Structural column concrete pouring robot and structural column pouring method

Abstract

The present invention discloses a structural column concrete pouring robot and a structural column pouring method. Through robot construction, labor can be saved. The intelligent pouring and vibrating robot can perform uninterrupted construction and has high work efficiency. The construction efficiency is several times that of workers. The optimal construction data is found by measurement and input into a control device to ensure the construction quality. The present invention solves the problem that the traditional structural column pouring method has low efficiency and uneven quality of the structural column entity.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a structural column concrete pouring robot and a structural column pouring method. Background Art

[0002] The traditional construction method of structural columns is relatively backward. It mainly adopts manual pouring of concrete after the structural column formwork is set up. On the one hand, the traditional construction method is highly dependent on the workers' technical experience. On the other hand, the construction efficiency is low, resulting in uneven quality of the structural column entities.

[0003] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0004] In order to overcome the defects of the prior art, a structural column concrete pouring robot and a structural column pouring method are provided to solve the problems that the traditional structural column pouring method has low efficiency and uneven quality of the structural column entities.

[0005] In order to achieve the above object, a structural column concrete pouring robot is provided, comprising:

[0006] Electric movable platform, equipped with positioning device;

[0007] A storage box for accommodating concrete slurry is installed on the electric movable platform, the storage box is installed with a pouring pipe, the pouring pipe is installed with a delivery pump for pumping the concrete slurry, the slurry outlet of the pouring pipe is installed with a distance sensor for collecting the real-time distance from the slurry outlet to the concrete liquid level in the structural column template, and the pouring pipe is installed with an electronic flow meter;

[0008] The vibrating device comprises a containing box, the containing box is escalably mounted on the electric movable support platform through an electric lifter, a guide sleeve is connected to the outer side of the containing box, a knocking piece is elastically mounted in the guide sleeve, and an electromagnetic piece adsorbed on the knocking piece is installed in the containing box;

[0009] The control device comprises a control module, a dust calling module for generating a dust calling signal when the remaining amount of concrete slurry in the storage box is less than a preset storage threshold value, and a leakage detection module for generating a leakage signal when the actual slurry difference between the pumping amount of the concrete slurry and the pouring amount in the structural column template exceeds a preset tolerance value, wherein the control module is connected to the electric movable support platform, the positioning device, the delivery pump, the distance sensor and the electronic flow meter, and the dust calling module and the leakage detection module are respectively connected to the control module.

[0010] Furthermore, the graying module includes:

[0011] a first calculation unit for calculating the remaining amount based on the loading amount of the containing box and the pumping amount, connected to the control module;

[0012] The first determination unit for determining whether the remaining amount is less than the preset storage threshold and generating the graying signal when the remaining amount is less than the preset storage threshold is connected to the first calculation unit and the control module.

[0013] Furthermore, the leak detection module comprises:

[0014] A second calculation unit for calculating the pouring amount based on the liquid level and the size of the structural column, connected to the control module;

[0015] A third calculation unit for calculating the actual slurry difference based on the pumping volume and the pouring volume, connected to the second calculation unit;

[0016] The second determination unit for determining whether the actual slurry difference value exceeds the preset tolerance value and generating the slurry leakage signal when the actual slurry difference value exceeds the preset tolerance value is connected to the third calculation unit and the control module.

[0017] Furthermore, the control module is connected to a fourth calculation module for calculating the pumping volume based on the pumping flow rate and the pumping duration.

[0018] Furthermore, the electric movable platform is equipped with a detection device for detecting obstacles, and the detection device is connected to the control module.

[0019] Furthermore, the detection device is a detection radar.

[0020] Furthermore, it also includes a server, the server is wirelessly connected to the control module, and the server is connected to a display screen.

[0021] The present invention provides a structural column casting method using a structural column concrete casting robot, comprising the following steps:

[0022] Filling the storage box with concrete slurry, and inputting the first position information of the structural column template to be poured in the construction area into the control module of the control device;

[0023] The control module acquires second position information of the electric movable platform collected by the positioning device on the electric movable platform and forms a casting path based on the first position information;

[0024] The electrically movable support platform moves to one of the structural column modules based on the casting path, so that the slurry outlet of the casting pipe extends into the inner cavity aligned with the structural column template;

[0025] The control module starts the delivery pump to pump the concrete slurry in the storage box into the inner cavity of the structural column template through the slurry outlet, and the distance sensor at the slurry outlet collects the real-time distance from the slurry outlet to the concrete liquid level in the structural column template in real time;

[0026] The control module obtains the real-time distance. When the real-time distance reaches a distance threshold, the control module shuts down the delivery pump to move the electric movable bearing platform to the next structural column template. During the pouring of the structural column, the ash calling module generates a ash calling signal when the remaining amount of concrete slurry in the storage box is less than a preset storage threshold, and the leakage detection module generates a leakage signal when the actual slurry difference between the pumping amount of the concrete slurry and the pouring amount in the structural column template exceeds a preset tolerance value. The control module suspends the delivery pump after obtaining the ash calling signal, and the operator stops the delivery pump after obtaining the ash calling signal. After receiving the ash calling signal, the concrete slurry is added to the storage box. After obtaining the leakage signal, the operator performs equipment maintenance. When casting the same structural column, when the liquid level rises to a preset height, the control module pauses the delivery pump. The control module lifts the containing box through the electric lifter so that the knocking piece on the outside of the containing box fits against the outside of the structural column module below the liquid level. After the control module intermittently energizes the electromagnetic part, the knocking piece knocks the structural column template to vibrate and compact the concrete slurry on the inner side of the structural column template.

[0027] The beneficial effects of the present invention are that the structural column concrete pouring robot and the structural column pouring method of the present invention can save labor through robot construction, and the quality of intelligent pouring and vibration construction is stable. The robot can carry out uninterrupted construction and has high work efficiency. The construction efficiency is several times that of workers. The optimal construction data is found through measurement and entered into the control device to ensure the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0029] Figure 1 This is a front view of the structural column concrete pouring robot according to an embodiment of the present invention.

[0030] Figure 2 It is a schematic diagram of the front three-dimensional structure of the structural column concrete pouring robot according to an embodiment of the present invention.

[0031] Figure 3 It is a schematic diagram of the three-dimensional structure of the back side of the structural column concrete pouring robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0033] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] Reference Figures 1 to 3 As shown, the present invention provides a structural column concrete pouring robot, comprising: an electric movable base 1, a material storage box 2, a vibrating device 3 and a control device 4.

[0035] Among them, the electric movable support 1 is equipped with a positioning device. The electric movable support includes a support plate and an electric roller. A plurality of electric rollers are installed on the support plate. A power source is also installed on the support plate. The power source provides power to the electric roller, the material storage box, the vibrating device, the control device and other equipment. In some embodiments, the power source is a battery.

[0036] The storage box 2 is used to contain concrete slurry. The storage box 2 is installed on the electric movable support platform 1. In some embodiments, a stirring shaft is installed in the storage box. A motor is installed outside the storage box. The motor is connected to the stirring shaft. The stirring shaft can prevent the concrete slurry in the storage box from settling and stratifying, so that the concrete slurry is mixed evenly.

[0037] In this embodiment, the storage box 2 is equipped with a pouring pipe 21. The pouring pipe 21 is equipped with a delivery pump for pumping concrete slurry. The slurry outlet of the pouring pipe 21 is equipped with a distance sensor 22. The distance sensor 22 is used to collect the real-time distance from the slurry outlet to the concrete liquid level in the structural column template. Since the height of the slurry outlet is fixed, the actual height of the liquid level can be calculated by collecting the real-time distance.

[0038] An electronic flow meter is installed on the pouring pipe 21. The electronic flow meter can obtain the volume of the pumped concrete.

[0039] The vibrating device 3 includes a housing box 31, a guide sleeve, a knocking piece 32 and an electric lifter 33. The housing box 31 is installed on the electric movable support 1 in a liftable manner through the electric lifter 33. The outer side of the housing box 31 is connected to the guide sleeve. The knocking piece 32 is elastically installed in the guide sleeve. An electromagnetic part adsorbed on the knocking piece 32 is installed in the housing box 31.

[0040] In this embodiment, the electric lifter includes a plurality of guide rails and a lifting drive member vertically arranged on the storage box. The guide rails are provided with a vertically arranged slide groove. A plurality of sliders are connected to one side of the storage box. The plurality of sliders are slidably arranged in the slide groove of the guide rails one by one. The lifting drive member is installed in the slide groove and is used to drive the slider to move up and down in the slide groove.

[0041] An electromagnetic component is installed in the accommodating box. The striking component is a magnetic metal rod. One end of the magnetic metal rod is slidably disposed in the guide sleeve, and the other end of the magnetic metal rod extends to the outside of the guide sleeve. A support spring is connected between one end of the magnetic metal rod and the bottom of the guide sleeve. In this embodiment, the support spring is a coil spring. The magnetic metal rod can move along the axial direction of the guide sleeve. After the electromagnetic component is energized, the electromagnetic component generates magnetism to absorb the magnetic metal rod, and when the electromagnetic component is de-energized, due to the thrust of the support spring, the magnetic metal rod pops out toward the outside of the guide sleeve and then hits the outside of the structural column formwork, so that the concrete slurry on the inner side of the structural column formwork is vibrated and compacted.

[0042] In this embodiment, the width of the containing box is 150 mm and the height is 200 mm. The number of striking members is 12. The striking members are arranged in a matrix.

[0043] The control device 4 includes a control module, a dust removal module and a leak detection module. The control module is connected to the electric movable support platform 1, the positioning device, the delivery pump, the distance sensor 22 and the electronic flow meter. The dust removal module and the leak detection module are respectively connected to the control module.

[0044] The dust calling module generates a dust calling signal when the remaining amount of concrete slurry in the storage box 2 is less than a preset storage threshold.

[0045] The leakage detection module generates a leakage signal when the actual slurry difference between the pumping volume of concrete slurry and the pouring volume in the structural column template exceeds a preset tolerance value.

[0046] The control module is used to obtain the dust signal and the leakage signal. During the pouring of the structural column, when the control module obtains the leakage signal, the control module pauses the delivery pump to wait for the operator to inspect and repair. After the equipment is restored, the control module starts the delivery pump to continue pouring the structural column.

[0047] The structural column concrete pouring robot of the present invention also includes a service end, and the service end is wirelessly connected to the control module. The service end is connected to a display screen. During the structural column pouring process, when the control module obtains a gray signal, the control module sends a gray signal to the service end. After receiving the gray signal, the service end notifies the construction personnel to pour the concrete slurry into the storage box through the hopper provided next to the storage box, so that the structural column pouring can continue.

[0048] Specifically, in this embodiment, the graying module includes: a first calculation unit and a first determination unit. The first calculation unit is connected to the control module. The first determination unit is connected to the first calculation unit and the control module.

[0049] The first calculation unit is used to calculate the remaining amount based on the loading amount of the accommodating tank 31 and the pumping amount.

[0050] The first determination unit is used to determine whether the remaining amount is less than a preset storage threshold and generate a gray signal when the remaining amount is less than the preset storage threshold.

[0051] In this embodiment, the leak detection module includes: a second calculation unit, a third calculation unit and a second determination unit. The second calculation unit is connected to the control module. The third calculation unit is connected to the second calculation unit. The second determination unit is connected to the third calculation unit and the control module.

[0052] The second calculation unit is used to calculate the pouring volume based on the liquid level height and the size of the structural column.

[0053] The third calculation unit is used to calculate the actual slurry difference based on the pumping volume and the pouring volume.

[0054] The second determination unit is used to determine whether the actual slurry difference value exceeds the preset tolerance value and generate a slurry leakage signal when the actual slurry difference value exceeds the preset tolerance value.

[0055] As a preferred embodiment, the control module is connected to a fourth calculation module. The fourth calculation module is used to calculate the pumping volume based on the pumping flow rate and the pumping duration. The electronic flow meter is used to collect the pumping flow rate of the pumped concrete slurry in the delivery pipe. The electronic flow meter is connected to a timer. The control module obtains the timestamp of the timer, that is, the difference between the pumping flows of two adjacent timestamps is the pumping volume of the concrete slurry.

[0056] As a preferred embodiment, the electric mobile platform 1 is equipped with a detection device for detecting obstacles. The detection device is connected to the control module. The detection device is a detection radar. The electric mobile platform is also equipped with a warning lamp.

[0057] When the detection radar detects an obstacle ahead, the control module of the control device sends out different alarm signals through warning lights or alarms according to the different distances from the obstacle, and takes braking and evasive measures to avoid collision.

[0058] The present invention provides a structural column casting method using a structural column concrete casting robot, which is characterized by comprising the following steps:

[0059] S1: Fill the storage box 2 with concrete slurry, and input the first position information of the structural column template to be poured in the construction area into the control module of the control device 4.

[0060] S2: The control module obtains the second position information of the electric movable platform 1 collected by the positioning device on the electric movable platform 1 and forms a casting path based on the first position information.

[0061] The operator or construction worker enters the BIM model (Building Information Modeling) information of the designed construction area into the robot's control module. The control module can automatically locate the structural column according to the axis grid. The electric mobile platform automatically moves to the structural column construction area under the control of the control module, and automatically enters the next construction area after the construction is completed.

[0062] S3: The electrically movable support platform 1 moves to a structural column module based on the casting path, so that the slurry outlet of the casting pipe 21 extends into the inner cavity aligned with the structural column template.

[0063] S4: The control module starts the delivery pump to pump the concrete slurry in the storage box 2 into the inner cavity of the structural column template through the slurry outlet. The distance sensor 22 at the slurry outlet collects the real-time distance from the slurry outlet to the concrete liquid level in the structural column template.

[0064] S5: The control module obtains the real-time distance. When the real-time distance reaches the distance threshold, the control module shuts down the delivery pump to move the electric movable cap 1 to the next structural column template. During the pouring of the structural column, the ash calling module generates a ash calling signal when the remaining amount of concrete slurry in the storage box 2 is less than the preset storage threshold, and the leakage detection module generates a leakage signal when the actual slurry difference between the pumping amount of concrete slurry and the pouring amount in the structural column template exceeds the preset tolerance value. The control module suspends the delivery pump after obtaining the ash calling signal, and the operator After obtaining the ash call signal, the concrete slurry is added to the storage box 2. After obtaining the leakage signal, the operator performs equipment maintenance. When pouring the same structural column, when the liquid level rises to a preset height, the control module suspends the delivery pump. The control module lifts the containing box 31 through the electric lifter 33, so that the knocking piece 32 on the outside of the containing box 31 fits the outside of the structural column module below the liquid level. After the control module intermittently energizes the electromagnetic part, the knocking piece 32 knocks the structural column template to vibrate and compact the concrete slurry on the inside of the structural column template.

[0065] In this embodiment, the preset storage threshold is the amount of concrete slurry calculated from the length of time the location of the structural column concrete pouring robot can receive the replenishment of concrete slurry and the pumping speed of the delivery pump. That is, after the amount of concrete slurry in the storage box reaches the preset storage threshold, the control module sends a gray signal to the service end, and the service end delivers the concrete slurry to the location of the structural column concrete pouring robot manually or by machine, ensuring that the concrete slurry in the storage box is continuously supplied to the structural column pouring.

[0066] The amount of concrete poured (pumping volume) = the amount of concrete poured per second × the pouring time.

[0067] The remaining amount of concrete in the storage box = the amount of loaded concrete - the amount of poured concrete.

[0068] Grout difference = poured concrete volume - structural column concrete volume. The preset tolerance value is the allowable error value between the poured concrete volume and the structural column concrete volume.

[0069] The amount of concrete in the structural column is calculated by multiplying the concrete pouring volume per second by the pouring time through the delivery pump. The amount of concrete in the structural column is calculated based on the height of the concrete in the structural column and the size of the cross section of the structural column.

[0070] In this embodiment, instructions can also be input through the control device: the control panel of the control device can manually input work instructions and set values ​​such as pouring parameters, pouring position, pouring height, pouring workload, pouring time, vibration frequency, etc.

[0071] The server communicates between the BIM virtual model and the structural column concrete pouring robot through base station wireless signals. The position of the robot can be displayed in real time in the BIM virtual model on the server. Click to view the robot's operating status.

[0072] The structural column concrete pouring robot and structural column pouring method of the present invention can save labor through robot construction, and the intelligent pouring and vibrating robot can perform uninterrupted construction with high work efficiency. The construction efficiency is several times that of workers. The optimal construction data is found through measurement and entered into the control device to ensure the construction quality.

[0073] After testing, the structural column concrete pouring robot of the present invention can complete the construction of a structural column in 8 minutes, and can complete 135 structural columns in one day. The construction efficiency is 4.5 times that of workers and 3 times that of mechanical construction. By calculating and finding the optimal construction data and entering the data into the control system, the construction quality can be guaranteed.

[0074] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.

Claims

1. A structural column concrete pouring robot, characterized in that: include: Electric movable platform, equipped with positioning device; A storage box for accommodating concrete slurry is installed on the electric movable platform, the storage box is installed with a pouring pipe, the pouring pipe is installed with a delivery pump for pumping the concrete slurry, the slurry outlet of the pouring pipe is installed with a distance sensor for collecting the real-time distance from the slurry outlet to the concrete liquid level in the structural column template, and the pouring pipe is installed with an electronic flow meter; The vibrating device comprises a containing box, the containing box is escalably mounted on the electric movable support platform through an electric lifter, a guide sleeve is connected to the outer side of the containing box, a knocking piece is elastically mounted in the guide sleeve, and an electromagnetic piece adsorbed on the knocking piece is installed in the containing box; The control device comprises a control module, a ash calling module for generating a ash calling signal when the remaining amount of concrete slurry in the storage box is less than a preset storage threshold, and a leakage detection module for generating a leakage signal when the actual slurry difference between the pumping amount of the concrete slurry and the pouring amount in the structural column template exceeds a preset tolerance value, wherein the control module is connected to the electric movable support platform, the positioning device, the delivery pump, the distance sensor and the electronic flow meter, and the ash calling module and the leakage detection module are respectively connected to the control module.

2. The structural column concrete pouring robot according to claim 1, characterized in that: The graying module comprises: a first calculation unit for calculating the remaining amount based on the loading amount of the containing box and the pumping amount, connected to the control module; The first determination unit for determining whether the remaining amount is less than the preset storage threshold and generating the graying signal when the remaining amount is less than the preset storage threshold is connected to the first calculation unit and the control module.

3. The structural column concrete pouring robot according to claim 1, characterized in that: The leak detection module comprises: A second calculation unit for calculating the pouring amount based on the liquid level and the size of the structural column, connected to the control module; A third calculation unit for calculating the actual slurry difference based on the pumping volume and the pouring volume, connected to the second calculation unit; The second determination unit for determining whether the actual slurry difference value exceeds the preset tolerance value and generating the slurry leakage signal when the actual slurry difference value exceeds the preset tolerance value is connected to the third calculation unit and the control module.

4. The structural column concrete pouring robot according to claim 1, characterized in that: The control module is connected to a fourth calculation module for calculating the pumping volume based on the pumping flow rate and the pumping duration.

5. The structural column concrete pouring robot according to claim 1, characterized in that: The electric movable platform is equipped with a detection device for detecting obstacles, and the detection device is connected to the control module.

6. The structural column concrete pouring robot according to claim 5, characterized in that: The detection device is a detection radar.

7. The structural column concrete pouring robot according to claim 1, characterized in that: It also includes a server end, the server end is connected to the control module by a wireless signal, and the server end is connected to a display screen.

8. A method for pouring a structural column using the structural column concrete pouring robot as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Filling the storage box with concrete slurry, and inputting the first position information of the structural column template to be poured in the construction area into the control module of the control device; The control module acquires second position information of the electric movable platform collected by the positioning device on the electric movable platform and forms a casting path based on the first position information; The electrically movable support platform moves to one of the structural column modules based on the casting path, so that the slurry outlet of the casting pipe extends into the inner cavity aligned with the structural column template; The control module starts the delivery pump to pump the concrete slurry in the storage box into the inner cavity of the structural column template through the slurry outlet, and the distance sensor at the slurry outlet collects the real-time distance from the slurry outlet to the concrete liquid level in the structural column template in real time; The control module obtains the real-time distance. When the real-time distance reaches a distance threshold, the control module shuts down the delivery pump to move the electric movable bearing platform to the next structural column template. During the pouring of the structural column, the ash calling module generates a ash calling signal when the remaining amount of concrete slurry in the storage box is less than a preset storage threshold, and the leakage detection module generates a leakage signal when the actual slurry difference between the pumping amount of the concrete slurry and the pouring amount in the structural column template exceeds a preset tolerance value. The control module suspends the delivery pump after obtaining the ash calling signal, and the operator stops the delivery pump after obtaining the ash calling signal. After receiving the ash calling signal, the concrete slurry is added to the storage box. After obtaining the leakage signal, the operator performs equipment maintenance. When casting the same structural column, when the liquid level rises to a preset height, the control module pauses the delivery pump. The control module lifts the containing box through the electric lifter so that the knocking piece on the outside of the containing box fits against the outside of the structural column module below the liquid level. After the control module intermittently energizes the electromagnetic part, the knocking piece knocks the structural column template to vibrate and compact the concrete slurry on the inner side of the structural column template.

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