CN117984423A

CN117984423A - Vibrating robot control method, device and system and computer readable storage medium

Info

Publication number: CN117984423A
Application number: CN202311821802.4A
Authority: CN
Inventors: 费永攀; 梁多伟; 陈鑫杰; 刘洪�; 李玉友; 雷晓莉; 曾闯; 程洪; 范帅
Original assignee: Sichuan Railway Construction Co ltd
Current assignee: Sichuan Railway Construction Co ltd
Priority date: 2023-12-27
Filing date: 2023-12-27
Publication date: 2024-05-07

Abstract

The invention relates to a method, a device and a system for controlling a vibrating robot and a computer readable storage medium, belonging to the technical field of road and bridge construction. The method comprises the steps of controlling the oblique inserting vibrating mechanism to perform vibrating operation if the layer to be vibrated is a web plate of the prefabricated box girder, controlling the vertical vibrating mechanism to perform vibrating operation if the layer to be vibrated is a top plate of the prefabricated box girder, and controlling the vibrating robot so as to realize automatic vibrating of the web plate and the top plate concrete of the prefabricated box girder.

Description

Vibrating robot control method, device and system and computer readable storage medium

Technical Field

The invention belongs to the technical field of road and bridge construction, and particularly relates to a method, a device and a system for controlling a vibrating robot and a computer readable storage medium.

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 bad working environment in manual vibration, uneven vibrating quality, vibration leakage, over vibration and incompact vibration, and particularly, the change of the existing employment concept causes few young people to engage in vibrating operation and industrial workers are not in contact with each other.

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 requirements of the prefabricated box girder.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a method, apparatus, system, and computer-readable storage medium for controlling a vibrating robot, which can control the vibrating robot to automatically vibrate a web and a roof concrete of a precast box girder.

In a first aspect, the present invention provides a method for controlling a vibrating robot, which is applied to a vibrating robot, and the method includes: acquiring a vibration instruction, determining whether a layer to be vibrated is a web plate or a top plate of a prefabricated box girder, and planning a vibration path and points to be vibrated; the truss mechanism is controlled to move along the vibrating path, so that the vibrating robot is positioned above one section to be vibrated of the layer to be vibrated; if the layer to be vibrated is a web plate of the prefabricated box girder, the mechanical arm is controlled to insert the first vibrating rod into the point to be vibrated according to the preset inclination angle, the first vibrating rod is controlled to vibrate the concrete, and after the vibration is finished, the mechanical arm is controlled to drive the first vibrating rod to separate from the point to be vibrated; if the layer to be vibrated is a top plate of the prefabricated box girder, the three-dimensional moving module is controlled to vertically insert the second vibrating rod into the point to be vibrated, the second vibrating rod is controlled to vibrate the concrete, and after the vibration is finished, the three-dimensional moving module is controlled to drive the second vibrating rod to separate from the point to be vibrated; and judging whether all the sections to be vibrated of the layer to be vibrated are vibrated, if not, repeating the steps until all the sections to be vibrated are vibrated.

In a second aspect, the present invention provides a vibrating robot control device applied to a vibrating robot, the control device comprising: the main control module is used for acquiring the vibration instruction, determining whether the layer to be vibrated is a web plate or a top plate of the prefabricated box girder, and planning a vibration path and points to be vibrated; the truss module is used for controlling the truss mechanism to travel along the vibrating path, so that the vibrating robot is positioned above one section to be vibrated of the layer to be vibrated; the oblique inserting and vibrating module is used for controlling the mechanical arm to obliquely insert the first vibrating rod into the point to be vibrated according to a preset inclination angle if the layer to be vibrated is the web plate of the prefabricated box girder, controlling the first vibrating rod to vibrate the concrete, and controlling the mechanical arm to drive the first vibrating rod to separate from the point to be vibrated after the vibration is completed; the vertical vibrating module is used for controlling the three-dimensional moving module to vertically insert the second vibrating rod into the point to be vibrated if the layer to be vibrated is the top plate of the prefabricated box girder, controlling the second vibrating rod to vibrate the concrete, and controlling the three-dimensional moving module to drive the second vibrating rod to separate from the point to be vibrated after the vibration is finished; and the first judging module is used for judging whether all the sections to be vibrated of the layer to be vibrated are vibrated, if not, repeating the steps until all the sections to be vibrated are vibrated.

In a third aspect, the present invention provides a vibrating robot system, including a processor, a memory, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps in the method for controlling a vibrating robot.

In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to perform the steps of the method for controlling a vibrating robot as described above.

The beneficial effects of the invention are as follows:

The control method, the device and the system of the vibrating robot and the computer readable storage medium are applied to the vibrating robot, if the layer to be vibrated is the web plate of the prefabricated box girder, the oblique inserting vibrating mechanism is controlled to perform vibrating operation, and if the layer to be vibrated is the top plate of the prefabricated box girder, the vertical vibrating mechanism is controlled to perform vibrating operation, so that the vibrating robot can be controlled, and automatic vibrating of the web plate and the top plate concrete of the prefabricated box girder is realized.

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 flow chart of an embodiment of a control method of a vibrating robot according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a vibrating robot according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of a vibrating robot according to a second embodiment of the present invention; fig. 4 is a reference diagram of a use state of the vibrating robot according to an embodiment of the present invention; FIG. 5 is a schematic view of the truss mechanism of FIG. 2; FIG. 6 is a second schematic structural view of the truss mechanism of FIG. 2; FIG. 7 is a schematic diagram of a portion of the structure of FIG. 6; FIG. 8 is a schematic diagram of a portion of FIG. 6; FIG. 9 is a schematic diagram III of the partial structure of FIG. 6; FIG. 10 is an enlarged schematic view of portion A of FIG. 7; FIG. 11 is a schematic diagram of a portion of the structure of FIG. 6; FIG. 12 is an enlarged schematic view of portion B of FIG. 11; FIG. 13 is a partial schematic view of the structure of FIG. 11; fig. 14 is a schematic structural diagram of an oblique insertion vibrating mechanism of a vibrating robot according to an embodiment of the present invention; FIG. 15 is a schematic view of a portion of the structure of FIG. 14; FIG. 16 is a schematic diagram showing a portion of the structure of FIG. 14 II; FIG. 17 is a schematic diagram III of the partial structure of FIG. 14; FIG. 18 is a schematic diagram of the internal part of FIG. 17; FIG. 19 is a second partial internal schematic view of FIG. 17; FIG. 20 is a schematic view of a portion of the structure of FIG. 19; FIG. 21 is a schematic diagram of a portion of the second embodiment of FIG. 19; FIG. 22 is a schematic view of the guide tube of FIG. 19; FIG. 23 is a schematic diagram III of the internal partial structure of FIG. 17; FIG. 24 is a schematic diagram of the internal partial structure of FIG. 17; FIG. 25 is a schematic view of the internal part of FIG. 17; FIG. 26 is a schematic diagram of a portion of the structure of FIG. 25; FIG. 27 is a schematic diagram of a portion of the second embodiment of FIG. 25; fig. 28 is a schematic flow chart of the oblique insertion vibrating mechanism according to the embodiment of the present invention during operation; fig. 29 is a schematic structural diagram of a vertical vibrating mechanism of a vibrating robot according to an embodiment of the present invention; fig. 30 is a schematic structural diagram II of a vertical vibrating mechanism of a vibrating robot according to an embodiment of the present invention; fig. 31 is a schematic structural diagram III of a vertical vibrating mechanism of a vibrating robot according to an embodiment of the present invention; fig. 32 is a schematic diagram of a vertical vibrating unit of fig. 31; fig. 33 is a second schematic structural view of the vertical vibrating unit of fig. 31; fig. 34 is a schematic diagram III of the vertical vibrating unit of fig. 31; fig. 35 is a schematic structural view of the vertical vibrating unit of fig. 31; FIG. 36 is an enlarged schematic view of portion C of FIG. 31; FIG. 37 is a schematic view of a portion of the structure of FIG. 32; FIG. 38 is a schematic diagram of a portion of the second embodiment of FIG. 32; FIG. 39 is a schematic diagram III of the partial structure of FIG. 32; FIG. 40 is a partial schematic view of the structure of FIG. 38; FIG. 41 is a cross-sectional view A-A of FIG. 40; fig. 42 is a schematic flow chart of the vertical vibrating mechanism according to the embodiment of the present invention; fig. 43 is a schematic structural view of a paving compacting mechanism of the vibrating robot according to an embodiment of the present invention; FIG. 44 is a partially enlarged schematic view of portion D of FIG. 43; FIG. 45 is an enlarged schematic view of portion E of FIG. 43; fig. 46 is a schematic structural diagram of a control device for a vibrating robot according to an embodiment of the present invention.

Icon: 100-vibrating a robot; 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.

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. 1-46, embodiments of the present application provide a method, an apparatus, a system and a computer readable storage medium for controlling a vibrating robot 100, which are described in detail below.

The vibrating robot system may include a vibrating robot 100 and a storage device that may transmit data to the vibrating robot 100. The vibrating robot 100 may acquire a control program stored in the storage device to execute the vibrating robot 100 control method in the present application.

In embodiments of the present application, communication between the vibrating robot 100 and the storage device may be achieved by any communication means, including, but not limited to, mobile communication based on the third generation partnership project (3rd Generation Partnership Project,3GPP), long term evolution (Long Term Evolution, LTE), worldwide interoperability for microwave access (Worldwide Interoperability for Microwave Access, wiMAX), or computer network communication based on the TCP/IP protocol family (TCP/IP Protocol Suite, TCP/IP), user datagram protocol (User Datagram Protocol, UDP), etc.

Referring to fig. 1 to 46, a vibrating robot 100 includes a truss mechanism 10, and an oblique vibrating mechanism 20 and a vertical vibrating mechanism 30 disposed on the truss mechanism 10; the oblique inserting and vibrating mechanism 20 comprises at least one oblique vibrating unit 22, wherein the oblique vibrating unit 22 comprises a mechanical arm 220 and a first vibrating rod 221, and the first vibrating rod 221 extends out from the front end of the mechanical arm 220; the vertical vibrating mechanism 30 includes a plurality of vertical vibrating units 32 distributed at intervals, the vertical vibrating units 32 include a three-dimensional moving module 320 and a second vibrating rod 350, and the second vibrating rod 350 is disposed on the three-dimensional moving module 320.

Referring to fig. 1, the control method of the vibrating robot 100 may include the following steps S1-S5:

S1, acquiring a vibration instruction, determining whether a layer to be vibrated is a web plate or a top plate of the prefabricated box girder 200, and planning a vibration path and points to be vibrated.

In the embodiment of the application, the vibration instruction can be input on site by a worker through a man-machine interaction interface, and in some embodiments, the vibration instruction can also be remotely controlled and input by the worker. The vibration instructions may include one or more of the following instructions: the number of layers to be vibrated, the vibrating time, a start instruction and the like. Of course, in some embodiments, the vibration instruction is not limited to the above options, and the vibration instruction may be other contents.

Generally, the operation of the vibrating robot 100 is continuous, i.e., it is necessary to continuously produce a plurality of prefabricated box girders 200, and thus, some vibrating parameters can be continuously used without repeated input, for example, size information of the prefabricated box girders 200, information of layers to be vibrated, and the like.

In the embodiment of the present application, the layer to be vibrated may be determined by the number of layers of the input layer to be vibrated, for example, the casting process of the prefabricated box girder 200 is layered, for example, it is assumed that the height of the prefabricated box girder 200 is 2.686m, each layer is about 30cm, and 9 layers are cast, and the 9 layers are respectively a first layer, a second layer, a third layer, a fourth layer, a fifth layer, a sixth layer, a seventh layer, an eighth layer and a ninth layer from bottom to top in sequence. Wherein, the bottom plate height is 30cm, and 1 layer of pouring, the web height is 2.086m, 7 layer of pouring, and the roof height is 30cm, 1 layer of pouring. If the number of the input layers to be vibrated is any one of the second layer to the eighth layer, the controller can determine that the vibrating layer is the web of the prefabricated box girder 200 by comparing the number of the input layers with a preset judgment standard; if the number of the input layers to be vibrated is the ninth layer, it may be determined that the vibrating layer is the top plate of the prefabricated box girder 200.

In addition, the web plate or the top plate can be directly input or selected, for example, the web plate or the top plate can be directly selected at a human-computer interaction interface, and the position information of the layer to be vibrated can be input.

In the embodiment of the present application, the vibrating robot 100 only vibrates the web plate and the top plate of the prefabricated box girder 200, and the bottom plate can be manually vibrated by adopting a flat-leaning vibrating rod. In some other embodiments, the vibrating robot 100 may also integrate a floor vibrating mechanism.

In general, the length of the prefabricated box girder 200 is relatively large, and the vibrating robot 100 is at a fixed position, so that it is difficult to vibrate all positions of the prefabricated box girder 200, and therefore, each layer to be vibrated can be segmented, each layer to be vibrated has a plurality of segments to be vibrated, each segment to be vibrated can have a plurality of points to be vibrated, and the vibrating robot 100 can sequentially vibrate different layers to be vibrated. Of course, the segments and the like can be set by people according to the needs, and data can be input into the system, for example, the coordinates, the width and the depth of each segment to be vibrated, the coordinates of each point to be vibrated and the like.

The vibrating path may include, but is not limited to: the starting position of the vibrating robot 100, the moving direction of the truss mechanism 10, the stay time above each section to be vibrated, the vibrating sequence of the oblique vibrating mechanism 20 and the vertical vibrating mechanism 30, and the like.

S2, controlling the truss mechanism 10 to travel along the vibrating path, so that the vibrating robot 100 is positioned above one of the sections to be vibrated of the layer to be vibrated.

After determining whether the layer to be vibrated is the web or the top plate of the prefabricated box girder 200 according to the above steps, the truss mechanism 10 is first moved so as to transport the diagonal insert vibrating mechanism 20 or the vertical vibrating mechanism 30 to the working position. The direction of movement of truss 12 may be consistent with the length direction of prefabricated box girder 200.

Referring to fig. 5-13, the truss mechanism 10 is not limited in structure and may refer to the prior art, such as a gantry hammock. In this embodiment, truss mechanism 10 may take the following forms, but is not limited to: referring to fig. 5 and 6, 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 9, 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. 6-10, 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. 10, 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. 11 and 12, 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. 13, 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.

It should be noted that the structure for positioning the truss mechanism 10 is not limited to the above, and in some other embodiments, the truss mechanism 10 may be positioned by other sensors or other manners, for example, using a laser sensor, etc.

The controller can determine the position of the truss mechanism 10 according to the positioning assembly 14 of the truss mechanism 10, and drive the truss 12 to move by controlling the rotating speed, the direction and the like of the motor, so as to control the truss mechanism 10 to travel along the vibrating path.

S3, if the layer to be vibrated is the web of the prefabricated box girder 200, the mechanical arm 220 is controlled to obliquely insert the first vibrating rod 221 into the point to be vibrated according to the preset inclination angle, the first vibrating rod 221 is controlled to vibrate the concrete, and after the vibration is completed, the mechanical arm 220 is controlled to drive the first vibrating rod 221 to separate from the point to be vibrated.

When the layer to be vibrated is determined to be the web of the prefabricated box girder 200 according to the above steps, because the web is obliquely arranged, the internal reinforcing steel bars are intricate and complex, the distribution directions of any two adjacent reinforcing steel bar meshes may be different, if the first vibrating rod 221 is vertically inserted, the first vibrating rod is easy to encounter the obstruction, and therefore, the automatic vibrating operation can only be performed by the oblique inserting vibrating mechanism 20.

Referring to fig. 14-27, the oblique vibrating mechanism 20 mainly includes 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. 15-17, 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. 18-21, 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. 22, 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. 23-25, 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. 26 and 27, 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 the guide tube 261 from being damaged by an impact, etc., or in order to detect the obstacle and enable the control system to make an adjustment, the second guide tube 263 can be contracted 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 first distance, the second distance, and the third distance may be preset, and may be adjusted as needed.

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.

The mechanical arm 220 may be provided with a plurality of sensors for positioning the position of the mechanical arm 220, and the patterns and the installation positions of the sensors are not limited, and the actions of the mechanical arm 220 may be controlled by a computer program, etc. with reference to the prior art, which is not described herein. For example, the sensor is disposed on the rotary base and is used for detecting the rotation amplitude of the rotary base, and the sensor is disposed on the motor of the rotary base and is used for detecting the rotation speed, the rotation amplitude and the like of the motor. In addition, a sensor and the like can be arranged at the corresponding position on each component and used for monitoring and feeding back the actions and positions of the components in real time.

Accordingly, as shown in fig. 28, the step S3 may include the following steps S31-S36:

S31, the control arm 220 inserts the first vibrating rod 221 and the guide pipe 261 into the precast box girder 200 at a predetermined inclination angle.

S32, detecting whether the guide tube 261 encounters an obstruction, and if so, controlling the mechanical arm 220 to move the first vibrating rod 221 and the guide tube 261 to the compensation position.

In the embodiment of the present application, the guide tube 261 encounters a blockage to guide the end of the guide tube 261 to be blocked by the steel bar and cannot be lowered further, and at this time, the first vibrating rod 221 does not contact the steel bar. Of course, in some embodiments, it is also possible that the first vibrating bar 221 contacts the reinforcing bars when the side walls of the guide tube 261 are blocked by the reinforcing bars or the guide tube 261 is blocked from shrinking. Whether the guide tube 261 is obstructed or not can be detected by a sensor or the like, the pattern of which is not limited, for example, a pressure sensor is provided at the front end of the guide tube 261, or the guide tube 261 can be contracted when obstructed, the sensor detects the contracted state of the guide tube 261, or the like.

The detection of whether the guide pipe 261 is obstructed is real-time, and if the end of the guide pipe 261 is not in contact with the reinforcing steel bar all the time, the mechanical arm 220 can be controlled to insert the first vibrating rod 221 and the guide pipe 261 continuously until the first vibrating rod and the guide pipe 261 are inserted in place.

S33, judging whether the guide tube 261 reaches a preset position, if not, repeating the steps until the guide tube 261 reaches the preset position.

S34, the guide tube 261 is controlled to retract rearward, so that the first vibrating rod 221 is exposed.

And S35, controlling the retraction assembly 240 in the mechanical arm 220 to extend the first vibrating rod 221 outwards.

For some reasons, when the guide tube 261 reaches the predetermined position, the first vibrating rod 221 may not reach the point to be vibrated yet and further lowering is required, so that the first vibrating rod 221 may continue to move downward through this step while the mechanical arm 220 remains stationary. Of course, in some embodiments, if the first vibrating bar 221 has been inserted into place after step S34, this step may be omitted.

And S36, controlling the first vibrating rod 221 to work, and monitoring and recording the vibrating information of the first vibrating rod 221.

The vibration information of the first vibration bar 221 may include, but is not limited to: vibrating coordinates, vibrating time, inserting time, extracting time, vibrating duration, vibrating frequency and the like.

After the first vibrating rod 221 is vibrated, the control mechanical arm 220 drives the first vibrating rod 221 to separate from the point to be vibrated. Of course, generally, the number of to-be-vibrated points is generally greater than the number of vertical vibrating units 32, so each diagonal vibrating unit 22 may need to sequentially vibrate a plurality of to-be-vibrated points, that is, after one of the to-be-vibrated points is vibrated by the first vibrating rod 221 of the diagonal vibrating unit 22, the first vibrating rod 221 is separated from the to-be-vibrated point and enters the next to-be-vibrated point to continue vibrating until the corresponding to-be-vibrated point is vibrated by the vertical vibrating unit 32. Therefore, after the control mechanical arm 220 drives the first vibrating rod 221 to disengage from the point to be vibrated, S37 may further include: and judging whether all the points to be vibrated in the section to be vibrated are vibrated, if not, repeating the steps until all the points to be vibrated in the section to be vibrated are vibrated.

And S4, if the layer to be vibrated is the top plate of the prefabricated box girder 200, the three-dimensional moving module 320 is controlled to vertically insert the second vibrating rod 350 into the point to be vibrated, the second vibrating rod 350 is controlled to vibrate the concrete, and after the vibration is completed, the three-dimensional moving module 320 is controlled to drive the second vibrating rod 350 to separate from the point to be vibrated.

When the layer to be vibrated is judged to be the top plate of the prefabricated box girder 200 according to the above steps, since the steel bars in the top plate are relatively orderly, the second vibrating bar 350 can be vertically conveyed by the vertical vibrating mechanism 30 to vibrate the concrete in the top plate. Of course, in some embodiments, the oblique vibrating mechanism 20 may also assist the vibrating, i.e. the vertical vibrating mechanism 30 and the oblique vibrating mechanism 20 operate simultaneously, so as to improve the vibrating efficiency of the top plate.

As shown in fig. 29-21, 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. 22-26, 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. 26, 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. 27-29, 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: referring to fig. 40 and 41, 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.

Correspondingly, step S4 may include steps S41-S44:

and S41, controlling the three-dimensional moving module 320 to vertically insert the second vibrating rod 350 into the prefabricated box girder 200.

The three-dimensional moving module 320 can drive the second vibrating bar 350 to move along the X-axis, along the Y-axis, or along the Z-axis, thereby driving the second vibrating bar 350 to a designated position.

S42, detecting whether the second vibrating rod 350 encounters an obstruction, and if so, controlling the three-dimensional moving module 320 to move the second vibrating rod 350 to the compensation position.

Although the bars in the top plate are aligned, the second vibrating bar 350 may still encounter an obstacle, for example, the bars are displaced at the beginning of the second vibrating bar 350, or are blocked by binding bars due to manufacturing errors, etc., so that the second vibrating bar 350 may also avoid the obstacle.

S43, judging whether the second vibrating rod 350 reaches the point to be vibrated, if not, repeating the steps until the second vibrating rod 350 reaches the point to be vibrated.

The detection of whether the second vibrating rod 350 encounters an obstruction is real-time, and if the end of the second vibrating rod 350 does not touch the reinforcing steel bar all the time, the three-dimensional moving module 320 can be controlled to insert the second vibrating rod 350 continuously until the second vibrating rod 350 is inserted in place.

And S44, controlling the second vibrating rod 350 to work, and monitoring and recording the vibration information of the second vibrating rod 350.

The vibration information of the second vibration bar 350 may include, but is not limited to: vibrating coordinates, vibrating time, inserting time, extracting time, vibrating duration, vibrating frequency and the like.

After the second vibrating rod 350 is vibrated, the three-dimensional moving module 320 is controlled to drive the second vibrating rod 350 to separate from the point to be vibrated. Of course, generally, the number of to-be-vibrated points is generally greater than the number of vertical vibrating units 32, so each vertical vibrating unit 32 may need to vibrate multiple to-be-vibrated points in sequence, that is, after one of the to-be-vibrated points is vibrated by the second vibrating rod 350 of the vertical vibrating unit 32, the second vibrating rod 350 is separated from the to-be-vibrated point and enters the next to-be-vibrated point to continue vibrating until the corresponding to-be-vibrated point is vibrated by the vertical vibrating unit 32. Therefore, after the three-dimensional moving module 320 is controlled to drive the second vibrating bar 350 to separate from the point to be vibrated, S45 may further include: and judging whether all the points to be vibrated in the section to be vibrated are vibrated, if not, repeating the steps until all the points to be vibrated in the section to be vibrated are vibrated.

And S5, judging whether all the sections to be vibrated of the layer to be vibrated are vibrated, if not, repeating the steps until all the sections to be vibrated are vibrated.

In addition, the control method may further include: s6, judging and indicating the manual vibration point positions, and monitoring vibration information of the manual vibration point positions.

In the embodiment of the present application, due to the limitation of the machine, some to-be-vibrated points of the prefabricated box girder 200 may not be able to complete the vibrating operation by the oblique insertion vibrating mechanism 20 or the vertical vibrating mechanism 30, and the vibrating operation must be performed manually, so that the worker can be instructed to vibrate the corresponding left side by judging and indicating the manual vibrating point, thereby serving as the supplementary vibrating for automatic vibrating, and satisfying the vibrating requirement of the prefabricated box girder 200.

The system analyzes key parameters affecting the vibration compactness through an intelligent algorithm based on the data of novel intelligent vibration rod perception, and evaluates the vibration effect by taking each vibration as a period. Calculating the plugging speed by grabbing the vibrating rod inserting Time (inserting Time) and the vibrating rod pulling Time (WITHDRAWAL TIME), and checking whether a worker follows the process requirements of quick plugging and slow pulling; the worker is checked for lack of Vibration by the Vibration Time period (Vibration Time) and the Time interval between two vibrations (Moving Time).

The above data can be monitored by a sensor, and the vibration states of the points to be vibrated are displayed in a three-dimensional coordinate system and a prefabricated box girder 200 model, and the real-time vibration states are displayed through different colors and color depths of the areas, for example, green represents normal vibration, blue represents under vibration and the like, yellow represents over vibration, red represents leakage vibration and the like.

In addition, the control method further comprises the following steps: and S7, paving and compacting the top surface concrete of the precast box girder 200. This step is required to be performed after the last layer of concrete is poured or the last layer of concrete is vibrated.

Correspondingly, the paving compacting mechanism 40 mainly comprises a paving compacting unit 42, and the paving compacting unit 42 is arranged on the 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. 43, paving compacting unit 42 includes a power assembly 420, a roller 430, and a lift assembly 440.

Referring to fig. 44, 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. 45, 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. 45, 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.

In order to better implement the control method of the vibrating robot 100 in the embodiment of the present application, above the control method of the washing machine, the embodiment of the present application further provides a control device of the vibrating robot 100, where the control device is applied to the vibrating robot 100. The control device comprises:

The main control module is used for acquiring the vibration instruction, determining whether the layer to be vibrated is a web plate or a top plate of the prefabricated box girder 200, and planning a vibration path and points to be vibrated.

And the truss 12 module is used for controlling the truss mechanism 10 to travel along the vibrating path so that the vibrating robot 100 is positioned above one of the sections to be vibrated of the layer to be vibrated.

And the oblique inserting and vibrating module is used for controlling the mechanical arm 220 to obliquely insert the first vibrating rod 221 into the point to be vibrated according to the preset inclination angle if the layer to be vibrated is the web plate of the prefabricated box girder 200, controlling the first vibrating rod 221 to vibrate concrete, and controlling the mechanical arm 220 to drive the first vibrating rod 221 to separate from the point to be vibrated after the vibration is completed.

The oblique insertion vibration module may include: the mechanical arm 220 module controls the mechanical arm 220 to insert the first vibrating rod 221 and the guide tube 261 into the prefabricated box girder 200 in an inclined manner according to a preset inclination angle; the first obstacle avoidance module detects whether the guide tube 261 encounters an obstacle, and if yes, the mechanical arm 220 is controlled to move the first vibrating rod 221 and the guide tube 261 to the compensation position; a second judging module for judging whether the guiding tube 261 reaches the preset position, if not, repeating the above steps until the guiding tube 261 reaches the preset position; a protection module for controlling the guide tube 261 to retract backwards to expose the first vibrating rod 221; the wire feeding module controls the retraction assembly 240 in the mechanical arm 220 to extend the first vibrating rod 221 outwards; the first vibrating rod 221 module is configured to control the first vibrating rod 221 to work, monitor and record vibration information of the first vibrating rod 221.

And the vertical vibrating module is used for controlling the three-dimensional moving module 320 to vertically insert the second vibrating rod 350 into the point to be vibrated if the layer to be vibrated is the top plate of the prefabricated box girder 200, controlling the second vibrating rod 350 to vibrate the concrete, and controlling the three-dimensional moving module 320 to drive the second vibrating rod 350 to separate from the point to be vibrated after the vibration is completed.

The vertical vibrating module may include: the moving module controls the three-dimensional moving module 320 to vertically insert the second vibrating bar 350 into the prefabricated box girder 200; the second obstacle avoidance module detects whether the second vibrating rod 350 encounters an obstacle, and if so, controls the three-dimensional moving module 320 to move the second vibrating rod 350 to the compensation position; the third judging module judges whether the second vibrating rod 350 reaches the point to be vibrated, if not, the steps are repeatedly executed until the second vibrating rod 350 reaches the point to be vibrated; and the second vibrating rod 350 module is used for controlling the second vibrating rod 350 to work and monitoring and recording the vibrating information of the second vibrating rod 350.

And the first judging module is used for judging whether all the sections to be vibrated of the layer to be vibrated are vibrated, if not, repeating the steps until all the sections to be vibrated are vibrated.

In some embodiments, the control device may further include: the three-dimensional visualization module is used for establishing a prefabricated box girder 200 model in a three-dimensional coordinate system, and displaying and storing the vibration state of each point to be vibrated in real time in a layered manner in the model; the man-machine interaction module is used for realizing man-machine interaction; and the manual vibrating module is used for judging and indicating the manual vibrating point positions and monitoring the vibrating information of the manual vibrating point positions.

The present embodiment also provides a vibrating robot system, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the processor executes the computer program to implement the steps in the control method of the vibrating robot 100.

Wherein, this vibrating robot system integrates any one of the vibrating robot 100 control methods provided in the present embodiment, specifically: the vibrating robotic system may include one or more processors of a processing core, one or more memories of a computer readable storage medium, a power supply, an input unit, and the like. It will be appreciated by those skilled in the art that the vibrating robotic system structure is not limiting of the vibrating robotic system and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components. Wherein:

The processor is a control center of the vibrating robot system, and is connected with various parts of the whole vibrating robot system by various interfaces and lines, and executes various functions of the vibrating robot system and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, so that the vibrating robot system is monitored integrally. Optionally, the processor may include one or more processing cores; the Processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, preferably the processor may integrate an application processor primarily handling operating systems, user interfaces, applications, etc., with a modem processor primarily handling wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.

The memory may be used to store software programs and modules that the processor executes to perform various functional applications and data processing by executing the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the vibrating robotic system, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor.

The vibrating robot system further comprises a power supply for supplying power to each component, and preferably, the power supply can be logically connected with the processor through a power management system, so that functions of managing charging, discharging, power consumption management and the like are realized through the power management system. The power supply may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The vibrating robotic system may further comprise an input unit operable to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

In addition, the vibrating robot system can upload the vibrating information of each point position to the cloud server, and can display the vibrating information on the terminal, wherein the terminal can be a mobile phone, a tablet personal computer, a computer and the like, and staff can check the vibrating information through the terminal. The vibration state can be displayed in real time, and analysis and calling of historical data can be completed through the historical checking and statistics analysis function module, so that pre-early warning, in-process monitoring and post-process responsibility tracing in the vibration process are realized, and a post-process check and passive fire fighting type supervision mode in the traditional vibration quality control is converted into an active pre-supervision mode. The intelligent control of all-round, full flow, all links is promoted, thereby promoting the quality control work effect and guaranteeing the vibration quality.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, the present embodiment provides a computer-readable storage medium, which may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like. On which a computer program is stored, which is loaded by a processor to perform the steps of any one of the control methods of the vibrating robot 100 provided by the embodiments of the present application. In the foregoing embodiments, the descriptions of the embodiments are focused on, and the portions of one embodiment that are not described in detail in the foregoing embodiments may be referred to in the foregoing detailed description of other embodiments, which are not described herein again.

In the implementation, each unit or structure may be implemented as an independent entity, or may be implemented as the same entity or several entities in any combination, and the implementation of each unit or structure may be referred to the foregoing method embodiments and will not be repeated herein.

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

1. The control method of the vibrating robot is characterized by being applied to the vibrating robot, wherein the vibrating robot comprises a truss mechanism, and an oblique inserting vibrating mechanism and a vertical vibrating mechanism which are arranged on the 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, the vertical vibrating units comprise a three-dimensional moving module and a second vibrating rod, and the second vibrating rod is arranged on the three-dimensional moving module;

The control method comprises the following steps:

Acquiring a vibration instruction, determining whether a layer to be vibrated is a web plate or a top plate of a prefabricated box girder, and planning a vibration path and points to be vibrated;

the truss mechanism is controlled to move along the vibrating path, so that the vibrating robot is positioned above one section to be vibrated of the layer to be vibrated;

If the layer to be vibrated is a web plate of the prefabricated box girder, the mechanical arm is controlled to insert the first vibrating rod into the point to be vibrated according to the preset inclination angle, the first vibrating rod is controlled to vibrate the concrete, and after the vibration is finished, the mechanical arm is controlled to drive the first vibrating rod to separate from the point to be vibrated;

If the layer to be vibrated is a top plate of the prefabricated box girder, the three-dimensional moving module is controlled to vertically insert the second vibrating rod into the point to be vibrated, the second vibrating rod is controlled to vibrate the concrete, and after the vibration is finished, the three-dimensional moving module is controlled to drive the second vibrating rod to separate from the point to be vibrated;

and judging whether all the sections to be vibrated of the layer to be vibrated are vibrated, if not, repeating the steps until all the sections to be vibrated are vibrated.

2. The method according to claim 1, wherein the controlling the mechanical arm to insert the first vibrating rod to the point to be vibrated according to the preset inclination angle, and controlling the first vibrating rod to vibrate the concrete includes:

the control mechanical arm is used for obliquely inserting the first vibrating rod and the guide pipe into the prefabricated box girder according to a preset inclination angle;

Detecting whether the guide pipe encounters an obstruction, and if yes, controlling the mechanical arm to move the first vibrating rod and the guide pipe to the compensation position;

Judging whether the guide tube reaches a preset position, if not, repeating the steps until the guide tube reaches the preset position;

Controlling the guide tube to shrink backwards to expose the first vibrating rod;

controlling a retraction assembly in the mechanical arm to extend the first vibrating rod outwards;

and controlling the first vibrating rod to work, and monitoring and recording the vibrating information of the first vibrating rod.

3. The method of claim 1, wherein the controlling the three-dimensional moving module to vertically insert the second vibrating rod into the point to be vibrated comprises:

controlling the three-dimensional moving module to vertically insert the second vibrating rod into the prefabricated box girder;

Detecting whether the second vibrating rod encounters an obstruction, and if yes, controlling the three-dimensional moving module to move the second vibrating rod to the compensation position;

Judging whether the second vibrating rod reaches the point to be vibrated, if not, repeating the steps until the second vibrating rod reaches the point to be vibrated;

And controlling the second vibrating rod to work, and monitoring and recording the vibrating information of the second vibrating rod.

4. The vibration robot control method according to claim 1, characterized in that the control method further comprises:

and judging and indicating the manual vibration point positions, and monitoring the vibration information of the manual vibration point positions.

5. The vibrating robot control device is characterized by being applied to a vibrating robot, wherein the vibrating robot comprises a truss mechanism, and an oblique inserting vibrating mechanism and a vertical vibrating mechanism which are arranged on the 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, the vertical vibrating units comprise a three-dimensional moving module and a second vibrating rod, and the second vibrating rod is arranged on the three-dimensional moving module;

the control device includes:

the main control module is used for acquiring the vibration instruction, determining whether the layer to be vibrated is a web plate or a top plate of the prefabricated box girder, and planning a vibration path and points to be vibrated;

the truss module is used for controlling the truss mechanism to travel along the vibrating path, so that the vibrating robot is positioned above one section to be vibrated of the layer to be vibrated;

the oblique inserting and vibrating module is used for controlling the mechanical arm to obliquely insert the first vibrating rod into the point to be vibrated according to a preset inclination angle if the layer to be vibrated is the web plate of the prefabricated box girder, controlling the first vibrating rod to vibrate the concrete, and controlling the mechanical arm to drive the first vibrating rod to separate from the point to be vibrated after the vibration is completed;

The vertical vibrating module is used for controlling the three-dimensional moving module to vertically insert the second vibrating rod into the point to be vibrated if the layer to be vibrated is the top plate of the prefabricated box girder, controlling the second vibrating rod to vibrate the concrete, and controlling the three-dimensional moving module to drive the second vibrating rod to separate from the point to be vibrated after the vibration is finished;

6. The vibration robot control device of claim 5, wherein the tilt-plug vibration module comprises:

the mechanical arm module is used for controlling the mechanical arm to obliquely insert the first vibrating rod and the guide pipe into the prefabricated box girder according to a preset inclination angle;

The first obstacle avoidance module detects whether the guide pipe encounters an obstacle, and if yes, the mechanical arm is controlled to move the first vibrating rod and the guide pipe to the compensation position;

The second judging module is used for judging whether the guide pipe reaches a preset position, if not, repeating the steps until the guide pipe reaches the preset position;

The protection module controls the guide tube to shrink backwards to expose the first vibrating rod;

the wire feeding module controls a retraction assembly in the mechanical arm to extend the first vibrating rod outwards;

The first vibrating rod module is used for controlling the first vibrating rod to work and monitoring and recording the vibrating information of the first vibrating rod.

7. The vibration robot control device of claim 5, wherein the vertical vibration module comprises:

The moving module is used for controlling the three-dimensional moving module to vertically insert the second vibrating rod into the prefabricated box girder;

The second obstacle avoidance module is used for detecting whether the second vibrating rod encounters an obstacle, and if yes, the three-dimensional moving module is controlled to move the second vibrating rod to the compensation position;

the third judging module is used for judging whether the second vibrating rod reaches the point to be vibrated or not, if not, repeating the steps until the second vibrating rod reaches the point to be vibrated;

And the second vibrating rod module is used for controlling the second vibrating rod to work and monitoring and recording the vibrating information of the second vibrating rod.

8. The vibration robot control device of claim 5, further comprising:

And the three-dimensional visualization module is used for establishing a prefabricated box girder model in a three-dimensional coordinate system, and displaying and storing the vibration states of each point to be vibrated in real time in a layered manner in the model.

9. A vibrating robot system comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the steps in the vibrating robot control method of any of claims 1-4.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program is executed by a processor to perform the steps of implementing the method of controlling a vibrating robot according to any one of claims 1-8.