Cementitious material precision placement and consolidation robot

Abstract

The application discloses a cementitious material precise distribution and compacting operation robot, which comprises a main body, a walking device, a pipe frame, a distribution pipe, a winding and unwinding mechanism and a vibrator. The walking device is arranged in the main body to drive the whole cementitious material precise distribution and compacting operation robot to move. The pipe frame is fixed to the main body. The distribution pipe is installed on the pipe frame and extends downward. The winding and unwinding mechanism is arranged on the pipe frame and controls the distribution pipe to be wound or unwound relative to the pipe frame. The vibrator is fixed to the distribution pipe to drive the distribution pipe to vibrate. A feeding interface is further arranged on the base. The cementitious material precise distribution and compacting operation robot is further provided with a feeding channel which is communicated between the feeding interface and the distribution pipe. The robot can improve the cementitious material combination compactness by changing the pouring mode and vibrating while pouring, and is favorable for guaranteeing the quality of wall members. Meanwhile, the robot can automatically complete wall pouring and forming, improves operation automation and liberates manpower, and is suitable for popularization in the building industry.

Description

Technical Field

[0001] The present invention relates to the technical field of automated construction equipment, and in particular to a robot for precise distribution and compaction of cementitious materials. Background Art

[0002] During the construction of low-rise buildings, such as residential self-built houses, walls are typically formed by first constructing formwork and then pouring cementitious materials. The formwork consists of inner and outer formwork, which are fixed relative to each other to form a mold cavity. The cementitious material is primarily concrete. Once the concrete in the mold cavity solidifies, the formwork is removed to complete the basic shaping of the wall.

[0003] In the current construction method, concrete is pumped to the elevated construction site by a ground-based pump truck. Construction workers then drag the pump hose over the target mold cavity, pouring the concrete directly from the top to the bottom. However, this pouring method, where the material falls from a high point to the bottom and accumulates, has drawbacks such as uneven material distribution and insufficient compaction, resulting in poor quality of the finished wall components.

[0004] For horizontal components like floor slabs, after pouring concrete, construction workers insert vibrators into the concrete to vibrate it. This is to remove air bubbles, compact the concrete, prevent honeycombing, and ensure component quality. However, for vertical components like walls, vibrating is more difficult due to thickness and height limitations.

[0005] In addition, the pump pipe itself will generate a certain amount of vibration when pumping out concrete, and workers need to use a lot of force to keep the pump pipe in place. The vibrator is also in a vibrating state while working, which requires a high level of physical strength from the workers and makes the construction labor-intensive.

[0006] In order to solve the above problems, it is necessary to provide a robot that can automatically complete the fabric and ensure that the materials are tightly combined. Summary of the Invention

[0007] The object of the present invention is to provide a robot that can automatically finish the fabric and ensure that the materials are tightly combined.

[0008] In order to achieve the above-mentioned objectives, the present invention provides a robot for precise distribution and compaction of cementitious materials, comprising a main body, a walking device, a pipe rack, a distribution pipe, a retractable mechanism and a vibrator. The walking device is arranged in the main body to drive the entire robot for precise distribution and compaction of cementitious materials to move. The pipe rack is fixed on the main body. The distribution pipe is installed on the pipe rack and extends downward. The retractable mechanism is arranged on the pipe rack and controls the distribution pipe to be retracted or lowered relative to the pipe rack. The vibrator is fixed on the distribution pipe to drive the distribution pipe to vibrate. A feeding interface is also provided on the base. The robot for precise distribution and compaction of cementitious materials is also provided with a feeding channel connected between the feeding interface and the distribution pipe.

[0009] The walking device provided in the main body of the robot drives the robot to move to the working position so that the distribution pipe is located above the mold cavity. The retracting mechanism places the distribution pipe into the mold cavity and starts pouring from the bottom of the mold cavity. After the bottom of the mold cavity is filled with the distribution pipe, the retracting mechanism gradually drives the distribution pipe to rise to achieve a bottom-up pouring method. This method can avoid the problem of uneven material distribution caused by direct pouring from a high place. In addition, the distribution pipe of the robot is provided with a vibrator. During the pouring process, the vibrator drives the distribution pipe to vibrate continuously in the material, which can achieve a vibrating effect on the material. Compared with the existing technology, the robot of the present invention can improve the bonding tightness of the concrete material by changing the pouring method and vibrating while pouring, which is beneficial to ensuring the quality of the wall components. At the same time, the robot can automatically complete the wall casting and molding, improve the automation of the operation and free up manpower, and is suitable for large-scale promotion in the construction industry.

[0010] Preferably, the main body includes a base and a lifting device arranged on the base, the walking device is arranged in the base, the pipe rack is arranged on the lifting device and is driven to rise or fall by the lifting device, and the main body is also provided with a power system that drives the fabric pipe to move axially along the pipe rack.

[0011] Specifically, the walking device includes wheels provided at the bottom of the base and a driving device built into the base for driving the wheels to rotate.

[0012] Specifically, it also includes two balancing devices arranged at both ends of the base, and the balancing device includes a horizontal foot that can be horizontally extended relative to the base and a supporting foot that is arranged under the horizontal foot and can be extended up and down to support the ground.

[0013] Specifically, the lifting device is rotatably arranged on the base around a vertical axis to drive the pipe rack thereon to swing.

[0014] Specifically, the pipe rack is a cantilever structure with one end fixed to the lifting device and extending to one side of the pipe rack, and two ends of a support rod are respectively connected to the lifting device and the pipe rack.

[0015] More specifically, the pipe rack includes a fixed section fixed to the lifting device and a movable section connected to the fixed section and capable of sliding and retracting relative to the fixed section, and the fabric pipe is mounted on the movable section.

[0016] Preferably, the pipe rack is provided with a carrying trolley which can slide horizontally along the pipe rack, and the fabric pipe is installed on the carrying trolley.

[0017] Preferably, the vibrator comprises a plurality of arc-shaped vibrating units pivotally connected in sequence, a vibrating element is provided in the vibrating unit, and the head and tail vibrating units are combined and fixed so that the vibrator embraces the outer periphery of the fabric pipe.

[0018] Specifically, the vibrator includes four vibrating units, and the pivot joints of the two middle vibrating units are detachable structures. After the pivot joints are disassembled, the two connected vibrating units can be folded and fixed into a small vibrator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a side view of the robot for precise distribution and compaction of cementitious materials according to the present invention.

[0020] Figure 2 It is a front view of the robot for precise distribution and compaction of cementitious materials according to the present invention.

[0021] Figure 3 This is a diagram of the vibrator when it is turned on.

[0022] Figure 4 This is a schematic diagram of the vibrator's state when it is engaged with the fabric pipe.

[0023] Figure 5 This is a schematic diagram of the vibrator when it is retracted and locked.

[0024] Figure 6 2 is a side view of a robot for precise distribution and compaction of cementitious materials according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0025] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0026] like Figure 1 、 Figure 2As shown, the present invention provides a robot for precise cementitious material distribution and compaction (hereinafter referred to as the robot), which can automatically complete wall forming operations by pouring cementitious material into the mold cavity between two formworks at construction sites. The robot comprises a main body, a walking device 2, two balancing devices 3, a pipe rack 5, a distribution pipe 6, a retractable mechanism, and a vibrator 7. The main body is the primary load-bearing component of the robot and comprises a base 1 and a lifting device 4 mounted on the base 1.

[0027] The traveling device 2 is installed within the base 1 to drive the entire robot for precise cementitious material distribution and compaction. The traveling device 2 comprises wheels 21 located at the bottom of the base 1 and a drive mechanism built into the base 1 to rotate the wheels 21. The drive mechanism includes a motor, gearbox, and other commonly used torque-generating devices. The base 1 has a square structure, with four wheels 21 located at its four corners. For other shapes, the number of wheels 21 is adjusted accordingly, ensuring a uniform arrangement for smooth robot movement. The traveling device 2 is not limited to being driven by wheels 21; it can also be a track-mounted structure on both sides of the base 1.

[0028] The two balancing devices 3 are respectively arranged at both ends of the base 1. The balancing device 3 includes a horizontal foot 31 that can be horizontally extended and retracted relative to the base 1, and a supporting foot 32 that is arranged under the horizontal foot 31 and can be extended and retracted up and down to support the ground. The horizontal foot 31 can be connected to the base 1 through a mechanism such as a gear rack set with a horizontal drive function, so as to achieve sliding in the horizontal direction. It can also be a structure with its own retractable function. The supporting foot 32 is a retractable structure driven by a cylinder or a hydraulic cylinder. During the movement of the robot, the supporting foot 32 retracts upward and the horizontal foot 31 retracts inward close to the base 1 to reduce the volume of the bottom of the robot and facilitate the movement of the robot. When the robot moves into position, the horizontal foot 31 extends and the supporting foot 32 moves down to support the ground, thereby fixing the position of the robot and ensuring the stability of the robot during operation.

[0029] The lifting device 4 is vertically mounted on the base 1, specifically, rotatably mounted on the base 1 so that the lifting device 4 can rotate on the base 1 around the vertical axis at its center. A drive and transmission mechanism must be provided between the base 1 and the lifting device 4 to drive the rotation of the lifting device 4. For example, a large horizontal gear can be fixed to the bottom of the lifting device 4, and a plurality of small gears meshing with the large gear and a power device such as a motor driving the small gears can be provided in the base 1, thereby driving the lifting device 4 to rotate on the base 1. The lifting device 4 includes a lower column 41 connected to the base 1, an upper column 42 slidably mounted on the lower column 41, and a drive mechanism disposed between the upper column 42 and the lower column 41 to drive the upper column 42. The lower column 41 is designed as a hydraulic cylinder, and the drive mechanism is a hydraulic system that uses hydraulic power to push the upper column 42 up or down relative to the lower column 41.

[0030] The pipe rack 5 is fixed to the lifting device 4 and is driven by the lifting device 4 to move up and down. When the lifting device 4 rotates, the pipe rack 5 is also driven to swing. The pipe rack 5 includes a fixed section 51 fixed to the upper column 42 and a movable section 52 connected to the fixed section 51 and capable of sliding and telescoping relative to the fixed section 51. The reciprocating movement of the movable section 52 can also be achieved between the fixed section 51 and the movable section 52 via a hydraulic system. The fixed section 51 is fixed to the upper column 42 at one end and extends as a whole to one side of the lifting device 4. Therefore, the entire pipe rack 5 has a cantilever structure, which allows the base 1 of the robot to be as far away from the pouring operation space as possible to avoid colliding with the formwork. To enhance the stability of the pipe rack 5, a support rod 55 is also provided. The lower end of the support rod 55 is pivotally connected to the lower column 41, and the upper end is pivotally connected to the fixed section 51 of the pipe rack 5. The support rod 55 itself is also a telescopic structure to support the lifting of the lifting device 4.

[0031] The fabric pipe 6 is mounted on the movable section 52 of the pipe rack 5. Specifically, a trolley 58 is mounted on the movable section 52, which slides horizontally along the movable section 52. The fabric pipe 6 is secured to the trolley 58. The trolley 58 can be powered and move along guide rails provided on the movable section 52. Alternatively, a cable or other similar device can be provided on the movable section 52 to pull the trolley 58. The fabric pipe 6 is mounted on the trolley 58 and extends downward, with its opening facing downward. A retractable mechanism is mounted on the pipe rack 5 and controls the retraction and lowering of the fabric pipe 6 relative to the pipe rack 5. Specifically, the retractable mechanism can be located within the trolley 58. When the fabric tube 6 is a non-retractable tube, the retracting mechanism can be a roller, and the fabric tube 6 is wound around the roller. The length of the fabric tube 6 that sags relative to the pipe rack 5 can be adjusted by rotating the roller; when the fabric tube 6 is a retractable tube (such as a corrugated tube), the retracting mechanism may include a plurality of traction lines and a take-up wheel. The traction line is fixed to the end of the fabric tube 6. The fabric tube 6 can be pulled up by winding the traction line through the take-up wheel, and the fabric tube 6 can be lowered by releasing the traction line.

[0032] The vibrator 7 is fixed on the distribution pipe 6 to drive the distribution pipe 6 to vibrate. The position where the vibrator 7 is fixed is close to the opening at the end of the distribution pipe 6.

[0033] The structure of vibrator 7 is shown in FIG. Figure 3 、 Figure 4, which includes a plurality of arc-shaped vibrating units 71 pivoted in sequence, and a vibrating element is provided in the vibrating unit 71. The ends of the two vibrating units 71 at the head and tail are provided with a first joint portion 72 and a second joint portion 73 that match each other in structure. In this embodiment, the number of vibrating units 71 is four, and the four vibrating units 71 form a circle around the circumference of the fabric pipe 6. The first joint portion 72 and the second joint portion 73 on the two end vibrating units 71 are docked and fixed, so that the vibrator 7 can be fixed on the fabric pipe 6. When the vibrator 7 vibrates, it can drive the fabric pipe 6 to vibrate. The vibrating element in the vibrating unit 71 is commonly used in existing vibrators 7. For example, it can be a rotating shaft with an eccentric mass. When it rotates, the centrifugal force causes the vibrating unit 71 to vibrate. The pivot joint 75 between the two middle vibrating units 71 of the vibrator 7 is a detachable structure. After the pivot joint 75 is disassembled, the two connected vibrating units 71 can be folded and fixed into a small vibrator 70, such as Figure 5 As shown, the small vibrator 70 can be handheld and vibrated independently of the material distribution pipe 6, making the operation more flexible. The two vibrating units 71 located in the middle can be provided with a connection structure corresponding to the first connection portion 72 and the second connection portion 73 near the pivot joint 75 to enable the small vibrator 70 to be maintained in the retracted state.

[0034] One of the first and second coupling portions 72 and 73 can be a buckle, and the other a hook. The hook engages the buckle to secure the two, and the hook can be moved to separate them. The movement can be performed manually or electrically. The first and second coupling portions 72 and 73 can also have other structures that facilitate mutual attachment and detachment, such as structures that rely on electromagnetic attraction, but this is not limited to this.

[0035] Preferably, a density detector can be fixed on the fabric tube 6 for detecting the material bonding density in real time during the fabrication process. The density detector uses infrared or ultrasonic detection, which is an existing technology and will not be introduced in detail.

[0036] The base 1 is also provided with a feed port 15, and the robot is provided with a feed channel 8 connecting the feed port 15 and the distribution pipe 6. A pump tube for pumping the cementitious material is connected to the feed port 15, and the material is delivered to the distribution pipe 6 through the feed channel 8. The feed channel 8 can be a cavity formed within the base 1, the lifting device 4, and the pipe rack 5, or a pipe arranged on the outside of the base 1, the lifting device 4, and the pipe rack 5. Furthermore, a metering device 18 is provided on the feed channel 8 near the feed port 15 to calculate the amount of cementitious material input into the feed channel 8, that is, the amount of distribution material output from the distribution pipe 6. This metering device 18 can have a display screen for data display, or it can transmit the data to a remote device for display via wired or wireless means.

[0037] Reference Figure 2 Three distribution pipes 6 are spaced apart on the pipe rack 5, and a feeding channel 8 branches into three to feed material to each of the three distribution pipes 6. Each of the three distribution pipes 6 is equipped with a vibrator 7. By providing three distribution pipes 6, material can be poured over a larger area at the bottom of the mold cavity, reducing the number of lateral movements of the robot, which helps to shorten distribution time and improve efficiency.

[0038] Better, look back Figure 1 A first visual sensor 581 is also provided under the carrying trolley 58 for monitoring and sensing the corresponding position of the construction site during the operation to ensure that the operation proceeds normally.

[0039] The robot also includes a visual system for automatically finding the target position. The visual sensor 581 under the above-mentioned carrying trolley 58 is part of the visual system. During operation, the central control system of the robot issues a command, and after the visual system locates the target position, the walking device 2 drives the robot to approach the target position. The visual system also ensures that the robot can avoid obstacles on the path. After reaching the position, the balance system is deployed for support, and the lifting device 4 is lowered to place the fabric pipe 6 into the bottom of the mold cavity, and then the pouring operation begins. After the bottom pouring is completed and the fabric pipe 6 is buried, the lifting device 4 gradually raises the fabric pipe 6 while the pouring continues. During the pouring process, the fabric pipe 6 is continuously vibrated by the vibrator 7 to vibrate the material. Specifically, the visual system includes a first visual sensor 581 arranged under the carrying trolley 58 and a second visual sensor 45 arranged on the top of the lifting device 4.

[0040] As is known, a metering device 18 is installed on the feeding channel 8. Working in conjunction with the vision system, the robot can measure the capacity of the target mold cavity and monitor the pouring volume in real time to ensure that overflow does not occur. Furthermore, the calculation results of the metering device 18 can be used to generate feedback signals, thereby instructing the main control system to control the height of the distribution pipe 6.

[0041] Reference Figure 6 In another embodiment of the present invention, the pipe rack 5' is not a single-sided cantilever structure, but rather a boom structure with both ends extending beyond the lifting device 4. The pipe rack 5' is also no longer a telescopic structure. Slings 41 drawn down from the top of the lifting device 4 are secured to both ends of the pipe rack 5' to stabilize it. Furthermore, the feed channel in this embodiment is an externally mounted pipe 9, which is supported and guided by several fulcrums.

[0042] In the second embodiment, another feed port 15 is provided on the pipe rack 5 ′, so that more options are provided for feeding, or feeding can be performed simultaneously through the two feed ports 15 .

[0043] In addition, in this embodiment, a power system 90 (including a motor, a reducer, etc.) is provided at the inflection point of the pipeline 9, and a pipe chain device 59 connected to the carrying trolley 58 is provided in the pipe rack 5'. The control of the pipe chain device 59 by the power system 90 can assist the movement of the carrying trolley 58, thereby realizing the axial movement of the fabric pipe 6 on the pipe rack 5'.

[0044] This robot utilizes a bottom-up pouring method, avoiding the uneven material distribution that can occur when pouring directly from a height. By adapting the pouring method and simultaneously vibrating the concrete, the bond between the concrete and the wall components is improved, ensuring the quality of the wall components. Furthermore, this robot can automatically complete the wall pouring process, increasing automation and freeing up manpower, making it suitable for widespread adoption in the construction industry.

[0045] The above disclosure is merely a preferred embodiment of the present invention, which is intended to facilitate understanding and implementation by those skilled in the art. It certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. A robot for precise distribution and compaction of cementitious materials, characterized by: The invention comprises a main body, a walking device, a pipe rack, a distribution pipe, a retractable mechanism and a vibrator, wherein the walking device is arranged in the main body to drive the entire cementitious material precise distribution and compaction operation robot to move, the pipe rack is fixed on the main body, the distribution pipe is installed on the pipe rack and extends downward, the retractable mechanism is arranged on the pipe rack and controls the distribution pipe to be retracted or lowered relative to the pipe rack, the vibrator is fixed on the distribution pipe to drive the distribution pipe to vibrate, and a feeding interface is also provided on the base of the main body, and the cementitious material precise distribution and compaction operation robot is also provided with a feeding channel connected between the feeding interface and the distribution pipe; the vibrator comprises a pivot which is successively pivoted Several arc-shaped vibrating units are connected, each vibrating unit is provided with a vibrating element, and the ends of the two vibrating units at the head and tail are provided with a first joint part and a second joint part that are structurally matched; the first joint part and the second joint part of the two vibrating units at the head and tail are combined and fixed so that the vibrator is embraced on the outer periphery of the fabric pipe; the vibrator includes four vibrating units, and the pivot joints of the two middle vibrating units are detachable structures. The positions near the pivot joints of the two middle vibrating units are provided with a joint structure that can correspond to the first joint part and the second joint part, so that the two connected vibrating units can be folded and fixed into a small vibrator after the pivot joints are disassembled.

2. The robot for precise distribution and compaction of cementitious materials according to claim 1, characterized in that: The main body includes the base and a lifting device arranged on the base, the walking device is arranged in the base, the pipe rack is arranged on the lifting device and is driven to rise or fall by the lifting device, and the main body is also provided with a power system that drives the fabric pipe to move axially along the pipe rack.

3. The robot for precise distribution and compaction of cementitious materials according to claim 2, characterized in that: The walking device includes wheels arranged at the bottom of the base and a driving device built into the base for driving the wheels to rotate.

4. The robot for precise distribution and compaction of cementitious materials according to claim 2, characterized in that: It also includes two balancing devices arranged at both ends of the base, and the balancing device includes a horizontal foot that can be horizontally extended relative to the base and a supporting foot that is arranged under the horizontal foot and can be extended up and down to support the ground.

5. The robot for precise distribution and compaction of cementitious materials according to claim 2, characterized in that: The lifting device is rotatably arranged on the base around a vertical axis to drive the pipe rack thereon to swing.

6. The robot for precise distribution and compaction of cementitious materials according to claim 2, characterized in that: The pipe rack is a cantilever structure with one end fixed to the lifting device and extending to one side of the pipe rack, and two ends of a support rod are respectively connected to the lifting device and the pipe rack.

7. The robot for precise distribution and compaction of cementitious materials according to claim 6, characterized in that: The pipe rack includes a fixed section fixed to the lifting device and a movable section connected to the fixed section and capable of sliding and retracting relative to the fixed section. The material distribution pipe is installed on the movable section.

8. The robot for precise distribution and compaction of cementitious materials according to claim 1, characterized in that: The pipe rack is provided with a carrying trolley which can slide horizontally along the pipe rack, and the fabric pipe is installed on the carrying trolley.

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