Full-automatic concrete setting time measuring device with manipulator

Abstract

The full-automatic concrete setting time measuring device comprises a machine body, a test cylinder and an electric control system which is arranged on the front side of the machine body and is used for controlling all electric appliance accessories, the upper side of the machine body is sequentially provided with a test cylinder placing frame used for arranging and placing a plurality of test cylinders, a multi-direction moving mechanical arm used for grabbing the test cylinders to move front and back, up and down and left and right, an uncovering mechanism used for uncovering the test cylinders, and a dip angle water absorbing mechanism used for absorbing bleeding water on the inner sides of the test cylinders from right to left. The rotating mechanism is used for placing the uncovered test cylinder, the needle feeding mechanism is arranged above the rotating mechanism and is used for inserting and measuring the setting time of concrete in the test cylinder, a concrete penetration force value is automatically measured within a specified time interval through an automatic electric control system, and the penetration resistance of a sample is calculated; and the initial setting time and the final setting time are obtained through the time-penetration resistance curve, so that manual detection of the setting time is converted into automatic detection, and the working efficiency and the accuracy are greatly improved.

Description

Technical Field

[0001] The present invention specifically relates to a fully automatic concrete setting time measuring device with a manipulator, and relates to the technical field of concrete measuring equipment. Background Art

[0002] Currently, when measuring the setting time of concrete, most of the time, manual or semi-automatic equipment is used for measurement. Especially when opening the concrete cover, absorbing exudate, and cleaning the measuring needle, the overall efficiency is very slow. In addition, manual adjustment is required to insert the measuring needle into different measuring positions of the concrete during measurement. The accuracy and efficiency need to be improved. Moreover, since the measuring object is concrete, it will usually fall and accumulate on the placing tray where the concrete is placed during use. Some dust and impurity particles will accumulate on the placing tray for a long time, which can easily cause the test tube to be placed unevenly and cause the sample to tilt, affecting the measurement data and the environment of the test tube. It cannot be fully cleaned. Therefore, it is urgent to propose a fully automatic concrete setting time measuring device with a manipulator to improve the above problems. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the present invention aims to provide a fully automatic concrete setting time measuring device with a manipulator to solve the problems mentioned in the above background technology.

[0004] To achieve the above-mentioned object, the present invention is implemented through the following technical solutions: a fully automatic concrete setting time measuring device with a manipulator, comprising a body, a test tube, and an electronic control system installed on the front side of the body to control various electrical accessories. The upper side of the body is provided with, from right to left, a test tube placement rack for arranging and placing multiple test tubes, a multi-directional movable manipulator for grabbing the test tubes for forward, backward, upward, downward, and leftward displacement, a lid opening mechanism for opening the test tube, an angled water absorption mechanism for absorbing water seeping from the inside of the test tube, a rotating mechanism for placing the uncapped test tube, and a needle insertion mechanism located above the rotating mechanism for inserting a needle into the test tube to measure the setting time of concrete; A stylus cleaning mechanism is movably provided between the rotating mechanism and the needle lowering mechanism. The stylus cleaning mechanism includes a cleaning box, which is movable left and right and located between the rotating mechanism and the needle lowering mechanism. A suction and sweeping assembly is provided at the bottom of the cleaning box for synchronously cleaning the upper side of the rotating mechanism. The suction and sweeping assembly includes an array of pipes installed at the bottom of the cleaning box, and each of the pipes is connected to each other. The pipes are connected to a dust suction pump through an air pipe. The dust suction pump is installed on one side of the cleaning box. A dust filter box is installed on one side of the cleaning box, and the dust filter box is connected to the dust outlet end of the dust suction pump. The bottom of the arrangement pipe is fixed and connected with multiple rubber suction and sweeping pipe fittings, which are in elastic contact with the upper side of the rotating mechanism, and a middle baffle is provided in the longitudinal direction of the rubber suction and sweeping pipe lumen to divide the lumen into two left and right channels, and inclined surfaces are provided on the left and right sides of the bottom of the rubber suction and sweeping pipe fitting. When the cleaning box moves left and right, the inclined surfaces of the rubber suction and sweeping pipe fittings are synchronously driven to adaptively contact the upper surface of the rotating mechanism, and the dust is synchronously scraped left and right at the middle baffle, and negative pressure dust collection is performed through the two separated left and right channels.

[0005] Preferably, the probe cleaning mechanism also includes a fixed frame installed on the machine body, the fixed frame is equipped with a transverse guide rail and a transverse belt rotatably connected through a rotating shaft, wherein the fixed frame is equipped with a second transmission motor for driving one of the rotating shafts of the transverse belt to rotate, and a slider that slides linearly with the transverse guide rail is installed on one side of the cleaning box, and one side of the cleaning box is locked with the transverse belt.

[0006] Preferably, the rotating mechanism includes a movable frame, a longitudinal guide rail and a longitudinal push rod installed on the upper side of the machine body. The bottom of the movable frame is slidably connected to the longitudinal guide rail, and one side of the movable frame is locked and connected to the telescopic end of the longitudinal push rod. A plurality of transmission shafts are installed on the upper side of the movable frame for vertical rotation, and a placement plate is installed on the top of each transmission shaft, and the bottoms of the transmission shafts are linked to each other through a transmission belt. A first transmission motor is installed on the movable frame, and a transmission wheel is installed on the shaft end of the first transmission motor and is connected to the transmission belt of one of the transmission shafts.

[0007] Preferably, the cleaning box is movable left and right and is located above each placement tray, and is in elastic contact with the upper side of the placement tray through a rubber suction and sweeping tube. When the placement tray rotates, the rubber suction and sweeping tube is used to scrape and absorb dust from the left and right sides, thereby cleaning the upper side of the placement tray in all directions. Preferably, the needle lowering mechanism includes multiple vertical push rods, and a measuring needle is installed at the telescopic end of each vertical push rod. The measuring needle is located above the cleaning box. Each measuring needle is correspondingly placed above each placement plate, and is used in conjunction with the longitudinal push rod and the transmission shaft to allow the measuring needle to be inserted into different positions of the concrete in the test cylinder.

[0008] Preferably, the upper cover of the test tube is provided with a tube cover, and a cover handle is installed on the top of the tube cover. The test tube placement rack is arranged with multiple test tubes in layers, and each of the test tubes corresponds to one side of a multi-directional mobile manipulator. The wall end of the multi-directional mobile manipulator is equipped with a rotating clamping claw mechanism for clamping and rotating the test tube, and the rotating clamping claw mechanism includes a rotating motor installed at the wall end of the multi-directional mobile manipulator, and the rotating shaft of the rotating motor is equipped with a tube clamp that can open and close to clamp the test tube.

[0009] Preferably, a vertical pole is installed on the upper side of the machine body, and the cover opening mechanism and the tilt water absorption mechanism are installed on the vertical pole from top to bottom. The cover opening mechanism includes an upper fixed plate fixed on the vertical pole and a cover clamp installed on the upper fixed plate for opening and closing.

[0010] Preferably, the angled water suction mechanism includes a lower fixed plate fixed on the vertical pole and a water suction pipe head locked on the lower fixed plate. The water suction pipe head is connected to an external water suction pump through a water pipe, and cooperates with the clamping rotation of the rotating motor to allow the test tube to tilt to a set angle to concentrate water secretion, and fully contact with the inner side of the test tube through the water suction pipe head.

[0011] By adopting the above technical solution, the present invention has the following advantages: Firstly, the present invention can automatically grab the test tube to be measured in sequence, place it on the opening mechanism to open the cover, cooperate with the rotating motor to tilt the water absorption mechanism to fully absorb the secreted water, and place it on the rotating mechanism to facilitate the insertion of the needle mechanism into the concrete in the test tube for measurement. During the measurement, the longitudinal push rod can be used to push the rotating mechanism back and forth to allow the measuring needle to be inserted into the position of different concrete. Combined with the rotation characteristics of the placement plate itself, the measuring needle can be fully aligned with different positions of the concrete in the test tube, thereby improving the range of automatic measurement. Through the automated electronic control system, the concrete penetration force value is automatically measured within a specified time interval, the penetration resistance of the sample is calculated, and the initial setting time and final setting time are then obtained through the time-penetration resistance curve, thereby realizing the transformation from manual detection of the setting time to automated detection, greatly improving work efficiency and accuracy. Secondly, the movable stylus cleaning mechanism can extend the corresponding stylus into the cleaning box of the stylus cleaning mechanism for cleaning after the measurement is completed. The left and right movable setting of the stylus cleaning mechanism can not only avoid the placement plate being measured, but also can be moved left and right during measurement, using the bottom suction and sweeping assembly to elastically scrape and absorb and clean the upper side of other placement plates at the same time. In addition, the placement plate can be rotated to improve the cleaning range and cleaning effect of the placement plate. In other words, when measuring concrete, another stylus can be cleaned simultaneously. When cleaning the stylus, the cleaning box can be moved left and right synchronously within a certain range, allowing the suction and sweeping assembly to simultaneously clean the upper surface of the other placement plate. Thirdly, the middle baffle separates the lumen of the rubber suction and sweeping pipe into two left and right channels. Therefore, when the suction and sweeping assembly moves left and right for cleaning, the middle baffle at the bottom of the rubber suction and sweeping pipe can sweep the upper side of the placement plate and concentrate it in the left and right channels. Then, a vacuum pump is used to absorb the concentrated dust particles separately. At the same time, inclined surfaces are provided on the left and right sides of the bottom of the rubber suction and sweeping pipe. When the rubber suction and sweeping pipe scrapes and contacts the placement plate, it tilts. Therefore, the inclined surfaces can greatly adapt to the upper side of the placement plate, and a certain space can also be reserved for dust particles to enter the channel and be sucked away, which greatly improves the use effect and cleaning effect of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings: Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the rear side of the present invention; Figure 3 It is a schematic structural diagram of the stylus cleaning mechanism and the rotating mechanism of the present invention; Figure 4 It is a structural schematic diagram of the needle lowering mechanism and the measuring needle cleaning mechanism of the present invention; Figure 5 This is a schematic structural diagram of the test tube placement rack and the multi-directional mobile manipulator of the present invention; Figure 6 It is a structural schematic diagram of the cover opening mechanism and the tilted water absorption mechanism of the present invention; Figure 7 It is a structural diagram of the cleaning box and the suction and sweeping assembly of the present invention; Figure 8 It is a structural schematic diagram of the suction and sweeping assembly of the present invention; Figure 9 Schematic diagram of the front cross-sectional structure of the rubber suction and sweeping pipe of the present invention; Figure 10 Schematic diagram of the structure of the housing of the present invention; In the figure: body 1, test tube placement rack 2, test tube 3, tube cover 31, cover handle 32, multi-directional mobile manipulator 4, rotating clamping jaw mechanism 41, rotating motor 411, tube clamping jaw 412, cover opening mechanism 5, upper fixed plate 51, cover clamping jaw 52, ​​inclination water absorption mechanism 6, lower fixed plate 61, water absorption pipe head 62, rotating mechanism 7, movable frame 71, longitudinal guide rail 72, placement plate 73, transmission shaft 74, first transmission motor 75, longitudinal push rod 76, stylus cleaning mechanism 8, suction sweep assembly 80, arrangement pipe 801, dust suction pump 802, rubber suction sweep pipe 803, middle baffle 8031, inclined surface 8032, dust filter box 804, cleaning box 81, fixed frame 82, transverse guide rail 83, transverse belt 84, second transmission motor 85, slide block 86, lower needle mechanism 9, vertical push rod 91, stylus 92, vertical pole 10. DETAILED DESCRIPTION

[0013] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0014] like Figure 1-10As shown, the present invention provides a fully automatic concrete setting time measuring device with a manipulator, comprising a machine body 1, a test tube 3, and an electric control system installed on the front side of the machine body 1 to control various electrical accessories. The upper side of the machine body 1 is sequentially installed from right to left with a test tube placement rack 2 for arranging and placing multiple test tubes 3, a multi-directional mobile manipulator 4 for grabbing the test tube 3 for forward, backward, upward, downward, left and right displacement, a cover opening mechanism 5 for opening the test tube 3, an angled water absorption mechanism 6 for absorbing water seeping from the inside of the test tube 3, a rotating mechanism 7 for placing the uncovered test tube 3, and a rotating mechanism 7 provided above the rotating mechanism 7. A lower needle mechanism 9 is provided for inserting and measuring the setting time of concrete in the test tube 3; a tube cover 31 is provided on the upper side cover of the test tube 3, and a cover handle 32 is installed on the top of the tube cover 31; a plurality of test tubes 3 are arranged in layers on the test tube placement rack 2, and each test tube 3 corresponds to one side of the multi-directional mobile manipulator 4, and a rotating clamping mechanism 41 for clamping and rotating the test tube 3 is installed on the wall end of the multi-directional mobile manipulator 4, and the rotating clamping mechanism 41 includes a rotating motor 411 installed on the wall end of the multi-directional mobile manipulator 4, and a tube clamping jaw 412 capable of opening and closing to clamp the test tube 3 is installed on the rotating shaft of the rotating motor 411.

[0015] A stylus cleaning mechanism 8 is movably provided between the rotating mechanism 7 and the needle lowering mechanism 9. The stylus cleaning mechanism 8 includes a cleaning box 81. The cleaning box 81 can adopt an ultrasonic vibration box in the prior art to quickly remove dirt from the surface of the object. The cleaning box 81 is movable left and right and is located between the rotating mechanism 7 and the needle lowering mechanism 9. A suction sweeping assembly 80 is provided at the bottom of the cleaning box 81 for synchronously cleaning the upper side of the rotating mechanism 7. Specifically, the suction and sweeping assembly 80 includes an array of pipes 801 installed at the bottom of the cleaning box 81, and each of the arrayed pipes 801 is connected to each other. The arrayed pipes 801 are connected to a dust suction pump 802 through an air pipe. The dust suction pump 802 is installed on one side of the cleaning box 81. A dust filter box 804 is installed on one side of the cleaning box 81. The dust filter box 804 is connected to the dust outlet end of the dust pump 802 to filter the inhaled dust particles. The bottom of the arrayed pipe 801 is fixed and connected to a plurality of rubber suction and sweeping pipes 803. The rubber suction and sweeping pipes 803 are in elastic contact with the upper side of the rotating mechanism 7, and the lumen of the rubber suction and sweeping pipes 803 is longitudinally arranged. A middle baffle 8031 ​​is provided to divide the tube cavity into two left and right channels, and inclined surfaces 8032 are provided on the left and right sides of the bottom of the rubber suction and sweeping tube 803, and the arrangement tube 801 is clamped to the bottom of the cleaning box 81 through a clamp. Therefore, when the cleaning box 81 is displaced left and right, the inclined surface 8032 of the rubber suction and sweeping tube 803 can be synchronously driven to adaptively contact the upper surface of the placement disk 73 of the rotating mechanism 7, and a certain space is left so as not to be completely blocked, and the dust is synchronously scraped and swept left and right through the middle baffle 8031, and then the two separated left and right channels are used to perform negative pressure suction on both sides respectively, thereby achieving the effect of synchronous elastic concentrated scraping and dust suction.

[0016] In this embodiment, the probe cleaning mechanism 8 also includes a fixed frame 82 installed on the body 1, and the fixed frame 82 is equipped with a transverse guide rail 83 and a transverse belt 84 rotatably connected by a rotating shaft, wherein the fixed frame 82 is equipped with a second transmission motor 85 for driving one of the rotating shafts of the transverse belt 84 to rotate, and a slider 86 linearly sliding with the transverse guide rail 83 is installed on one side of the cleaning box 81, and one side of the cleaning box 81 is locked and connected to the transverse belt 84. In this way, not only can the suction and sweeping component 80 clean the upper side of the rotating mechanism 7 left and right, but also the left and right displacement of the cleaning box 81 can avoid the condensation measurement lower needle mechanism 9. The spatial layout is reasonable, and the probe 92 of the other lower needle mechanism 9 can enter the cleaning box 81 for synchronous cleaning.

[0017] The cam 72 is connected to the upper end of the frame 1 by a drive pulley 76, and the cam 72 is connected to the lower end of the frame 1 by a drive pulley 76. The cam 72 is connected to the upper end of the frame 1 by a drive pulley 76, and the cam 72 is connected to the lower end of the frame 1 by a drive pulley 76.

[0018] For example, the cleaning box 81 is movable left and right above each placement tray 73, and elastically contacts the top of the placement tray 73 via the rubber suction and sweeping tube 803. When the placement tray 73 rotates, the rubber suction and sweeping tube 803 elastically scrapes and absorbs dust, thereby fully cleaning the top of the placement tray 73. The needle insertion mechanism 9 includes multiple vertical push rods 91, each with a stylus 92 mounted on its retractable end. The stylus 92 is located above the cleaning box 81, and each stylus 92 corresponds to the top of each placement tray 73. In conjunction with the longitudinal push rod 76 and drive shaft 74, the stylus 92 is inserted into different locations of the concrete within the test tube 3.

[0019] The upper side of the housing 1 is mounted with a vertical pole 10, and the lid opening mechanism 5 and the angled water suction mechanism 6 are mounted on the vertical pole 10 from top to bottom. The lid opening mechanism 5 includes an upper fixing plate 51 fixed to the vertical pole 10 and a lid clamp 52 mounted on the upper fixing plate 51 for opening and closing. The angled water suction mechanism 6 includes a lower fixing plate 61 fixed to the vertical pole 10 and a water suction pipe head 62 locked to the lower fixing plate 61. The water suction pipe head 62 is connected to an external water suction pump via a water pipe. In conjunction with the clamping rotation of the rotary motor 411, the test tube 3 is tilted at a set angle to concentrate water secretion, and the water suction pipe head 62 fully contacts the inside of the test tube 3.

[0020] In a more specific embodiment, the fully automatic concrete setting time measuring device includes a multi-directional mobile manipulator 4 and a rotating gripper mechanism 41 for grasping and rotating the test tube 3, and is used in conjunction with a cover opening mechanism 5, an angled water absorption mechanism 6, a rotation mechanism 7, and a needle lowering mechanism 9. The stylus cleaning mechanism 8 and the suction and sweeping assembly 80 simultaneously clean the stylus 92 and the placement tray 73, greatly improving the working efficiency and use effect of the equipment. Specifically, the following steps are included: After the test tube 3 is opened, the test tube 3 is put into the test tube 3, and the nine test tubes 3 are arranged on the test tube placement rack 2, and the test tubes 3 do not affect each other. When the corresponding test tube 3 needs to be measured, the multi-directional mobile manipulator 4 is combined with the rotating clamping mechanism 41 to accurately grasp the test tube 3, and can stably rise, fall, move forward and backward smoothly according to the track to accurately reach the designated position; first, the test tube 3 is grasped and reached to the opening mechanism 5, so that the cover handle 32 on the tube cover 31 is clamped by the cover clamping claw 52, ​​and then the test tube 3 is moved down to separate from the tube cover 31 and placed on the tilting water suction mechanism 6, so that the water suction pipe head 62 is in the opened test tube 3, and at this time, the rotating motor 411 drives the tube clamping claw 412 to rotate, so that the test tube 3 is tilted at a fixed angle or a set angle, so that the concrete exudate is concentrated on one side of the water suction pipe head 62, and according to the established procedure, it is tilted for a specified time, and then the water suction pump automatically absorbs the concrete exudate through the water suction pipe head 62; After absorbing the exudate, the test tube 3 is grabbed and placed on one of the three placement plates 73 of the rotating mechanism 7. Then, the probe 92 of the needle-dropping mechanism 9 can automatically select the specifications of 100mm², 50mm² and 20mm². According to the established procedure, the probe is accurately and evenly penetrated into the mortar to a depth of 25±2mm in 10±2s. At the same time, the sensor records the force value when it is inserted into the mortar at a depth of 25±2mm in real time; and the force value is calculated by the electronic control system to prepare the probe selection for the next insertion; wherein, each placement plate 73 is synchronously rotated by the first transmission motor 75 and the transmission belt, so that the concrete mixture rotates with a fixed amplitude, and combined with the longitudinal push rod 76, each placement plate can be pushed longitudinally. 73 is displaced forward and backward, so that the stylus 92 can correspond to different positions of the concrete mixture in each test cylinder 3 in all directions, ensuring that the stylus will not penetrate into the position that has been tested during the test; and when one of the stylus 92 is in the process of measurement, the other stylus 92 can be simultaneously extended downward into the cleaning box 81 of the stylus cleaning mechanism 8 for cleaning, ensuring that the surface of the stylus 92 is clean and meets the requirements during each test. The cleaning box 81 of the stylus cleaning mechanism 8 can be moved back and forth along the transverse guide rail 83 under the drive of the second transmission motor 85 and the transverse belt 84, so that the test cylinder 3 that is normally tested can be avoided. Moreover, when the cleaning box 81 is moved back and forth, the bottom suction and sweeping assembly 80 is used to simultaneously elastically scrape and absorb the upper side of other placement plates 73 for cleaning; Specifically, the middle baffle 8031 ​​divides the lumen of the rubber suction and sweeping tube 803 into two left and right channels. Therefore, when the suction and sweeping assembly 80 is moved left and right for cleaning, the middle baffle 8031 ​​at the bottom of the rubber suction and sweeping tube 803 can hang on the upper side of the placement tray 73 and concentrate it in the left and right channels. Then, the dust pump 802 is used to absorb the concentrated dust particles respectively. At the same time, inclined surfaces 8032 are provided on the left and right sides of the bottom of the rubber suction and sweeping tube 803. When the rubber suction and sweeping tube 803 scrapes and contacts the placement tray 73, it tilts. Therefore, the inclined surfaces 8032 can greatly adapt to the upper side of the placement tray 73, and can also be reserved. A certain space allows dust particles to enter the channel and be sucked away, and the rotation of the placement plate 73 itself can improve the cleaning range and cleaning effect of the placement plate 73. That is to say, when measuring concrete, the other measuring needles can be cleaned synchronously. When cleaning the measuring needle 92, the cleaning box 81 can be synchronously displaced left and right within a certain range, and the suction and sweeping component 80 can synchronously clean the upper surface of the other placement plate 73, which greatly improves the use effect and cleaning effect of the equipment. The test cylinder 3 after the measurement is clamped by the multi-directional mobile manipulator 4 on the original path and placed back on the test cylinder placement rack 2, and the measurement of the next test cylinder 3 is carried out.

[0021] It should be noted that the fully automatic concrete setting time measuring device with a manipulator of the present invention mainly improves the above-mentioned structure. The functions, components and structures not mentioned therein can be implemented by using components and structures in the prior art that can realize the corresponding functions. For example, the multi-directional mobile manipulator can be used by using a manipulator in the prior art that can move up and down, forward and backward, left and right.

[0022] The above embodiments show and describe the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A fully automatic concrete setting time measuring device with a manipulator, comprising a body, a test tube, and an electric control system installed on the front side of the body to control various electrical accessories, characterized in that: The upper side of the machine body is provided with a test tube placement rack for arranging and placing multiple test tubes, a multi-directional movable manipulator for grabbing the test tubes and moving them forward, backward, upward, downward, left and right, a cover opening mechanism for opening the test tubes, an angled water absorption mechanism for absorbing water seeping from the inside of the test tubes, a rotating mechanism for placing the uncovered test tubes, and a needle insertion mechanism provided above the rotating mechanism for inserting a needle into the test tubes to measure the setting time of concrete; A stylus cleaning mechanism is movably provided between the rotating mechanism and the needle lowering mechanism. The stylus cleaning mechanism includes a cleaning box, which is movable left and right and located between the rotating mechanism and the needle lowering mechanism. A suction and sweeping assembly is provided at the bottom of the cleaning box for synchronously cleaning the upper side of the rotating mechanism. The suction and sweeping assembly includes an array of pipes installed at the bottom of the cleaning box, and each of the pipes is connected to each other. The pipes are connected to a dust suction pump through an air pipe. The dust suction pump is installed on one side of the cleaning box. A dust filter box is installed on one side of the cleaning box, and the dust filter box is connected to the dust outlet end of the dust suction pump. The bottom of the arrangement pipe is fixed and connected with multiple rubber suction and sweeping pipe fittings, which are in elastic contact with the upper side of the rotating mechanism, and a middle baffle is provided in the longitudinal direction of the rubber suction and sweeping pipe lumen to divide the lumen into two left and right channels, and inclined surfaces are provided on the left and right sides of the bottom of the rubber suction and sweeping pipe fitting. When the cleaning box moves left and right, the inclined surfaces of the rubber suction and sweeping pipe fittings are synchronously driven to adaptively contact the upper surface of the rotating mechanism, and the dust is synchronously scraped left and right at the middle baffle, and negative pressure dust collection is performed through the two separated left and right channels.

2. The fully automatic concrete setting time measuring device with a manipulator according to claim 1, characterized in that: The stylus cleaning mechanism also includes a fixed frame installed on the machine body, the fixed frame is equipped with a transverse guide rail and a transverse belt rotatably connected by a rotating shaft, wherein the fixed frame is equipped with a second transmission motor for driving one of the rotating shafts of the transverse belt to rotate, and a slider linearly sliding with the transverse guide rail is installed on one side of the cleaning box, and one side of the cleaning box is locked with the transverse belt.

3. The fully automatic concrete setting time measuring device with a manipulator according to claim 2, characterized in that: The rotating mechanism includes a movable frame, a longitudinal guide rail and a longitudinal push rod installed on the upper side of the machine body. The bottom of the movable frame is slidably connected to the longitudinal guide rail, and one side of the movable frame is locked and connected to the telescopic end of the longitudinal push rod. A plurality of transmission shafts are installed on the upper side of the movable frame for vertical rotation, and a placement plate is installed on the top of each transmission shaft, and the bottoms of the transmission shafts are linked to each other through a transmission belt. A first transmission motor is installed on the movable frame, and a transmission wheel is installed on the shaft end of the first transmission motor to be connected to the transmission belt of one of the transmission shafts.

4. The fully automatic concrete setting time measuring device with a manipulator according to claim 3, characterized in that: The cleaning box is movable left and right and is located above each placement tray, and is in elastic contact with the upper side of the placement tray through a rubber suction and sweeping pipe. When the placement tray rotates, the rubber suction and sweeping pipe scrapes and absorbs dust elastically left and right to clean the upper side of the placement tray in all directions.

5. The fully automatic concrete setting time measuring device with a manipulator according to claim 4, characterized in that: The needle lowering mechanism includes multiple vertical push rods, and a measuring needle is installed at the telescopic end of each vertical push rod. The measuring needle is located above the cleaning box. Each measuring needle is correspondingly placed above each placement plate. In conjunction with the use of the longitudinal push rod and the transmission shaft, the measuring needle is inserted into different positions of the concrete in the test cylinder.

6. The fully automatic concrete setting time measuring device with a manipulator according to claim 5, characterized in that: The upper cover of the test tube is provided with a tube cover, and a cover handle is installed on the top of the tube cover. The test tube placement rack is arranged with multiple test tubes in layers, and each test tube corresponds to one side of the multi-directional mobile manipulator. The wall end of the multi-directional mobile manipulator is equipped with a rotating clamping claw mechanism for clamping and rotating the test tube. The rotating clamping claw mechanism includes a rotating motor installed on the wall end of the multi-directional mobile manipulator, and the rotating shaft of the rotating motor is equipped with a tube clamp that can open and close to clamp the test tube.

7. The fully automatic concrete setting time measuring device with a manipulator according to claim 6, characterized in that: A vertical pole is installed on the upper side of the machine body, and the cover opening mechanism and the tilt water absorption mechanism are installed on the vertical pole from top to bottom. The cover opening mechanism includes an upper fixing plate fixed on the vertical pole and a cover clamp installed on the upper fixing plate for opening and closing.

8. The fully automatic concrete setting time measuring device with a manipulator according to claim 7, characterized in that: The angled water suction mechanism includes a lower fixed plate fixed on the vertical pole and a water suction pipe head locked on the lower fixed plate. The water suction pipe head is connected to an external water suction pump through a water pipe, and cooperates with the clamping rotation of the rotary motor to tilt the test tube to a set angle to concentrate water secretion, and fully contact the inner side of the test tube through the water suction pipe head.

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