A concrete vibrating robot for a hydropower station dam

Abstract

The present invention relates to the field of hydropower station engineering technology, in particular to a hydropower station dam concrete vibrating robot, which comprises a driving module, a vibrating rod position adjustment module, a vibrating construction combination control module and a vibrating rod, wherein the vibrating rod position adjustment module is arranged on the driving module, the vibrating construction combination control module is arranged on the vibrating rod position adjustment module, and the vibrating rod is arranged at the front end of the vibrating construction combination control module. The hydropower station dam concrete vibrating robot of the present invention has a delicate structure, does not require personnel to drive in the robot, has standardized and automated construction, and can be applied to concrete vibration construction of various warehouse surfaces at the hydropower station dam concrete site, thereby effectively and significantly reducing the labor intensity, improving the efficiency and quality of the vibration construction, and having a low operating cost, which is conducive to large-scale use.

Description

Technical Field

[0001] The invention relates to the technical field of hydropower station engineering, in particular to a hydropower station dam concrete vibrating robot. Background Art

[0002] The existing hydropower station dam concrete vibration is usually carried out manually by inserting a handheld vibrator. During manual vibration, the vibration is relatively random due to the influence of environmental and human factors, and the vibration quality cannot be guaranteed. In addition, workers are required to frequently drag, pull out and insert the vibrator according to the warehouse surface conditions. The work intensity is high and the vibration efficiency is low, which is not conducive to large-scale use. Summary of the invention

[0003] The technical problem solved by the invention is to provide a hydropower station dam concrete vibrating robot with high vibrating efficiency and good vibrating quality.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a hydropower station dam concrete vibrating robot, including a traveling module, a vibrating rod position adjustment module, a vibrating construction combination control module and a vibrating rod, the vibrating rod position adjustment module is arranged on the traveling module, the vibrating construction combination control module is arranged on the vibrating rod position adjustment module, and the vibrating rod is arranged at the front end of the vibrating construction combination control module.

[0005] Furthermore, the traveling module is a crawler structure, and the traveling module includes a chassis frame, track wheels, tracks and a first power member, the track wheels are arranged on both sides of the chassis frame, the tracks are matched and arranged on the corresponding track wheels, the first power member is arranged in the chassis frame, and the first power member is connected to the track wheels through a first transmission mechanism.

[0006] Furthermore, the vibrating rod position adjustment module includes a rotating platform component and a forward and backward moving component;

[0007] The rotating platform assembly includes a turntable mechanism, a carrying platform and a second power component. The turntable mechanism and the second power component are arranged on the traveling module. The carrying platform is horizontally arranged on the turntable mechanism. The second power component is connected to the turntable mechanism through a second transmission mechanism. The turntable mechanism can make the carrying platform rotate back and forth on a horizontal plane.

[0008] Furthermore, the forward and backward moving components include two first slide rails, multiple first sliders, a sliding mounting plate, a third power member 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 slider is arranged on each first slide rail. The sliding mounting plate is horizontally arranged on the first slider. The third power member is arranged on the bearing platform. The third power member is connected to the sliding mounting plate through the third transmission mechanism. The third power member can enable the sliding mounting plate to move back and forth on the first slide rails via the third transmission mechanism.

[0009] Furthermore, the vibration construction combination control module includes a front vertical sliding frame, a rear vertical sliding frame and a balance arm. The front vertical sliding frame and the rear vertical sliding frame are arranged at intervals along the length direction of the vibrating rod position adjustment module. The front vertical sliding frame and the rear vertical sliding frame are vertically arranged on the vibrating rod position adjustment module. One end of the balance arm is hingedly connected to the front vertical sliding frame, and the other end is hingedly connected to the rear vertical sliding frame.

[0010] Furthermore, the front vertical sliding frame includes a first frame body, the first frame body is vertically arranged on the vibrating rod position adjustment module, the first frame body is provided with a second slide rail, a fourth power member and a fourth transmission mechanism in a vertical direction, the second slide rail is provided with a second slider, and the fourth power member can enable the second slider to move back and forth on the second slide rail through the fourth transmission mechanism;

[0011] The rear vertical sliding frame includes a second frame body, which is vertically arranged on the vibrating rod position adjustment module, and the second frame body is provided with a third slide rail, a fifth power member and a fifth transmission mechanism in a vertical direction, and a third slider is arranged on the third slide rail, and the fifth power member can make the third slider move back and forth on the third slide rail through the fifth transmission mechanism, and the second cross arm side hinge seat is arranged on the third slider;

[0012] The second slider is arranged along the length direction of the vibrating rod position adjustment module, and the second slider and the third slider are arranged perpendicular to each other;

[0013] The balancing arm comprises a first cross arm side hinge seat and a telescopic mechanism. The first cross arm side hinge seat is hinged to the second slider through a first hinge shaft. One end of the telescopic mechanism is connected to the first cross arm side hinge seat, and the other end is hinged to the second cross arm side hinge seat through a second hinge shaft.

[0014] Furthermore, the vibration construction combination control module also includes a mechanical arm swing assembly, and the mechanical arm swing assembly includes a mechanical arm, a first mechanical arm side hinge seat, a connecting shaft and a sixth power member;

[0015] The balance arm is also provided with a third cross arm side hinge seat, which is connected and arranged on the left side of the first cross arm side hinge seat, a rotating hole is arranged in the third cross arm side hinge seat, and a connecting shaft is matched and arranged in the rotating hole, a sixth power member is arranged on the third cross arm side hinge seat, the sixth power member is connected to the connecting shaft, and the sixth power member can make the connecting shaft rotate in the rotating hole;

[0016] A through hole is provided on the first mechanical arm side hinge seat, and the connecting shaft passes through the through hole and is fixedly connected to the first mechanical arm side hinge seat through a fixing member, and the rear end of the mechanical arm is connected to the first mechanical arm side hinge seat.

[0017] Furthermore, it also includes a vibrating rod connecting joint, which includes a connecting cross plate, and a plurality of vibrating rods are detachably arranged on the connecting cross plate through a connecting mechanism.

[0018] Furthermore, the vibration construction combination control module also includes an up-and-down swing assembly, which includes a swing arm, a swing arm driving member, a first connecting hinge seat, and a second connecting hinge seat;

[0019] The first connecting hinge is arranged at the front end of the mechanical arm, the second connecting hinge is arranged in the middle of the connecting horizontal plate, the first connecting hinge and the second connecting hinge are hingedly connected together through a third hinge shaft, and the swing arm is hingedly connected to the second connecting hinge through the third hinge shaft;

[0020] The rear end of the swing arm driving member is hinged on the side wall of the mechanical arm, and the front end of the swing arm driving member is hingedly connected to the rear end of the swing arm.

[0021] Furthermore, it also includes a control module and a power module.

[0022] The beneficial effects of the present invention are as follows: a concrete vibrating robot for a hydropower station dam comprises a driving module, a vibrating rod position adjustment module, a vibrating construction combination control module and a vibrating rod. The driving module enables the robot to have driving capability, which is convenient for overall movement; the vibrating rod position adjustment module enables the vibrating construction combination control module to rotate back and forth and move forward and backward on the driving module, so that the vibrating construction combination control module can realize flexible adjustment of different positions, thereby being able to drive the vibrating rod to perform vibrating construction operations more flexibly and in multiple directions with variable trajectories, thereby increasing the coverage area of ​​the entire robot's vibrating construction operations, and also being able to flexibly and reliably adjust the construction center of gravity, thereby reducing the possibility of construction accidents such as rollover caused by unstable center of gravity; the vibrating construction combination control module can enable the vibrating rod to realize translation and lifting actions in the height direction, and can also enable the vibrating rod to realize various cycloidal operation actions in the height direction, and can also enable the vibrating rod to realize swinging and folding actions in the left and right directions, and the construction operation trajectories are diverse and highly flexible and precise, meeting the high technical requirements of the vibrating construction operations. It can be seen that the hydropower station dam concrete vibrating robot of the present invention has a sophisticated structure, does not require personnel to drive the robot, and has standardized and automated construction. It can be applied to the concrete vibration construction of various warehouse surfaces on the hydropower station dam concrete site, thereby effectively and significantly reducing the labor intensity, improving the efficiency and quality of the vibration construction, and having a low operating cost, which is conducive to large-scale use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the travel module and the rotating platform assembly;

[0025] Figure 3 It is a schematic diagram of the structure of the forward and backward moving components;

[0026] Figure 4It is a structural schematic diagram of a vibration construction combination control module;

[0027] The following are marked in the figure: travel module 1, chassis frame 11, track wheel 12, track 13, vibrator position adjustment module 2, rotating platform assembly 21, carrying platform 211, front and rear moving assembly 22, first slide rail 221, first slider 222, sliding mounting plate 223, third power member 224, third transmission mechanism 225, vibrator connecting joint 3, connecting cross plate 31, vibrator construction assembly control module 4, front vertical sliding frame 41, first frame body 411, fourth power member 412, fourth transmission mechanism 413, rear vertical sliding frame 42, second frame body 421, the fifth power member 422, the fifth transmission mechanism 423, the third slider 424, the second cross arm side hinge 425, the balance arm 43, the first cross arm side hinge 431, the telescopic mechanism 432, the third cross arm side hinge 433, the sleeve 434, the robot arm swing assembly 44, the robot arm 441, the first robot arm side hinge 442, the sixth power member 443, the up and down swing assembly 45, the swing arm 451, the swing arm driving member 452, the first connecting hinge 453, the second connecting hinge 454, the vibrating rod 5, the control module 6, and the power module 7. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, a hydropower station dam concrete vibrating robot of the present invention comprises a traveling module 1, a vibrating rod position adjustment module 2, a vibrating construction combination control module 4 and a vibrating rod 5, wherein the vibrating rod position adjustment module 2 is arranged on the traveling module 1, the vibrating construction combination control module 4 is arranged on the vibrating rod position adjustment module 2, and the vibrating rod 5 is arranged at the front end of the vibrating construction combination control module 4.

[0030] The driving module 1 enables the robot to travel and facilitates overall movement. According to the environment of the concrete vibration construction of the hydropower station dam, a preferred structure of the driving module 1 of the present invention is: Figure 1 , Figure 2As shown, the travel module 1 is a crawler structure, and the travel module 1 includes a chassis frame 11, track wheels 12, tracks 13 and a first power member. The track wheels 12 are arranged on both sides of the chassis frame 11, and the tracks 13 are matched and arranged on the corresponding track wheels 12. The first power member is arranged in the chassis frame 11, and the first power member is connected to the track wheels 12 through a first transmission mechanism. The chassis frame 11 is used as a bearing substrate, and its material is steel. The track wheels 12 are mainly composed of driving wheels, induction wheels, and support wheels. The first power member is a servo travel motor, which is convenient for automatic control. The driving system of the travel module 1 can adopt the mature infrared remote control driving technology, without the need for personnel to drive in the robot, and the travel module 1 can realize the controllable walking function through the unmanned driving technology.

[0031] The function of the vibrating rod position adjustment module 2 is to enable the vibrating construction combination control module 4 to rotate back and forth and move forward and backward on the driving module 1, so that the vibrating construction combination control module 4 can achieve flexible adjustment of different positions, thereby being able to drive the vibrating rod 5 to perform vibrating construction operations more flexibly and in a multi-directional and variable trajectory. A preferred structure of the vibrating rod position adjustment module 2 of the present invention is: Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the vibrating rod position adjustment module 2 includes a rotating platform assembly 21 and a forward and backward moving assembly 22. The rotating platform assembly 21 includes a turntable mechanism, a bearing platform 211 and a second power member. The turntable mechanism and the second power member are arranged on the travel module 1, and the bearing platform 211 is horizontally arranged on the turntable mechanism. The second power member is connected to the turntable mechanism through a second transmission mechanism. The turntable mechanism can make the bearing platform 211 rotate back and forth on the horizontal plane, thereby driving the tamping construction combination control module 4 to rotate back and forth on the horizontal plane. The turntable mechanism is preferably a turntable bearing, and the outer ring / inner ring of the turntable bearing is fixedly connected to the top of the chassis frame 11 of the travel module 1, and its inner ring / outer ring is fixedly connected to the bottom of the bearing platform 22. The second power member is preferably a servo motor that is easy to control and accurate. The output end of the second power member is meshed with the turntable mechanism, and the rotating power is used to drive the turntable mechanism to produce a circumferential rotation motion.

[0032] For example Figure 1 , Figure 3As shown, the forward and backward moving component 22 includes two first slide rails 221, multiple first sliders 222, a sliding mounting plate 223, a third power member 224 and a third transmission mechanism 225. The two first slide rails 221 are arranged on the bearing platform 211 in parallel along the length direction of the bearing platform 211. At least one first slider 222 is arranged on each first slide rail 221. The sliding mounting plate 223 is horizontally arranged on the first slider 222. The third power member 224 is arranged on the bearing platform 211. The third power member 224 is connected to the sliding mounting plate 223 through the third transmission mechanism 225. The third power member 224 can make the sliding mounting plate 223 move back and forth on the first slide rail 221 through the third transmission mechanism 225, thereby making the vibration construction combination control module 4 move back and forth. The third power member 224 is preferably a servo motor that is easy to control and accurate. The third transmission mechanism 225 is preferably a screw transmission mechanism, which includes a screw, which is arranged along the length direction of the bearing platform 211, and is arranged between the two first slide rails 221. The screw is threadedly connected to the bottom of the sliding mounting plate 223, for example, a nut matching the screw is fixed at the bottom of the sliding mounting plate 223. In order to facilitate the rotation of the screw, a set of bearing assemblies are respectively arranged at both ends of the screw.

[0033] The vibrating rod position adjustment module 2 of the present invention can not only enable the vibration construction combination control module 4 to rotate back and forth and move forward and backward on the driving module 1, so that the vibration construction combination control module 4 can be flexibly adjusted to different positions, and then can drive the vibrating rod 5 to perform vibration construction operations more flexibly and in multiple directions with variable trajectories, thereby increasing the coverage area of ​​the entire robot's vibration construction operations, but also can flexibly and reliably adjust the robot's construction center of gravity, reducing the possibility of construction accidents such as rollover caused by unstable center of gravity.

[0034] The vibration construction combination control module 4 is a control module for the vibration construction of the vibrating rod 5, which determines the construction operation track of the vibrating rod 5, the quality and efficiency of the vibration construction. A preferred structure of the vibration construction combination control module 4 of the present invention is: Figure 1 , Figure 4As shown, the vibration 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 arranged at intervals along the length direction of the vibrating rod position adjustment module 2. The front vertical sliding frame 41 and the rear vertical sliding frame 42 are vertically arranged on the vibrating rod position adjustment module 2. One end of the balance arm 43 is hingedly connected to the front vertical sliding frame 41, and the other end is hingedly connected to the rear vertical sliding frame 42. The front vertical sliding frame 41 includes a first frame body 411, which is vertically arranged on the vibrating rod position adjustment module 2, and is provided with a second slide rail, a fourth power member 412 and a fourth transmission mechanism 413 in a vertical direction on the first frame body 411, and a second slider is provided on the second slide rail, and the fourth power member 412 can make the second slider move back and forth on the second slide rail through the fourth transmission mechanism 413; the rear vertical sliding frame 42 includes a second frame body 421, and the second frame body 421 is vertically arranged on the vibrating rod position adjustment module 2, and is provided with a third slide rail, a fifth power member 422 and a fifth transmission mechanism 423 in a vertical direction on the second frame body 421, and the third slide rail is provided with a second slider, and the fourth power member 412 can make the second slider move back and forth on the second slide rail through the fourth transmission mechanism 413. A third slider 424 is provided, and the fifth power member 422 can enable the third slider 424 to move back and forth on the third slide rail through the fifth transmission mechanism 423, and the second cross arm side hinge seat 425 is provided on the third slider 424; the second slider is arranged along the length direction of the vibrating rod position adjustment module 2, and the second slider and the third slider 424 are arranged perpendicular to each other; the balancing arm 43 includes a first cross arm side hinge seat 431 and a telescopic mechanism 432, the first cross arm side hinge seat 431 is hinged to the second slider through a first hinge shaft, one end of the telescopic mechanism 432 is connected to the first cross arm side hinge seat 431, and the other end is hinged to the second cross arm side hinge seat 425 through a second hinge shaft. When the second slider 424 is lifted and displaced synchronously, the balancing arm 43 moves up and down accordingly; when any one of the second slider 424 is lifted and displaced while the other remains fixed, the balancing arm 43 performs a single-point cycloid operation; when the second slider 424 is lifted and displaced in the opposite direction (that is, one moves up and the other moves down), the balancing arm 43 performs a cross cycloid operation, thereby enabling the balancing arm 43 to drive the vibrating rod 5 to achieve a translational lifting action in the height direction and a variety of cycloid operations in the height direction, thereby ensuring the quality of the vibration construction.

[0035] The fourth power member 412 and the fifth power member 422 are preferably servo motors that are easy to control and accurate. The fourth transmission mechanism 413 and the fifth transmission mechanism 423 are preferably screw transmission mechanisms. The overall structure of the power transmission mechanism is simple, the volume is small, the use effect is good, and it is easy to maintain. The telescopic mechanism 432 is used to adjust the length change of the balance arm 43 when the second slider and the third slider 424 slide and displace under unequal height conditions. The telescopic mechanism 432 is preferably a cylinder assembly. For ease of use, a sleeve 434 can also be provided at the end of the piston rod of the cylinder assembly. The sleeve 434 is an extended structure of the piston rod.

[0036] In order to enhance the structural strength of the relative position between the front vertical sliding frame 41 and the rear vertical sliding frame 42 , a support plate may be provided between the front vertical sliding frame 41 and the rear vertical sliding frame 42 , and the support plate may be replaced by a triangular support or the like.

[0037] In order to further improve the vibrating construction quality of the vibrating rod 5, the vibrating rod 5 can achieve more construction actions. Figure 1 , Figure 4 As shown, the vibration construction combination control module 4 of the present invention also includes a mechanical arm swing assembly 44, which includes a mechanical arm 441, a first mechanical arm side hinge seat 442, a connecting shaft and a sixth power member 443; a third cross arm side hinge seat 433 is also provided on the balance arm 43, and the third cross arm side hinge seat 433 is connected and arranged on the left side of the first cross arm side hinge seat 431, and a rotating hole is provided in the third cross arm side hinge seat 433, and the connecting shaft 443 is matched and arranged in the rotating hole, and the sixth power member 443 is arranged on the third cross arm side hinge seat 433, and the sixth power member 443 is connected to the connecting shaft 443, and the sixth power member 443 can make the connecting shaft 443 rotate in the rotating hole; a through hole is provided on the first mechanical arm side hinge seat 442, and the connecting shaft 443 matches and passes through the through hole and is fixedly connected to the first mechanical arm side hinge seat 442 through a fixing member, and the fixing member is preferably a key, and the rear end of the mechanical arm 441 is connected to the first mechanical arm side hinge seat 442. The sixth power member 443 is preferably a servo motor that is easy to control and precise. The output shaft of the sixth power member 443 rotates to drive the connecting shaft 443 to rotate. The rotation of the connecting shaft 443 drives the mechanical arm 441 to swing left and right, thereby driving the vibrating rod 5 to realize the swinging and folding action in the left and right directions.

[0038] In order to ensure the stability and service life of the connecting shaft 443, the connecting shaft 443 is arranged in the through hole of the first mechanical arm side hinge seat 442 and the rotating hole of the third cross arm side hinge seat 433 through a bearing assembly. The bearing assembly can effectively disperse the gravity of the mechanical arm 441 to the balance arm 43, reduce the friction force acting on the connecting rod shaft 443, and improve the stability and service life of the connecting shaft 443.

[0039] In order to set the number of vibrating rods 5 according to actual conditions, thereby improving the quality and efficiency of the vibrating construction, and also to facilitate the replacement of damaged vibrating rods 5, Figure 1 , Figure 4 As shown, the present invention is further provided with a vibrating rod connecting joint 3, which includes 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.

[0040] In order to further improve the vibrating construction quality of the vibrating rod 5, the vibrating rod 5 can achieve more construction actions. Figure 1 , Figure 4 As shown, the vibration construction combination control module 4 of the present invention also includes an up and down swing component 45, and the up and down swing component 45 includes a swing arm 451, a swing arm driving component 452, a first connecting hinge 453 and a second connecting hinge 454. The first connecting hinge 453 is arranged at the front end of the mechanical arm 441, and the second connecting hinge 454 is arranged in the middle of the connecting cross plate 31. The first connecting hinge 453 and the second connecting hinge 454 are hinged together through a third hinge shaft, and the swing arm 451 is hinged together with the second connecting hinge 454 through the third hinge shaft; the rear end of the swing arm driving component 452 is hinged on the side wall of the mechanical arm 441, and the front end of the swing arm driving component 452 is hinged together with the rear end of the swing arm 451. The swing arm driving component 452 is composed of a driving motor and a transmission rod. The driving motor is preferably a servo motor that is easy to control and precise. Under the action of the swing arm driving component 452, the cross plate 31 is connected with the third hinge shaft as a fulcrum, and swings up and down at the front end of the mechanical arm 441, so that the vibrating rod 5 can realize the up and down cycloidal operation in the height direction.

[0041] In order to facilitate the automatic operation of the robot, the present invention is further provided with a control module 6 and a power module 7, which are preferably arranged on the chassis frame 11 of the travel module 1. The control module 6 contains all electronic devices for controlling the robot's movements, receiving remote data, and sending vibration data. The power module 7 provides power for various electronic devices in the robot.

[0042] To sum up, the driving module 1 enables the robot to have the ability to drive, which is convenient for overall movement; the vibrating rod position adjustment module 2 enables the vibration construction combination control module 4 to rotate back and forth and move forward and backward on the driving module 1, so that the vibration construction combination control module 4 can realize flexible adjustment of different positions, and then can drive the vibrating rod 5 to vibrate construction operations more flexibly and in multiple directions with variable trajectories, increase the coverage area of ​​the entire robot's vibration construction operations, and can also flexibly and reliably adjust the construction center of gravity, reducing the possibility of construction accidents such as rollover caused by unstable center of gravity; the vibration construction combination control module 4 can enable the vibrating rod 5 to realize translation and lifting actions in the height direction, and can also enable the vibrating rod 5 to realize a variety of cycloidal operation actions in the height direction, and can also enable the vibrating rod 5 to realize swinging and folding actions in the left and right directions. The construction operation trajectories are diverse and highly flexible and precise, meeting the high technical requirements of vibration construction operations. It can be seen that the hydropower station dam concrete vibrating robot of the present invention has a sophisticated structure, does not require personnel to drive the robot, and has standardized and automated construction. It can be applied to the concrete vibration construction of various warehouse surfaces on the hydropower station dam concrete site, thereby effectively and significantly reducing the labor intensity, improving the efficiency and quality of the vibration construction, and having a low operating cost, which is conducive to large-scale use.

Claims

1. A concrete vibrating robot for a hydropower station dam, characterized in that: The machine comprises a travel module (1), a vibrating rod position adjustment module (2), a vibrating construction combination control module (4) and a vibrating rod (5), wherein the vibrating rod position adjustment module (2) is arranged on the travel module (1), the vibrating construction combination control module (4) is arranged on the vibrating rod position adjustment module (2), and the vibrating rod (5) is arranged at the front end of the vibrating construction combination control module (4); The travel module (1) is a crawler-type structure, comprising a chassis frame (11), crawler wheels (12), crawler tracks (13) and a first power member, wherein the crawler wheels (12) are arranged on both sides of the chassis frame (11), the crawler tracks (13) are matched and arranged on the corresponding crawler wheels (12), the first power member is arranged in the chassis frame (11), and the first power member is connected to the crawler wheels (12) via a first transmission mechanism; The vibrating rod position adjustment module (2) comprises a rotating platform component (21) and a forward and backward moving component (22); The rotating platform assembly (21) comprises a turntable mechanism, a carrying platform (211) and a second power member, the turntable mechanism and the second power member are arranged on the travel module (1), the carrying platform (211) is horizontally arranged on the turntable mechanism, the second power member is connected to the turntable mechanism via a second transmission mechanism, and the turntable mechanism can enable the carrying platform (211) to rotate back and forth on a horizontal plane; The vibrating construction combined control module (4) comprises 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 arranged at intervals along the length direction of the vibrating rod position adjustment module (2); the front vertical sliding frame (41) and the rear vertical sliding frame (42) are vertically arranged on the vibrating rod position adjustment module (2); one end of the balance arm (43) is hingedly connected to the front vertical sliding frame (41), and the other end is hingedly connected to the rear vertical sliding frame (42).

2. A hydropower station dam concrete vibrating robot as claimed in claim 1, characterized in that: The forward and backward moving component (22) comprises two first slide 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 slide rails (221) are arranged on the bearing platform (211) in parallel with each other along the length direction of the bearing platform (211); at least one first sliding block (222) is arranged on each first slide rail (221); the sliding mounting plate (223) is arranged horizontally on the first sliding block (222); the third power member (224) is arranged on the bearing platform (211); the third power member (224) is connected to the sliding mounting plate (223) through the third transmission mechanism (225); the third power member (224) can enable the sliding mounting plate (223) to move back and forth on the first slide rail (221) via the third transmission mechanism (225).

3. A hydropower station dam concrete vibrating robot as claimed in claim 1, characterized in that: 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 adjustment module (2), the first frame body (411) is provided with a second slide rail in a vertical direction, a fourth power member (412) and a fourth transmission mechanism (413), the second slide rail is provided with a second slider, and the fourth power member (412) can enable the second slider to move back and forth on the second slide rail via 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 adjustment module (2), a third slide rail, a fifth power member (422) and a fifth transmission mechanism (423) in a vertical direction are arranged on the second frame body (421), a third slider (424) is arranged on the third slide rail, the fifth power member (422) can make the third slider (424) move back and forth on the third slide rail through the fifth transmission mechanism (423), and a second cross arm side hinge seat (425) is arranged on the third slider (424); The second sliding block is arranged along the length direction of the vibrating rod position adjustment module (2), and the second sliding block and the third sliding block (424) are arranged perpendicular to each other; The balancing arm (43) comprises a first cross arm side hinge seat (431) and a telescopic mechanism (432); the first cross arm side hinge seat (431) is hinged to the second sliding block via a first hinge shaft; one end of the telescopic mechanism (432) is connected to the first cross arm side hinge seat (431), and the other end is hinged to the second cross arm side hinge seat (425) via a second hinge shaft.

4. A hydropower station dam concrete vibrating robot as claimed in claim 3, characterized in that: The vibration construction combination control module (4) also includes a mechanical arm swing assembly (44), and the mechanical arm swing assembly (44) includes a mechanical arm (441), a first mechanical arm side hinge seat (442), a connecting shaft and a sixth power member (443); The balance arm (43) is also provided with a third cross arm side hinge seat (433), the third cross arm side hinge seat (433) is connected to the left side of the first cross arm side hinge seat (431), a rotating hole is provided in the third cross arm side hinge seat (433), a connecting shaft is matched and arranged in the rotating hole, a sixth power member (443) is provided on the third cross arm side hinge seat (433), the sixth power member (443) is connected to the connecting shaft, and the sixth power member (443) can make the connecting shaft rotate in the rotating hole; A through hole is provided on the first mechanical arm side hinge seat (442), and the connecting shaft passes through the through hole and is fixedly connected to the first mechanical arm side hinge seat (442) via a fixing member, and the rear end of the mechanical arm (441) is connected to the first mechanical arm side hinge seat (442).

5. A hydropower station dam concrete vibrating robot as claimed in claim 4, characterized in that: It also comprises a vibrating rod connecting joint (3), the vibrating rod connecting joint (3) comprises a connecting transverse plate (31), and a plurality of vibrating rods (5) are detachably arranged on the connecting transverse plate (31) via a connecting mechanism.

6. A hydropower station dam concrete vibrating robot as claimed in claim 5, characterized in that: The vibration construction combined control module (4) further comprises an up-and-down swing assembly (45), wherein the up-and-down swing assembly (45) comprises a swing arm (451), a swing arm driving member (452), a first connecting hinge seat (453) and a second connecting hinge seat (454); The first connecting hinge (453) is arranged at the front end of the mechanical arm (441), the second connecting hinge (454) is arranged in the middle of the connecting horizontal plate (31), the first connecting hinge (453) and the second connecting hinge (454) are hingedly connected together via a third hinge shaft, and the swing arm (451) is hingedly connected to the second connecting hinge (454) via the third hinge shaft; The rear end of the swing arm driving member (452) is hinged on the side wall of the mechanical arm (441), and the front end of the swing arm driving member (452) is hingedly connected to the rear end of the swing arm (451).

7. A hydropower station dam concrete vibrating robot as claimed in claim 1, characterized in that: It also includes a control module (6) and a power module (7).

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