Automatic steering device

Abstract

The present invention provides an automatic steering device, which includes an end and a neck, a driving mechanism and a control unit are arranged in the end, a bendable outer wall is arranged in the neck, at least two telescopic adjustment devices are arranged symmetrically along the axis of the neck, the telescopic adjustment device extends along the two ends of the neck axis, one end of the telescopic adjustment device is connected to the output end of the driving mechanism, and the other end is connected to the end of the bendable outer wall away from the end, the driving mechanism is controlled to rotate by the control unit, and the driving mechanism drives the two opposing telescopic adjustment devices to perform opposite telescopic movements, so that the neck of the guide head is bent, the direction of the end of the guide head is changed, and the automatic steering of the guide head is realized. The device can automatically penetrate the steel bar positioning mesh with a bending line, so that the rubber rod can smoothly penetrate the steel bar positioning mesh with different bending forms, avoid the problem that the rubber rod cannot be turned and is easily stuck when piercing, reduce the intensity of manual work, and effectively improve the construction progress.

Description

Technical Field

[0001] The invention relates to the technical field of prefabricated beam channel construction, in particular to an automatic steering device for pulling out a rubber rod used for forming a prefabricated beam channel. Background Art

[0002] During the construction of prestressed concrete simply supported beams, after the steel cage is tied and formed, rubber rods need to be installed at designated locations according to regulations to ensure that the rubber rods can be pulled out smoothly after the concrete is poured and formed to form a prestressed channel. During the construction process, since the rubber rods are cylindrical, and the aperture of the steel bar positioning net is only 4mm larger than the outer diameter of the rubber rods, the spacing is 50cm, and the head position has obvious edges and corners. When the rubber rods penetrate the steel bar positioning net, misalignment frequently occurs, and the rubber rods get stuck or even damage the positioning net steel bars, which affects the construction progress and reduces work efficiency.

[0003] In the prior art, a solution of setting a guide head at the end of the rubber rod is adopted to address the above-mentioned problem. A conical guide head is set at the end of the rubber rod, so that the rubber rod can be smoothly inserted into the steel bar positioning mesh. However, the steel bar positioning mesh of the prefabricated beam is not completely linear. The steel bar positioning mesh inside the beam body has a bent layout line. It is necessary to change the direction of the guide head to smoothly pass the rubber rod through the entire steel bar positioning mesh. Therefore, the guide head with a single structure is difficult to achieve the purpose of direction adjustment and difficult to meet actual needs. Summary of the invention

[0004] The present invention provides an automatic steering device, which is used to solve the defect in the prior art that the guide head has a single structure and cannot realize automatic steering, resulting in difficulty in passing through the steel bar positioning mesh of a curved route, and realizes automatic steering of the guide head and the purpose of quickly and efficiently passing through the steel bar positioning mesh.

[0005] The present invention provides an automatic steering device, comprising:

[0006] The end head is provided with a driving mechanism and a control unit for controlling the driving mechanism;

[0007] The neck comprises a flexible outer wall connected to the end, wherein the flexible outer wall is provided with at least two telescopic adjustment devices symmetrically arranged along the axis of the neck, and the telescopic adjustment devices extend along both ends of the axis of the neck, one end of which is connected to the output end of the drive mechanism, and the other end is connected to the end of the flexible outer wall away from the end.

[0008] According to the automatic steering device provided by the present invention, the telescopic adjustment device includes a connecting rod mechanism and a telescopic mechanism, one end of the telescopic mechanism is connected to the output shaft of the driving mechanism through the connecting rod mechanism, and the other end of the telescopic mechanism is connected to the connecting block on the inner side of the flexible outer wall.

[0009] According to the automatic steering device provided by the present invention, the telescopic mechanism includes a threaded sleeve and a screw arranged in the threaded sleeve, the connecting rod mechanism includes a connecting rod and universal joints arranged at both ends of the connecting rod, and the two universal joints are connected to the output shaft of the drive mechanism and the screw in a one-to-one correspondence.

[0010] According to the automatic steering device provided by the present invention, a central column is provided on the axis of the neck, and a ball cage universal joint is provided between the central column and the end head.

[0011] According to the automatic steering device provided by the present invention, the telescopic adjustment device also includes a first supporting mechanism and a second supporting mechanism, one end of the first supporting mechanism is connected to the connecting rod, and the other end is connected to the center column, and one end of the second supporting mechanism is connected to the threaded sleeve, and the other end is connected to the center column.

[0012] According to the automatic steering device provided by the present invention, the first supporting mechanism and the second supporting mechanism are both telescopic arms, the telescopic arms are rotatably connected to the central column, and the second supporting mechanism is movably connected to the connecting rod via a sleeve.

[0013] According to the automatic steering device provided by the present invention, four telescopic adjustment devices and four driving mechanisms are provided, and the four telescopic adjustment devices and the four driving mechanisms are evenly arranged along the circumference of the neck.

[0014] According to the automatic steering device provided by the present invention, the bendable outer wall includes a plurality of ring structures sequentially connected along the axis direction of the neck.

[0015] According to the automatic steering device provided by the present invention, the buckle structure has a buckle and a slot, two adjacent buckle structures are connected by the buckle and the slot, and the buckle is movably arranged in the slot along the arrangement direction of the buckle structures.

[0016] The automatic steering device provided according to the present invention further includes a control terminal, which is remotely connected to the control unit.

[0017] The automatic steering device provided by the present invention is provided with a driving mechanism and a control unit in the end of the guide head, and a flexible outer wall is provided in the neck, and at least two telescopic adjustment devices are arranged symmetrically along the axis of the neck in the flexible outer wall, and the telescopic adjustment devices extend along the two ends of the neck axis, one end of which is connected to the output end of the driving mechanism, and the other end is connected to the end of the flexible outer wall away from the end, and the control unit controls the rotation of the driving mechanism, and the driving mechanism drives the two opposing telescopic adjustment devices to perform opposite telescopic movements, so that the neck of the guide head is bent, the direction of the end of the guide head is changed, and the automatic steering of the guide head is realized. The device can automatically penetrate the steel bar positioning mesh with a bending line, so that the rubber rod can smoothly penetrate the steel bar positioning mesh with different bending forms, avoid the problem that the rubber rod cannot be turned and is easily stuck when piercing, reduce the intensity of manual work, and effectively improve the construction progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of the automatic steering device provided by the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the automatic steering device provided by the present invention in a bent state;

[0021] Figure 3 yes Figure 1 Enlarged view of part A in the middle;

[0022] Figure 4 yes Figure 1 Enlarged view of middle part B;

[0023] Figure 5 yes Figure 1 Schematic diagram of the CC section;

[0024] Figure 6 This is an appearance diagram of the automatic steering device provided by the present invention;

[0025] Reference numerals:

[0026] 1: end; 11: inner cavity; 12: driving motor;

[0027] 121: output shaft; 13: control unit; 14: battery;

[0028] 2: Neck; 21: Ring buckle structure; 211: Buckle;

[0029] 212: slot; 3: connecting rod mechanism; 31: connecting rod;

[0030] 32: Universal joint; 4: Telescopic mechanism; 41: Screw;

[0031] 42: threaded sleeve; 43: connecting block; 5: first supporting mechanism;

[0032] 51: first telescopic arm; 52: sleeve; 6: second supporting mechanism;

[0033] 61: second telescopic arm; 7: ball cage universal joint; 8: center column;

[0034] 9: Rubber rod. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] An embodiment of the present invention provides an automatic steering device, which includes a guide head body. Figure 1 and Figure 2 As shown, the guide head has a tip 1 and a neck 2. The tip 1 is conical, and an inner cavity 11 is provided inside the tip 1. A driving mechanism and a control unit 13 for controlling the driving mechanism are provided inside the inner cavity 11, wherein the driving mechanism is a driving motor 12, and the driving motor 12 has an output shaft 121, and the output shaft 121 passes through the tip 1 and extends into the neck 2.

[0037] The neck 2 of the guide head is connected to the end 1, and the neck 2 has a bendable outer wall connected to the end 1. The bendable outer wall is tubular and can be bent freely to change direction. Figure 4 As shown, the bendable outer wall is composed of a plurality of ring buckle structures 21 connected in sequence along the axis direction of the neck. The ring buckle structure 21 is in a circular ring shape, and has a buckle 211 and a slot 212. Two adjacent ring buckle structures 21 are connected by the buckle 211 and the slot 212, that is, the buckle 211 of the first ring buckle structure 21 extends into the slot 212 of the second ring buckle structure 21, and the buckle 211 of the second ring buckle structure 21 extends into the slot 212 of the third ring buckle structure 21, and they are connected in sequence to form a tubular bendable outer wall.

[0038] It is worth mentioning that the slot 212 of the buckle structure 21 is larger than the buckle 211, and the slot 212 can lock the buckle 211 in the slot 212, so that the buckle 211 will not be separated from the slot 212. In this way, the buckle 211 is movably arranged in the slot 212 along the arrangement direction of the buckle structure 21, and the relative movement of two adjacent buckle structures 21 is realized, thereby ensuring that the bendable outer wall can bend, so that the guide head can turn.

[0039] In this embodiment, at least two telescopic adjustment devices are arranged symmetrically along the axis of the neck 2 in the neck 2. The telescopic adjustment devices extend along the axis of the neck 2 at both ends, one end of which is connected to the output shaft 121, and the other end is connected to the end of the bendable outer wall away from the end 1. Therefore, the number of driving motors 12 corresponds to the number of telescopic adjustment devices, and at least two driving motors 12 are arranged one by one with the telescopic adjustment devices. The telescopic adjustment devices are arranged symmetrically along the axis of the neck 2. The telescopic adjustment devices are driven to extend and retract by the driving motors 12. The two symmetrical driving motors 12 along the axis of the neck 2 operate in opposite directions, so that one of the two symmetrical telescopic adjustment devices is extended and the other is contracted, thereby generating opposite forces on both sides of the neck 2, so that the bendable outer wall is bent.

[0040] Specifically, Figure 1 and Figure 2 As shown, the telescopic adjustment device includes a connecting rod mechanism 3 and a telescopic mechanism 4, and also includes a first supporting mechanism 5 supporting the connecting rod mechanism 3 and a second supporting mechanism 6 supporting the telescopic mechanism 4. The telescopic mechanism 4 is vertically arranged in the neck 2. One end of the telescopic mechanism 4 is connected to the output shaft 121 through the connecting rod mechanism 3, and the other end of the telescopic mechanism 4 is connected to the end of the bendable outer wall away from the end 1.

[0041] like Figure 2 and Figure 3 As shown, the telescopic mechanism 4 includes a screw rod 41 and a threaded sleeve 42, the screw rod 41 is arranged in the threaded sleeve 42 and is threadedly connected with the threaded sleeve 42, one end of the threaded sleeve 42 away from the screw rod 41 is connected to the connecting block 43 on the inner side of the bendable outer wall, and the threaded sleeve 42 and the connecting block 43 are rotatably connected through a hinge. The connecting rod mechanism 3 includes a connecting rod 31, and universal joints 32 are respectively provided at both ends of the connecting rod 31. One end of the connecting rod 31 is connected to the output shaft 121 through the universal joint 32, and the other end of the connecting rod 31 is connected to the screw rod 41 through the universal joint 32. In this way, through the rotation of the driving motor 12, the output shaft 121 drives the connecting rod 31 to rotate, the connecting rod 31 drives the screw rod 41 to rotate, and the screw rod 41 rotates in the threaded sleeve 42, so that the screw rod 41 produces telescopic movement along the axial direction of the neck 2, thereby realizing the telescopic adjustment device. One of the two opposing telescopic adjustment devices is extended and the other is contracted, so that the bendable outer wall is bent.

[0042] Furthermore, a center column 8 is provided on the axis of the neck 2, and a ball cage universal joint 7 is provided between the center column 8 and the end head 1. Of course, the ball cage universal joint 7 can also be replaced by an easily bendable structure such as a rubber stick, which can follow the bending when the neck 2 bends and play a certain connecting and supporting role.

[0043] In this embodiment, the first support mechanism 5 has a first telescopic arm 51, one end of which is rotatably connected to the central column 8 through a hinge, and the other end is movably connected to the connecting rod 31. Specifically, since the connecting rod 31 is in a rotating state during operation, a sleeve 52 is provided at the end of the first telescopic arm 51, and the sleeve 52 is sleeved on the connecting rod 31, so that when the first telescopic arm 51 plays a supporting role, it will not affect the rotation of the connecting rod 31. At the same time, the sleeve 52 and the first telescopic arm 51 are also rotatably connected through a hinge. When the telescopic mechanism 4 is extended and retracted, the position of the connecting rod 31 changes. The sleeve 52 is rotatably connected to the first telescopic arm 51 to facilitate adjustment of the direction of the sleeve 52 to avoid affecting the activity of the connecting rod 31.

[0044] The second support mechanism 6 has a second support arm 61, one end of which is rotatably connected to the threaded sleeve 42, and the other end of which is hingedly connected to the central column 8. Since the telescopic mechanism 4 will also rotate to a certain extent during the telescopic activity, the second support mechanism 6 and the threaded sleeve 42 are rotatably connected. At the same time, the above-mentioned threaded sleeve 42 and the connecting block 43 are rotatably connected through a hinge, which also has the same function.

[0045] In this embodiment, in order to better achieve accurate steering of the guide head, the telescopic adjustment device and the drive motor 12 are each provided with four, such as Figure 5 As shown, the four telescopic adjustment devices and the drive motor 12 are evenly arranged along the circumference of the end 1 or the neck 2, and the four telescopic adjustment devices and the drive motor 12 are distributed in the four directions of the neck 2 and the end 1. At the same time, the four drive motors 12 are correspondingly configured with four batteries 14 and four control units 13. During operation, if the guide head is to be controlled to turn in a certain direction, the control unit 13 in the direction controls the drive motor 12 at the position to operate, and the output shaft 121 in the direction rotates, driving the telescopic adjustment device connected thereto to contract. At the same time, the control unit 13 on the opposite side of the direction controls the corresponding drive motor 12 to operate, and controls the telescopic adjustment device on the opposite side to extend. Therefore, the two sides of the inner axial direction of the neck 2 produce a movement of one side contracting and the other side stretching, and the corresponding contraction and stretching of the bendable outer walls on both sides make the neck 2 bend in the target direction, realizing the steering action of the guide head.

[0046] like Figure 6As shown, the tail of the neck 2 of the guide head is connected to the rubber rod 9. When working, the guide head is inserted into the steel bar positioning mesh, and the automatic steering of the guide head drives the rubber rod 9 to penetrate the steel bar positioning meshes of different curved lines to achieve fast operation. In this embodiment, the control unit 13 can be connected to an external control terminal, that is, the control unit 13 is connected through a remote control device to achieve remote control steering operation of the guide head, which is convenient for operating the guide head and achieving fast perforation operation.

[0047] The automatic steering device provided in the embodiment of the present invention drives two opposing telescopic adjustment devices to perform opposite telescopic movements through a driving motor 12, so that the neck 2 of the guide head is bent, and the direction of the guide head end 1 is changed, thereby realizing automatic steering of the guide head. The device can automatically penetrate the steel bar positioning mesh with a curved line, so that the rubber rod 9 can smoothly penetrate the steel bar positioning mesh with different curved forms, avoiding the problem that the rubber rod 9 cannot be turned and is easily stuck when penetrating, reducing the intensity of manual work, and effectively improving the construction progress.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic steering device, characterized in that: include: The end head is provided with a driving mechanism and a control unit for controlling the driving mechanism; A neck, comprising a bendable outer wall connected to the end, wherein the bendable outer wall is provided with at least two telescopic adjustment devices symmetrically arranged along the axis of the neck, and the telescopic adjustment devices extend along the axis of the neck at both ends, one end of which is connected to the output end of the drive mechanism, and the other end is connected to an end of the bendable outer wall away from the end; The telescopic adjustment device comprises a connecting rod mechanism and a telescopic mechanism, one end of the telescopic mechanism is connected to the output shaft of the driving mechanism through the connecting rod mechanism, and the other end of the telescopic mechanism is connected to the connecting block on the inner side of the bendable outer wall; The telescopic mechanism includes a threaded sleeve and a screw rod disposed in the threaded sleeve, and the connecting rod mechanism includes a connecting rod and universal joints disposed at both ends of the connecting rod, and the two universal joints are connected to the output shaft of the driving mechanism and the screw rod in a one-to-one correspondence; A central column is provided on the axis of the neck, and a ball cage universal joint is provided between the central column and the end head; The telescopic adjustment device also includes a first supporting mechanism and a second supporting mechanism. The first supporting mechanism has a first telescopic arm, one end of which is rotatably connected to the central column via a hinge. The second supporting mechanism has a second supporting arm, one end of which is rotatably connected to the threaded sleeve, and the other end is connected to the central column via a hinge.

2. The automatic steering device according to claim 1, characterized in that: The first supporting mechanism and the second supporting mechanism are both telescopic arms, the telescopic arms are rotatably connected to the central column, and the second supporting mechanism is movably connected to the connecting rod through a sleeve.

3. The automatic steering device according to claim 1 or 2, characterized in that: The telescopic adjustment devices and the driving mechanisms are each provided with four, and the four telescopic adjustment devices and the driving mechanisms are evenly arranged along the circumference of the neck.

4. The automatic steering device according to claim 1, characterized in that: The bendable outer wall includes a plurality of ring structures sequentially connected along the axis direction of the neck.

5. The automatic steering device according to claim 4, characterized in that: The buckle structure has a buckle and a slot, two adjacent buckle structures are connected via the buckle and the slot, and the buckle is movably arranged in the slot along the arrangement direction of the buckle structures.

6. The automatic steering device according to claim 1, characterized in that: It also includes a control terminal, which is remotely connected to the control unit.

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