacle; if the resistance received by the bottom end of the second vibrating rod 350 is greater than the preset resistance threshold, it is considered that the bottom end of the second vibrating rod 350 encounters an obstacle, for example, the second vibrating rod 350 touches a steel bar, at this time, the position where the second vibrating rod 350 is located is defined as an obstacle avoidance position, and the second vibrating rod 350 needs to be moved to a compensation position by the three-dimensional moving module 320; continuing to enable the second vibrating rod 350 to descend, and repeatedly executing the steps until the second vibrating rod 350 reaches the designated height; the second vibrating bar 350 operates to vibrate the concrete.

After the vibrating operation is completed, the three-dimensional moving module 320 drives the second vibrating rod 350 to ascend, the second vibrating rod 350 is retracted, and the truss 12 is moved to the designated position.

Paving compacting mechanism 40 is comprised primarily of paving compacting units 42, paving compacting units 42 being disposed on truss 12. The number of the paving compacting units 42 is not limited, and may be two, three, etc., in order to unify the road surfaces as much as possible, in this embodiment, the number of the paving compacting units 42 is two, and adjacent ends of the two paving compacting units 42 have overlapping working areas, so that the same area of concrete can be paved and compacted.

Referring to fig. 40, paving compacting unit 42 includes a power assembly 420, a roller 430, and a lift assembly 440.

Referring to fig. 41, the power assembly 420 includes a power motor 421, a speed reducer 422 and a transmission member 423, where the power motor 421 is in transmission connection with the speed reducer 422, the speed reducer 422 may be a gear reducer 422, the speed reducer 422 and the roller are in transmission connection through the transmission member 423, and the transmission member 423 adopts a sprocket chain mechanism or a belt mechanism.

The structure of the drum 430 is not limited, and the drum 430 may be a cylindrical structure or a solid shaft shape, two ends of the drum 430 are indirectly supported on the truss 12 through the lifting assemblies 440, the number of the lifting assemblies 440 is two, the two lifting assemblies 440 are respectively arranged on the truss 12, the drum 430 can rotate around the center line of the drum 430, and the two ends of the drum can be lifted under the driving of the lifting assemblies 440. The lifting assembly 440 can drive the drum 430 to lift, thereby adjusting the height of the drum 430 and thus the top surface of the precast box girder 200.

The rollers 430 are obliquely arranged relative to the horizontal plane, and the two rollers 430 gradually descend from the middle to the two sides, so that the road surface can form two sloping surfaces, and rainwater can conveniently flow to the two sides of the road surface.

Because the lifting assemblies 440 at the two ends of the roller 430 are independently arranged, the inclination angle of the roller 430 can be adjusted by a small margin by adjusting the lifting heights of the two lifting assemblies 440, and the prefabricated box girder 200 is suitable for prefabricated box girders 200 with different slopes.

The structure of the lifting assembly 440 is not limited, and in this embodiment, as shown in fig. 42, the lifting assembly 440 includes a fixed member 441 and a movable member 442, and the fixed member 441 is slidably engaged with the movable member 442. The fixing member 441 is fixed to the truss 12, and the fixing means is not limited, and for example, the fixing member 442 can be lifted along the fixing member 441 by bolting, welding, or the like, and the drum 430 is rotatably supported by the movable member 442 through a bearing.

The fixed member 441 is matched with the movable member 442 through a screw nut mechanism 443, specifically, the lifting assembly 440 further comprises a control screw, a control nut and a control wrench, the control screw is rotatably arranged on the fixed member 441 and vertically arranged along the fixed member 441, the control nut is arranged on the movable member 442, the control nut is matched with the control screw, and when the control screw rotates around the central line of the control screw, the control nut can drive the movable member 442 to lift. The control spanner can be annular, and the control spanner is located the top of control lead screw to, control spanner and the coaxial setting of control lead screw.

As shown in fig. 42, a transmission portion 431 is disposed at one end of the drum 430, taking the transmission member 423 as a sprocket-chain mechanism for example, the transmission member 423 includes a chain and two sprockets, the two sprockets are disposed at the output ends of the transmission portion 431 and the reducer 422, the sprocket of the transmission portion 431 is disposed coaxially with the roller 232, and the chain is respectively engaged with the two sprockets.

Because the roller 430 is loosened or tightened due to lifting of the roller, the chain is required to be tensioned all the time by other tensioning structures, the type of the tensioning structure is not limited, for example, the tensioning structure can be realized by a tensioning wheel, the structure of the tensioning wheel can refer to the prior art, specifically, a sliding block and a tensioning spring are arranged on the truss 12, the sliding block can slide on the truss 12, the tensioning wheel enables the sliding block to have a resetting trend, the tensioning wheel is rotatably arranged on the sliding block, and the tensioning wheel can rotate around the central line of the tensioning wheel.

In the present embodiment, the tensioning of the chain or the like can also be achieved by the following structure: the power assembly 420 comprises a base 424, a connecting plate 425 and a limiting assembly, wherein the connecting plate 425 is fixed on the truss 12, a plurality of strip-shaped holes 426 are formed in the bottom plate, the extending direction of the strip-shaped holes 426 is set along the horizontal direction, connecting bolts 342 are installed in the strip-shaped holes 426, the connecting bolts 342 are in threaded fixation with the connecting plate 425, when the connecting bolts 342 are loose, the connecting bolts 342 can slide along the strip-shaped holes 426, so that the base 424 slides on the connecting plate 425, and the position of the base 424 on the connecting plate 425 is adjusted. The limiting assembly is used for limiting the movement of the base 424, wherein the limiting assembly comprises two limiting seats 427, the two limiting seats 427 are respectively located at two ends of the base 424 along the extending direction of the strip-shaped hole 426, limiting bolts 428 are installed on the limiting seats 427, the limiting bolts 428 are in threaded engagement with the limiting seats 427, one ends of the limiting bolts 428 abut against the base 424, two limiting bolts 428 are respectively located at two ends of the base 424 to limit the position of the base 424, and the position of the base 424 can be adjusted. Generally, the precast box girder 200 is produced by only one adjustment. After the height of the drum 430 is adjusted in place, the position of the base 424 on the connection plate 425 is adjusted, so that the chain or the like is tensioned, then the connection bolt 342 is screwed down, and the two limit bolts 428 are screwed down, so that the limit bolts 428 abut against the base 424.

The outside of drive portion 431 is provided with splashproof fill 432, and the opening of splashproof fill 432 upwards, and splashproof fill 432 shelter from drive portion 431 below and all around, can avoid bellied concrete to adhere to drive portion 431.

The splash guard 432 and the movable member 442 are not limited in the manner of connection, and for example, they may be welded, integrally formed, or detachably connected. In this embodiment, the transmission portion 431 extends into the splash guard 432 from one side of the splash guard 432, and the splash guard 432 and the movable member 442 are fixed by threaded fasteners.

The splash guard 432 is inclined from bottom to top to the outside, and the inclination direction is the same as the inclination direction of the chain, etc., so that the chain, etc. does not touch the splash guard 432 even if the roller is lifted or the power motor 421 is displaced.

Specifically, splash guard 432 includes the bottom plate, first curb plate, the second curb plate, third curb plate and fourth curb plate set gradually around the bottom plate, first curb plate is relative with the third curb plate, the second curb plate is relative with the fourth curb plate, drive portion 431 can pass first curb plate and get into splash guard 432 in, first curb plate, second curb plate and third curb plate all can follow vertical setting, the slope of fourth curb plate sets up, the bottom plate is cylindrically, second board and fourth board are tangent with the bottom plate respectively.

The paving compacting mechanism 40 provided in this embodiment can flatten the cement of the prefabricated box girder 200 forward according to a predetermined thickness and road shape, and perform rolling compaction operation, thereby avoiding segregation phenomenon of the concrete pavement. The corresponding operation of the precast box girder 200 roof concrete is realized through the flattening and compacting mechanism composition integrated on the vibrating system truss 12. Truss 12 can move on the top of prefabricated box girder 200, and power motor 421 drives reducer 422 to drive cylindrical roller 430 to rotate through transmission piece 423, so as to perform construction operation; the napping operation can be achieved by the horizontal movement of the drum 430 without rotation.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Intelligent vibrating device of prefabricated case roof beam, its characterized in that includes:

a truss mechanism;

the oblique inserting and vibrating mechanism comprises at least one oblique vibrating unit, wherein the oblique vibrating unit comprises a mechanical arm and a first vibrating rod, and the first vibrating rod extends out from the front end of the mechanical arm;

The vertical vibrating mechanism comprises a plurality of vertical vibrating units which are distributed at intervals, wherein each vertical vibrating unit comprises a three-dimensional moving module and a second vibrating rod, and the second vibrating rod is arranged on the three-dimensional moving module;

the paving compaction mechanism comprises at least two paving compaction units, and the paving compaction units comprise rotatable rollers.

2. The intelligent vibrating device for the prefabricated box girder according to claim 1, wherein the truss mechanism comprises a truss, a track and a wire collecting assembly, the truss is matched with the track, the wire collecting assembly comprises a wire collecting groove for containing a cable and a wire collecting disc for winding the cable, the wire collecting groove is paved adjacent to the track, and the wire collecting disc is rotatably arranged on the truss.

3. The intelligent vibrating device for the prefabricated box girder according to claim 2, wherein the wire collecting assembly further comprises at least one wire arranging wheel, and the wire arranging wheel is arranged on the truss mechanism and located above the wire collecting groove.

4. The intelligent vibrating device for the prefabricated box girder according to claim 2, wherein the truss mechanism further comprises a positioning assembly, the positioning assembly comprises a corresponding positioning sensor and a plurality of positioning points, the positioning sensor is arranged at one end of the truss, and the positioning points are arranged at intervals on the track.

5. The intelligent vibrating device for the prefabricated box girder according to claim 1, wherein the oblique vibrating unit further comprises a retraction assembly, the retraction assembly comprises a driving wheel and a driven wheel which are opposite, and the driving wheel and the driven wheel are rotatably arranged on the mechanical arm and form a retraction channel.

6. The intelligent vibrating device for the prefabricated box girder according to claim 5, wherein the retraction assembly further comprises a movable sliding block and a movable spring, the movable sliding block is slidably arranged on the mechanical arm, two ends of the driven wheel are respectively rotatably supported on the movable sliding block, and the movable spring enables the driven wheel to have a trend of approaching to the driving wheel.

7. The intelligent vibrating device for the prefabricated box girder according to claim 5, wherein the oblique vibrating unit comprises at least two retraction assemblies, and the central lines of the driving wheels of the at least two retraction assemblies are arranged at an included angle.

8. The intelligent vibrating device for the prefabricated box girder according to claim 1, wherein the oblique vibrating unit further comprises a guide assembly, the guide assembly comprises a telescopic guide pipe, and the vibrating head of the first vibrating rod is positioned in the guide pipe.

9. The intelligent vibrating device for the prefabricated box girder according to claim 1, wherein the vertical vibrating unit further comprises an obstacle avoidance assembly, the obstacle avoidance assembly is used for detecting bottom end resistance of the first vibrating rod, and when the bottom end of the first vibrating rod encounters an obstacle, the three-dimensional moving module controls the first vibrating rod to reach a compensation position.

10. The intelligent vibrating device for the prefabricated box girder according to claim 9, wherein the obstacle avoidance assembly comprises an obstacle avoidance slider, a detection piece and an obstacle avoidance spring, the obstacle avoidance slider is arranged on the three-dimensional moving module in a lifting mode and is connected with the second vibrating rod, the detection piece is used for detecting the position of the obstacle avoidance slider, and the obstacle avoidance spring enables the obstacle avoidance slider to have a downward movement trend.