CN216948281U - Dam concrete vibrating robot for hydropower station - Google Patents

Abstract

The utility model relates to the technical field of hydropower station engineering, in particular to a dam concrete vibrating robot for a hydropower station, which comprises a driving module, a vibrating rod position adjusting module, a vibrating construction combined control module and a vibrating rod, wherein the vibrating rod position adjusting module is arranged on the driving module, the vibrating construction combined control module is arranged on the vibrating rod position adjusting module, and the vibrating rod is arranged at the front end of the vibrating construction combined control module. The dam concrete vibrating robot for the hydropower station has the advantages of exquisite structure, no need of driving in the robot by personnel, standardized and automatic construction, and suitability for concrete vibrating construction of various storehouses of dam concrete sites of the hydropower station, so that the labor intensity is effectively reduced, the efficiency and the quality of vibrating construction are improved, the operation cost is low, and the large-scale use is facilitated.

Description

Dam concrete vibrating robot for hydropower station

Technical Field

The utility model relates to the technical field of hydropower station engineering, in particular to a dam concrete vibrating robot for a hydropower station.

Background

The existing dam concrete of the hydropower station is vibrated manually by inserting a handheld vibrating rod, the vibration randomness is high, the vibration quality cannot be guaranteed due to the influence of environment and human factors during manual vibration, and workers are required to frequently drag and pull out the vibrating rod according to the condition of a warehouse surface, so that the working strength is high, the vibration efficiency is low, and the dam concrete is not beneficial to large-scale use.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide the dam concrete vibrating robot for the hydropower station, which has high vibrating efficiency and better vibrating quality.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model provides a power station dam concrete vibration robot, is including the module of traveling, the excellent position adjustment module that vibrates, the construction combination control module that vibrates and the stick that vibrates, and the excellent position adjustment module that vibrates sets up on the module of traveling, and the construction combination control module that vibrates sets up on the excellent position adjustment module that vibrates, and the stick that vibrates sets up the front end at the construction combination control module that vibrates.

Furthermore, the driving module is of a crawler-type structure and comprises a chassis frame, crawler wheels, a crawler belt and a first power part, the crawler wheels are arranged on two sides of the chassis frame, the crawler belt is arranged on the corresponding crawler wheels in a matched mode, the first power part is arranged in the chassis frame, and the first power part is connected with the crawler wheels through a first transmission mechanism.

Further, the vibrating rod position adjusting module comprises a rotating platform assembly and a front-back moving assembly;

the rotary platform assembly comprises a turntable mechanism, a bearing platform and a second power part, the turntable mechanism and the second power part are arranged on the traveling module, the bearing platform is horizontally arranged on the turntable mechanism, the second power part is connected with the turntable mechanism through a second transmission mechanism, and the turntable mechanism can enable the bearing platform to rotate back and forth on the horizontal plane.

Furthermore, the back-and-forth movement assembly comprises two first slide rails, a plurality of first slide blocks, a sliding mounting plate, a third power part and a third transmission mechanism, the two first slide rails are arranged on the bearing platform in parallel along the length direction of the bearing platform, at least one first slide block is arranged on each first slide rail, the sliding mounting plate is horizontally arranged on the first slide blocks, the third power part is arranged on the bearing platform and is connected with the sliding mounting plate through the third transmission mechanism, and the third power part can enable the sliding mounting plate to move back and forth on the first slide rails through the third transmission mechanism.

Further, the vibrating construction combination control module comprises a front vertical sliding frame, a rear vertical sliding frame and a balance arm, wherein the front vertical sliding frame and the rear vertical sliding frame are arranged at intervals along the length direction of the vibrating rod position adjusting module, the front vertical sliding frame and the rear vertical sliding frame are vertically arranged on the vibrating rod position adjusting module, one end of the balance arm is hinged with the front vertical sliding frame, and the other end of the balance arm is hinged with the rear vertical sliding frame.

The front vertical sliding frame comprises a first frame body, the first frame body is vertically arranged on the vibrating rod position adjusting module, a second sliding rail, a fourth power part and a fourth transmission mechanism are arranged on the first frame body in the vertical direction, a second sliding block is arranged on the second sliding rail, and the fourth power part can enable the second sliding block to move up and down on the second sliding rail through the fourth transmission mechanism;

the rear vertical sliding frame comprises a second frame body, the second frame body is vertically arranged on the vibrating rod position adjusting module, a third sliding rail, a fifth power part and a fifth transmission mechanism are arranged on the second frame body in the vertical direction, a third sliding block is arranged on the third sliding rail, the fifth power part can enable the third sliding block to move up and down on the third sliding rail through the fifth transmission mechanism, and a second cross arm side hinged support is arranged on the third sliding block;

the second sliding block is arranged along the length direction of the vibrating rod position adjusting module, and the second sliding block and the third sliding block are arranged vertically;

the balance arm comprises a first cross arm side hinged support and a telescopic mechanism, the first cross arm side hinged support is hinged to the second sliding block through a first hinged shaft, one end of the telescopic mechanism is connected with the first cross arm side hinged support, and the other end of the telescopic mechanism is hinged to the second cross arm side hinged support through a second hinged shaft.

Furthermore, the vibration construction combined control module also comprises a mechanical arm swinging assembly, and the mechanical arm swinging assembly comprises a mechanical arm, a first mechanical arm side hinged support, a connecting shaft and a sixth power part;

the balance arm is also provided with a third cross arm side hinged support, the third cross arm side hinged support is connected and arranged on the left side of the first cross arm side hinged support, a rotating hole is formed in the third cross arm side hinged support, the connecting shaft is arranged in the rotating hole in a matching mode, a sixth power piece is arranged on the third cross arm side hinged support and connected with the connecting shaft, and the connecting shaft can rotate in the rotating hole through the sixth power piece;

the first mechanical arm side hinged support is provided with a through hole, the connecting shaft penetrates through the through hole in a matching mode and is fixedly connected with the first mechanical arm side hinged support through a fixing piece, and the rear end of the mechanical arm is connected with the first mechanical arm side hinged support.

The vibrating rod connecting joint comprises a connecting transverse plate, and a plurality of vibrating rods are detachably arranged on the connecting transverse plate through a connecting mechanism.

Furthermore, the vibration construction combined control module also comprises an up-and-down swinging assembly, wherein the up-and-down swinging assembly comprises a swinging arm, a swinging arm driving part, a first connecting hinged support and a second connecting hinged support;

the first connecting hinged support is arranged at the front end of the mechanical arm, the second connecting hinged support is arranged in the middle of the connecting transverse plate, the first connecting hinged support and the second connecting hinged support are hinged together through a third hinged shaft, and the swing arm is hinged together with the second connecting hinged support through the third hinged shaft;

the rear end of the swing arm driving part is hinged to the side wall of the mechanical arm, and the front end of the swing arm driving part is hinged to the rear end of the swing arm.

Further, the device also comprises a control module and a power supply module.

The beneficial effects of the utility model are: a dam concrete vibrating robot for a hydropower station comprises a running module, a vibrating rod position adjusting module, a vibrating construction combined control module and a vibrating rod. The driving module enables the robot to have driving capability and is convenient to integrally move; the vibrating rod position adjusting module enables the vibrating construction combined control module to rotate back and forth and move back and forth on the driving module, so that the vibrating construction combined control module realizes flexible adjustment of different positions, and further can drive the vibrating rod to more flexibly and multi-directionally track-variable vibrating construction operation, the coverage area of the whole robot vibrating construction operation is increased, the construction gravity center can be flexibly and reliably adjusted, and the possibility of construction accidents such as rollover and the like caused by unstable gravity center is reduced; the combined control module for vibration construction can make the vibrating rod realize the translational lifting action in the height direction, can make the vibrating rod realize various cycloid operation actions in the height direction, can also make the vibrating rod realize the swinging folding action in the left and right directions, has various construction operation tracks, is highly flexible and highly accurate, and meets the high technical requirements of vibration construction operation. Therefore, the hydropower station dam concrete vibrating robot has the advantages of exquisite structure, no need of driving in the robot by personnel, standardized and automatic construction, and suitability for concrete vibrating construction of various storehouses in hydropower station dam concrete sites, thereby effectively and obviously reducing the labor intensity, improving the efficiency and quality of vibrating construction, having lower operation cost and being beneficial to large-scale use.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the construction of the ride module and rotating platform assembly;

FIG. 3 is a schematic view of the fore-aft movement assembly;

FIG. 4 is a schematic structural diagram of a vibration construction combination control module;

labeled in the figure as: the vibration rod positioning device comprises a traveling module 1, a chassis frame 11, crawler wheels 12, a crawler belt 13, a vibration rod position adjusting module 2, a rotating platform assembly 21, a bearing platform 211, a front-back moving assembly 22, a first slide rail 221, a first slide block 222, a sliding mounting plate 223, a third power part 224, a third transmission mechanism 225, a vibration rod connecting joint 3, a connecting transverse plate 31, a vibration construction combination control module 4, a front vertical sliding frame 41, a first frame body 411, a fourth power part 412, a fourth transmission mechanism 413, a rear vertical sliding frame 42, a second frame body 421, a fifth power part 422, a fifth transmission mechanism 423, a third slide block 424, a second cross arm side hinged support 425, a balance arm 43, a first cross arm side hinged support 431, a telescopic mechanism 432, a third cross arm side hinged support 433, a sleeve 434, a mechanical arm swinging assembly 44, a mechanical arm 441, a first mechanical arm side hinged support 442, a sixth power part 443, an up-down swinging assembly 45, a vertical swinging assembly 4, a front-back sliding frame 41, a first sliding frame 411, a second frame body 411, a third sliding frame body and a rear vertical sliding frame 42, The vibrating arm comprises a swinging arm 451, a swinging arm driving part 452, a first connecting hinged support 453, a second connecting hinged support 454, a vibrating rod 5, a control module 6 and a power supply module 7.

Detailed Description

The utility model is further described with reference to the following figures and detailed description.

As shown in fig. 1, 2, 3 and 4, the dam concrete vibrating robot for the hydropower station comprises a running module 1, a vibrating rod position adjusting module 2, a vibrating construction combination control module 4 and a vibrating rod 5, wherein the vibrating rod position adjusting module 2 is arranged on the running module 1, the vibrating construction combination control module 4 is arranged on the vibrating rod position adjusting module 2, and the vibrating rod 5 is arranged at the front end of the vibrating construction combination control module 4.

The driving module 1 enables the robot to have driving capability and is convenient to move integrally. According to the environment of the dam concrete vibration construction of the hydropower station, one preferable structure of the running module 1 is as follows: as shown in fig. 1 and 2, the traveling module 1 is of a crawler-type structure, the traveling module 1 includes a chassis frame 11, crawler wheels 12, crawlers 13, and first power members, the crawler wheels 12 are disposed on two sides of the chassis frame 11, the crawler wheels 13 are disposed on the corresponding crawler wheels 12 in a matching manner, the first power members are disposed in the chassis frame 11, and the first power members are connected to the crawler wheels 12 through first transmission mechanisms. The chassis frame 11 is used as a bearing base body and is made of steel, the crawler wheel 12 mainly comprises a driving wheel, an inducer, a supporting belt wheel and the like, and the first power part is a servo walking motor and is convenient for automatic control. The driving system of the driving module 1 can adopt the mature infrared remote control driving technology, people do not need to drive in a robot, and the driving module 1 can realize the controllable walking function through the unmanned driving technology.

The vibrating rod position adjusting module 2 is used for enabling the vibrating construction combined control module 4 to rotate back and forth and move back and forth on the driving module 1, so that the vibrating construction combined control module 4 can flexibly adjust different positions, and further can drive the vibrating rod 5 to vibrate in a more flexible and multi-direction variable track mode. The utility model discloses a preferable structure of a vibrating rod position adjusting module 2, which comprises the following components: as further shown in fig. 1, 2, 3 and 4, the tamper rod position adjusting module 2 includes a rotary platform assembly 21 and a forward and backward moving assembly 22. The rotating platform assembly 21 comprises a turntable mechanism, a bearing platform 211 and a second power part, the turntable mechanism and the second power part are arranged on the traveling module 1, the bearing platform 211 is horizontally arranged on the turntable mechanism, the second power part is connected with the turntable mechanism through a second transmission mechanism, and the turntable mechanism can enable the bearing platform 211 to rotate back and forth on the horizontal plane, so that the tamping construction combination control module 4 is driven to rotate back and forth on the horizontal plane. The turntable mechanism is preferably a turntable bearing, the outer ring/inner ring of which is fixedly connected with the top of the chassis frame 11 of the traveling module 1, and the inner ring/outer ring of which is fixedly connected with the bottom of the bearing platform 22. The second power part is preferably a servo motor which is convenient and accurate to control, the output end of the second power part is meshed with the turntable mechanism, and the rotary power is used for driving the turntable mechanism to generate circumferential rotation.

As shown in fig. 1 and 3, the forward-backward moving assembly 22 includes two first sliding rails 221, a plurality of first sliding blocks 222, a sliding mounting plate 223, a third power member 224 and a third transmission mechanism 225, the two first sliding rails 221 are arranged on the supporting platform 211 in parallel along the length direction of the supporting platform 211, each first sliding rail 221 is provided with at least one first sliding block 222, the sliding mounting plate 223 is horizontally arranged on the first sliding block 222, the third power member 224 is arranged on the supporting platform 211, the third power member 224 is connected with the sliding mounting plate 223 through the third transmission mechanism 225, and the third power member 224 can make the sliding mounting plate 223 move back and forth on the first sliding rails 221 through the third transmission mechanism 225, so that the vibration construction combination control module 4 moves back and forth. The third power component 224 is preferably a servo motor convenient and accurate to control, the third transmission mechanism 225 is preferably a screw transmission mechanism, the screw transmission mechanism includes a screw rod, the screw rod is arranged along the length direction of the bearing platform 211, the screw rod is arranged between the two first sliding rails 221, the screw rod is in threaded connection with the bottom of the sliding mounting plate 223, for example, a nut fixedly matched with the screw rod is arranged at the bottom of the sliding mounting plate 223. In order to facilitate the rotation of the screw rod, two ends of the screw rod are respectively provided with a group of bearing assemblies.

The vibrating rod position adjusting module 2 not only can enable the vibrating construction combined control module 4 to rotate back and forth and move back and forth on the driving module 1, so that the vibrating construction combined control module 4 can realize flexible adjustment of different positions, and further can drive the vibrating rod 5 to more flexibly and multi-directionally change track vibrating construction operation, increase the coverage area of the whole robot vibrating construction operation, but also can flexibly and reliably adjust the construction gravity center of the robot, and reduce the possibility of construction accidents such as side turning and the like caused by unstable gravity center.

The vibration construction combined control module 4 is used as a control module of vibration construction of the vibrating rod 5, determines the construction running track of the vibrating rod 5 and the quality and efficiency of the vibration construction, and the vibration construction combined control module 4 has the following preferable structure: as shown in fig. 1 and 4, the vibrating construction combination control module 4 includes a front vertical sliding frame 41, a rear vertical sliding frame 42, and a balance arm 43, the front vertical sliding frame 41 and the rear vertical sliding frame 42 are spaced apart along the length direction of the vibrating rod position adjusting module 2, the front vertical sliding frame 41 and the rear vertical sliding frame 42 are vertically disposed on the vibrating rod position adjusting module 2, one end of the balance arm 43 is hinged to the front vertical sliding frame 41, and the other end of the balance arm is hinged to the rear vertical sliding frame 42. The front vertical sliding frame 41 comprises a first frame body 411, the first frame body 411 is vertically arranged on the vibrating rod position adjusting module 2, a second sliding rail, a fourth power part 412 and a fourth transmission mechanism 413 in the vertical direction are arranged on the first frame body 411, a second sliding block is arranged on the second sliding rail, and the fourth power part 412 can enable the second sliding block to move up and down on the second sliding rail through the fourth transmission mechanism 413; the rear vertical sliding frame 42 comprises a second frame body 421, the second frame body 421 is vertically arranged on the vibrating rod position adjusting module 2, a third sliding rail, a fifth power part 422 and a fifth transmission mechanism 423 which are in the vertical direction are arranged on the second frame body 421, a third sliding block 424 is arranged on the third sliding rail, the fifth power part 422 can enable the third sliding block 424 to move up and down on the third sliding rail back and forth through the fifth transmission mechanism 423, and a second cross arm side hinged support 425 is arranged on the third sliding block 424; the second sliding block is arranged along the length direction of the vibrating rod position adjusting module 2, and the second sliding block and the third sliding block 424 are perpendicular to each other; the balance arm 43 includes a first cross arm side hinge base 431 and a telescopic mechanism 432, the first cross arm side hinge base 431 is hinged on the second slider through a first hinge shaft, one end of the telescopic mechanism 432 is connected with the first cross arm side hinge base 431, and the other end is hinged with the second cross arm side hinge base 425 through a second hinge shaft. When the second slider 424 and the third slider 424 move up and down synchronously, the balance arm 43 moves up and down in a translation mode; when any one of the second slider and the third slider 424 is lifted and displaced and the other one is kept fixed, the balance arm 43 performs cycloidal operation with a single pivot, and when the second slider and the third slider 424 perform reverse lifting and displacement (namely one is lifted upwards and the other is lifted downwards), the balance arm 43 performs crossed cycloidal operation with the balance arm, so that the balance arm 43 drives the vibrating rod 5 to realize translational lifting action in the height direction and various cycloidal operation actions in the height direction, and the quality of vibrating construction is ensured.

The fourth power part 412 and the fifth power part 422 are preferably servo motors convenient and accurate to control, the fourth transmission mechanism 413 and the fifth transmission mechanism 423 are preferably screw rod transmission mechanisms, and the power transmission mechanisms are simple in overall structure, small in size, good in using effect and easy to maintain. The telescopic mechanism 432 is used for adjusting the length change of the balance arm 43 when the second and third sliders 424 slide and displace under the unequal height state, the telescopic mechanism 432 is preferably a cylinder assembly, and for convenience of use, a sleeve 434 may be further provided at the end of the cylinder assembly piston rod, and the sleeve 434 is a lengthening structure of the piston rod.

In order to enhance the structural strength of the relative position between the front vertical sliding rack 41 and the rear vertical sliding rack 42, a support plate can be arranged between the front vertical sliding rack 41 and the rear vertical sliding rack 42, and the support plate can be replaced by a triangular support and the like.

In order to further improve the vibrating construction quality of the vibrating rod 5 and enable the vibrating rod 5 to realize more construction actions, as shown in fig. 1 and 4, the vibrating construction combination control module 4 of the present invention further includes a mechanical arm swinging assembly 44, where the mechanical arm swinging assembly 44 includes a mechanical arm 441, a first mechanical arm side hinge base 442, a connecting shaft, and a sixth power member 443; the balance arm 43 is further provided with a third cross arm side hinged support 433, the third cross arm side hinged support 433 is connected and arranged at the left side of the first cross arm side hinged support 431, a rotating hole is arranged in the third cross arm side hinged support 433, a connecting shaft 443 is arranged in the rotating hole in a matching manner, a sixth power part 443 is arranged on the third cross arm side hinged support 433, the sixth power part 443 is connected with the connecting shaft 443, and the sixth power part 443 can enable the connecting shaft 443 to rotate in the rotating hole; the first arm-side hinge base 442 is provided with a through hole, and a connecting shaft 443 is fixedly connected to the first arm-side hinge base 442 through a fixing member, preferably a key, and the rear end of the arm 441 is connected to the first arm-side hinge base 442. The sixth power element 443 is preferably a servo motor which is convenient and accurate to control, an output shaft of the sixth power element 443 rotates to drive the connecting shaft 443 to rotate, and the connecting shaft 443 rotates to drive the mechanical arm 441 to swing in the left-right direction, so as to drive the vibrating rod 5 to swing and fold in the left-right direction.

In order to ensure the stability and the service life of the connecting shaft 443, the connecting shaft 443 is disposed in the through hole of the first arm hinge base 442 and the rotation hole of the third cross arm hinge base 433 through a bearing assembly, which enables the gravity of the mechanical arm 441 to be effectively dispersed to the balance arm 43, reduces the friction force acting on the connecting shaft 443, and improves the stability and the service life of the connecting shaft 443.

In order to set the number of the vibrating rods 5 according to actual conditions, further improve the quality and efficiency of vibrating construction and facilitate replacement of damaged vibrating rods 5, as shown in fig. 1 and 4, the utility model is further provided with a vibrating rod connecting joint 3, the vibrating rod connecting joint 3 comprises a connecting transverse plate 31, and the vibrating rods 5 are detachably arranged on the connecting transverse plate 31 through a connecting mechanism.

In order to further improve the vibrating construction quality of the vibrating rod 5 and enable the vibrating rod 5 to realize more construction actions, as shown in fig. 1 and 4, the vibrating construction combination control module 4 of the present invention further includes an up-down swinging assembly 45, the up-down swinging assembly 45 includes a swinging arm 451, a swinging arm driving part 452, a first connecting hinge 453 and a second connecting hinge 454, the first connecting hinge 453 is disposed at the front end of the mechanical arm 441, the second connecting hinge 454 is disposed in the middle of the connecting transverse plate 31, the first connecting hinge 453 and the second connecting hinge 454 are hinged together by a third hinge, and the swinging arm 451 is hinged together with the second connecting hinge 454 by the third hinge; the rear end of the swing arm driver 452 is hinged to a side wall of the robot arm 441, and the front end of the swing arm driver 452 is hinged to the rear end of the swing arm 451. The swing arm driving part 452 is composed of a driving motor and a transmission rod, the driving motor is preferably a servo motor which is convenient and accurate to control, and under the action of the swing arm driving part 452, the connecting transverse plate 31 swings up and down at the front end of the mechanical arm 441 by taking the third hinge shaft as a fulcrum, so that the vibrating rod 5 realizes up and down cycloid operation in the height direction.

In order to facilitate the automatic operation of the robot, the utility model is further provided with a control module 6 and a power module 7, and the control module 6 and the power module 7 are preferably arranged on a chassis frame 11 of the traveling module 1. The control module 6 contains all electronic devices for controlling the robot action, remote data receiving and vibration data sending. The power module 7 provides power for various electronic devices in the robot.

In conclusion, the running module 1 enables the robot to have running capability, so that the robot can move integrally; the vibrating rod position adjusting module 2 enables the vibrating construction combined control module 4 to rotate back and forth and move back and forth on the driving module 1, so that the vibrating construction combined control module 4 can realize flexible adjustment of different positions, and further can drive the vibrating rod 5 to vibrate construction operation more flexibly and in multiple directions and tracks, the coverage area of the whole robot vibrating construction operation is increased, the construction gravity center can be flexibly and reliably adjusted, and the possibility of construction accidents such as rollover and the like caused by unstable gravity center is reduced; the vibrating construction combination control module 4 can make the vibrating rod 5 realize the translation lifting action of the direction of height, can make the vibrating rod 5 realize the various cycloid operation actions of the direction of height again, can also make the vibrating rod 5 realize the swing folding action of the left and right directions, and the construction operation track is various and highly flexible, highly accurate, satisfies in the high technical requirement of vibrating construction operation. Therefore, the dam concrete vibrating robot for the hydropower station has the advantages of exquisite structure, no need of driving in the robot by personnel, standardized and automatic construction, and suitability for concrete vibrating construction of various storehouses of dam concrete sites of the hydropower station, so that the labor intensity is effectively reduced, the efficiency and the quality of vibrating construction are improved, the operation cost is low, and the large-scale use is facilitated.

Claims (10)

1. The utility model provides a power station dam concrete vibration robot which characterized in that: including module (1) of traveling, the excellent position adjustment module that vibrates (2), the construction combination control module that vibrates (4) and the stick that vibrates (5), the excellent position adjustment module that vibrates (2) set up on module (1) of traveling, and the construction combination control module that vibrates (4) set up on the excellent position adjustment module that vibrates (2), and the stick that vibrates (5) set up the front end at the construction combination control module that vibrates (4).

2. The dam concrete vibrating robot of the hydropower station as claimed in claim 1, wherein: the traveling module (1) is of a crawler-type structure, the traveling module (1) comprises a chassis frame (11), crawler wheels (12), a crawler belt (13) and a first power part, the crawler wheels (12) are arranged on two sides of the chassis frame (11), the crawler belt (13) is arranged on the corresponding crawler wheel (12) in a matched mode, the first power part is arranged in the chassis frame (11), and the first power part is connected with the crawler wheel (12) through a first transmission mechanism.

3. The dam concrete vibrating robot of the hydropower station as claimed in claim 1, wherein: the vibrating rod position adjusting module (2) comprises a rotating platform assembly (21) and a front-back moving assembly (22);

the rotating platform assembly (21) comprises a turntable mechanism, a bearing platform (211) and a second power part, the turntable mechanism and the second power part are arranged on the traveling module (1), the bearing platform (211) is horizontally arranged on the turntable mechanism, the second power part is connected with the turntable mechanism through a second transmission mechanism, and the turntable mechanism can enable the bearing platform (211) to rotate back and forth on the horizontal plane.

4. The dam concrete vibrating robot of the hydropower station as claimed in claim 3, wherein: the front-back moving assembly (22) comprises two first sliding rails (221), a plurality of first sliding blocks (222), a sliding mounting plate (223), a third power part (224) and a third transmission mechanism (225), wherein the two first sliding rails (221) are arranged on the bearing platform (211) in parallel along the length direction of the bearing platform (211), each first sliding rail (221) is at least provided with one first sliding block (222), the sliding mounting plate (223) is horizontally arranged on the first sliding blocks (222), the third power part (224) is arranged on the bearing platform (211), the third power part (224) is connected with the sliding mounting plate (223) through the third transmission mechanism (225), and the third power part (224) can enable the sliding mounting plate (223) to move back and forth on the first sliding rails (221) through the third transmission mechanism (225).

5. The dam concrete vibrating robot of a hydropower station according to any one of claims 1 to 4, characterized in that: the vibrating construction combination control module (4) comprises a front vertical sliding frame (41), a rear vertical sliding frame (42) and a balance arm (43), wherein the front vertical sliding frame (41) and the rear vertical sliding frame (42) are arranged along the length direction of a vibrating rod position adjusting module (2) at intervals, the front vertical sliding frame (41) and the rear vertical sliding frame (42) are vertically arranged on the vibrating rod position adjusting module (2), one end of the balance arm (43) is hinged and connected with the front vertical sliding frame (41), and the other end of the balance arm is hinged and connected with the rear vertical sliding frame (42).

6. The dam concrete vibrating robot of the hydropower station according to claim 5, wherein: the front vertical sliding frame (41) comprises a first frame body (411), the first frame body (411) is vertically arranged on the vibrating rod position adjusting module (2), a second sliding rail, a fourth power part (412) and a fourth transmission mechanism (413) in the vertical direction are arranged on the first frame body (411), a second sliding block is arranged on the second sliding rail, and the fourth power part (412) can enable the second sliding block to move up and down on the second sliding rail through the fourth transmission mechanism (413);

the rear vertical sliding frame (42) comprises a second frame body (421), the second frame body (421) is vertically arranged on the vibrating rod position adjusting module (2), a third sliding rail in the vertical direction, a fifth power part (422) and a fifth transmission mechanism (423) are arranged on the second frame body (421), a third sliding block (424) is arranged on the third sliding rail, the fifth power part (422) can enable the third sliding block (424) to move up and down and back and forth on the third sliding rail through the fifth transmission mechanism (423), and a second cross arm side hinged support (425) is arranged on the third sliding block (424);

the second sliding block is arranged along the length direction of the vibrating rod position adjusting module (2), and the second sliding block and the third sliding block (424) are arranged vertically;

the balance arm (43) comprises a first cross arm side hinged support (431) and a telescopic mechanism (432), the first cross arm side hinged support (431) is hinged to the second sliding block through a first hinged shaft, one end of the telescopic mechanism (432) is connected with the first cross arm side hinged support (431), and the other end of the telescopic mechanism (432) is hinged to the second cross arm side hinged support (425) through a second hinged shaft.

7. The dam concrete vibrating robot of the hydropower station as claimed in claim 6, wherein: the vibration construction combined control module (4) further comprises a mechanical arm swinging assembly (44), and the mechanical arm swinging assembly (44) comprises a mechanical arm (441), a first mechanical arm side hinge base (442), a connecting shaft and a sixth power part (443);

the balance arm (43) is further provided with a third cross arm side hinged support (433), the third cross arm side hinged support (433) is connected and arranged on the left side of the first cross arm side hinged support (431), a rotating hole is formed in the third cross arm side hinged support (433), the connecting shaft is arranged in the rotating hole in a matching mode, a sixth power piece (443) is arranged on the third cross arm side hinged support (433), the sixth power piece (443) is connected with the connecting shaft, and the sixth power piece (443) can enable the connecting shaft to rotate in the rotating hole;

the first mechanical arm side hinged support (442) is provided with a through hole, the connecting shaft penetrates through the through hole in a matching mode and is fixedly connected with the first mechanical arm side hinged support (442) through a fixing piece, and the rear end of the mechanical arm (441) is connected with the first mechanical arm side hinged support (442).

8. The dam concrete vibrating robot of the hydropower station as claimed in claim 7, wherein: the vibrating rod connecting joint comprises a connecting transverse plate (31), and a plurality of vibrating rods (5) are detachably arranged on the connecting transverse plate (31) through a connecting mechanism.

9. The dam concrete vibrating robot of the hydropower station according to claim 8, wherein: the vibration construction combined control module (4) further comprises an up-and-down swinging assembly (45), wherein the up-and-down swinging assembly (45) comprises a swinging arm (451), a swinging arm driving part (452), a first connecting hinged support (453) and a second connecting hinged support (454);

the first connecting hinged support (453) is arranged at the front end of the mechanical arm (441), the second connecting hinged support (454) is arranged in the middle of the connecting transverse plate (31), the first connecting hinged support (453) and the second connecting hinged support (454) are hinged together through a third hinged shaft, and the swing arm (451) is hinged together with the second connecting hinged support (454) through the third hinged shaft;

the rear end of the swing arm driving piece (452) is hinged on the side wall of the mechanical arm (441), and the front end of the swing arm driving piece (452) is hinged with the rear end of the swing arm (451).

10. The dam concrete vibrating robot of the hydropower station as claimed in claim 1, wherein: the device also comprises a control module (6) and a power supply module (7).

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