A structure and a construction method thereof

Abstract

The present invention provides a structure and a construction method thereof, wherein the structure comprises a support and a cover body mounted on the support, wherein a pillar extending downward is provided on the top of the inner wall of the cover body, and the lower end surface of the pillar is a hemispherical surface, and the hemispherical surface is supported in a groove at the upper end of the support; a plurality of driving devices are symmetrically provided on the inner wall of the cover body, and each of the driving devices is provided with a telescopic arm, and the telescopic end of the telescopic arm is connected to the side wall of the support, and there is a movable space for the telescopic arm between the side wall of the support and the inner wall of the cover body. The balancing structure adopted by the present invention can automatically reach a balanced and stable state, has good freedom of movement and flexibility under heavy pressure, can use a low-power driver to accurately drive heavy movable parts, and is relatively smooth when moving due to the large inertia of the cover body.

Description

Technical Field

[0001] The invention belongs to the technical field of structures, and in particular relates to a structure and a construction method thereof. Background Art

[0002] Large landscape sculptures and other structures in amusement parks are generally immobile. This type of structure cannot provide entertainment to children or tourists, let alone interact with tourists. Although existing robots and other equipment can interact with tourists, they are generally small devices and can only be used indoors. Outdoor large movable structures made of concrete have better visual impact and fun, but for such large structures, it is necessary to maintain the continuity of movement and ensure that they are always balanced and stable during the activity to avoid accidents, which is a major problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to provide a movable structure and a construction method thereof, and to solve the technical problem of how to make a large structure movable and balanced.

[0004] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0005] A structure comprises a support and a cover body mounted on the support, wherein a support extending downward is provided on the top of the inner wall of the cover body, and the lower end surface of the support body is a hemispherical surface, and the hemispherical surface is supported in a groove at the upper end of the support;

[0006] A plurality of driving devices are symmetrically arranged on the inner wall of the cover body, each of the driving devices is equipped with a telescopic arm, the telescopic end of the telescopic arm is connected to the side wall of the support, and there is a movable space for the telescopic arm between the side wall of the support and the inner wall of the cover body.

[0007] Therefore, the present invention is supported on the support by a downwardly extending pillar, and the weight of the entire cover body is transferred to the support through the bottom end of the pillar. The movement of the cover body is controlled by the telescopic arm, and the symmetrical arrangement of the telescopic arm can effectively improve the balance of the cover body and prevent the cover body from falling off during the movement.

[0008] Furthermore, a plurality of counterweights are circumferentially arranged on the inner wall of the cover body. When the cover body adopts an irregular shape, the counterweights can better distribute the center of gravity of the cover body, so that the center of gravity is maintained at the bottom end of the support.

[0009] Further, a pair of slide rails are circumferentially arranged on the inner wall of the cover body, the slide rails are located below the driving device, each of the slide rails is provided with at least one counterweight block, and the counterweight block can move on the slide rail; or

[0010] A pair of guide rods are provided on the inner wall of the cover body in the circumferential direction. The guide rods are located below the driving device. At least one counterweight can be hung on each guide rod, and the counterweight can move on the guide rod. By providing a slide rail, the center of gravity of the cover body can be adjusted in real time during the activity of the cover body, thereby promoting the balance of the cover body.

[0011] Furthermore, four driving devices are symmetrically arranged on the inner wall of the cover body, and the connecting lines of each group of symmetrically arranged driving devices are perpendicular to each other.

[0012] Furthermore, the telescopic arm is arranged to be tilted downward, and the included angle of the telescopic arm relative to the horizontal plane is 25° to 50°, and the included angle of the telescopic arm relative to the horizontal plane is preferably 30°.

[0013] Furthermore, a rotating sleeve is provided on the upper portion of the support, a driving motor is provided inside the support, the driving motor drives the rotating sleeve to rotate, and the telescopic end of the telescopic arm is connected to the rotating sleeve, so that the cover body can rotate with the rotating sleeve.

[0014] Furthermore, a controller is provided on the support, and the driving device and the driving motor are electrically connected to the controller.

[0015] Based on the same inventive concept, the present invention also provides a method for constructing the structure as described above, comprising the following steps:

[0016] Step 1: construct a support and install a metal groove on the top of the support;

[0017] Step 2: Install a driving device on the cover body, install a telescopic arm on the driving device, and install a metal hemispherical surface on the lower end of the support;

[0018] Step 3: hoist the cover body and install it on the support, support the hemispherical surface of the support in the groove, and set a bracket at the bottom of the cover body for support;

[0019] Step 4: hinge the telescopic end of the telescopic arm to the hinge point on the side wall of the support;

[0020] Step 5: Remove the bracket at the bottom of the cover;

[0021] Step six, the driving device controls the telescopic arm to extend and retract to make the cover body move.

[0022] Further, in step six, the telescopic amount of the telescopic arm is determined by the following formula:

[0023]

[0024] Where Δi is the telescopic amount of the telescopic arm;

[0025] a is the length of the line s from the center point of the drive device to the support point at the bottom end of the pillar;

[0026] t is the length of the line k connecting the hinge point on the side wall of the support and the support point at the bottom end of the pillar;

[0027] α is the angle between line s and line k;

[0028] θ is the pitch angle of the cover.

[0029] Furthermore, if one of the two symmetrically arranged telescopic arms is extended, the corresponding telescopic arm needs to be shortened, and the extension amount of the corresponding telescopic arm is determined by the following formula:

[0030]

[0031] Where Δm is the relative telescopic arm extension;

[0032] b is the length of the line s from the center point of the drive device to the support point at the bottom end of the pillar;

[0033] t is the length of the line k connecting the hinge point on the side wall of the support and the support point at the bottom end of the pillar;

[0034] β is the angle between line s and line k;

[0035] θ is the pitch angle of the cover.

[0036] In addition, a positive telescopic amount means that the telescopic arm is extended, and a negative telescopic amount means that the telescopic arm is shortened.

[0037] A structure and a construction method thereof of the present invention have the following advantages:

[0038] 1. The balance structure used in the structure provided by the present invention can automatically reach a balanced and stable state, has good freedom of movement and flexibility under heavy pressure, can use a low-power driver to accurately drive heavy movable parts, and is relatively smooth due to the large inertia of the cover. During use, it can reduce the sense of frustration of the action and achieve a degree of agility that matches the image of a building volume robot.

[0039] 2. The structure provided by the present invention can be made of concrete or heavy steel structure. Concrete is weather-resistant and snow-resistant, strong and durable. Heavy steel structure has lower weather resistance than concrete, but the size can be made larger. Both can be installed outdoors for long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of the present invention;

[0041] Figure 2 is a cross-sectional view of the present invention;

[0042] Figure 3 is a side view of the present invention;

[0043] Figure 4 It is a structural schematic diagram of the first embodiment of the present invention;

[0044] Figure 5 FIG. 4 is a schematic structural diagram of a second embodiment of the present invention.

[0045] Explanation of the markings in the figure: 1. Support; 2. Cover; 3. Pillar; 4. Hemispherical surface; 5. Groove; 6. Driving device; 7. Telescopic arm; 8. Rotating sleeve; 9. Counterweight; 10. Slide rail; 11. Driving motor; 21. Sound collection device; 22. Camera; 23. Speaker. DETAILED DESCRIPTION

[0046] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0047] like Figure 1 and Figure 2 As shown, a structure of this embodiment includes a support 1 and a cover body 2 installed on the support 1, a downwardly extending pillar 3 is provided on the top of the inner wall of the cover body 2, the lower end surface of the pillar 3 is a hemispherical surface 4, and the hemispherical surface 4 is supported in a groove 5 at the upper end of the support 1.

[0048] A plurality of driving devices 6 are symmetrically arranged on the inner wall of the cover body 2. Specifically, four driving devices 6 are symmetrically arranged on the inner wall of the cover body 2, and the connecting lines of each group of symmetrically arranged driving devices 6 are perpendicular to each other. A telescopic arm 7 is installed on each driving device 6, and the telescopic arm 7 is tilted downward, and the angle of the telescopic arm 7 relative to the horizontal plane is 25° to 50°. Preferably, the angle of the telescopic arm 7 relative to the horizontal plane is 30°. A rotating sleeve 8 is provided on the upper part of the support 1, and a driving motor 11 is provided inside the support 1. The driving motor 11 drives the rotating sleeve 8 to rotate, and the telescopic end of the telescopic arm 7 is connected to the rotating sleeve 8, and there is a movable space for the telescopic arm 7 between the side wall of the support 1 and the inner wall of the cover body 2. A controller is also provided on the support 1, and the driving device 6 and the driving motor 11 are electrically connected to the controller.

[0049] A pair of slide rails 10 are circumferentially disposed on the inner wall of the cover body 2 . The slide rails 10 are located below the driving device 6 . A counterweight block 9 is disposed on each of the slide rails 10 . The counterweight block 9 can move on the slide rails 10 .

[0050] The structure described in this embodiment can be used for outdoor large-scale structure engineering. This movable structure includes the cover body 2 on the top and the support 1 for fixing at the bottom. This structure allows the heavy cover body 2 to have good freedom of movement and flexibility when it is stably placed on the support 1, so that the cover body 2 can be driven by a smaller driver and controlled by a computer. The effect of the intelligent structure using the structure and control method described in this embodiment is like a large robot, such as the head of the giant stone statue on Easter Island can rotate freely and look at tourists, or the Leshan Giant Buddha can face the cruise ship at its feet and look at the tourists' camera. The following is an illustration of the "head" and "body" connection of this intelligent structure shaped like a large robot as an example of the application of the movable structure.

[0051] like Figure 1 As shown, the structure described in this embodiment is mainly made of reinforced concrete materials, and can also be mixed with steel and concrete. Here, concrete materials are mainly used as an example for explanation. The cover body 2 can be understood as the "head" of the robot, and the support 1 is the "body" of the robot. The cover body 2 is placed on the top of the support 1 and is movable, while the support 1 is fixed. The cover body 2 has only one fulcrum on the support 1, which is made of stainless steel and located inside the cover body 2. The horizontal elevation of the fulcrum is higher than the bottom of the cover body 2 and is pre-embedded in the concrete of the cover body 2. This means that the cavity formed inside the cover body 2 actually covers a part of the support 1. By designing the weight distribution inside the cover body 2, the lower part of the cover body 2 is heavier than the upper part. In a stable state, the overall center of gravity is on the same vertical line as the fulcrum and is lower than the fulcrum, so that the cover body 2 can be stably placed on the support 1, and at the same time, the xyz three-axis rotation freedom with the fulcrum as the origin, that is, the "head" can make pitch, rotation and deflection movements, and there is a tendency to automatically return to the stable state position in any position except the stable state in the range of activity. The design of the weight distribution inside the cover body 2 is carried out according to the following steps.

[0052] Step 1: Determine the fulcrum position of the cover 2. The fulcrum position mainly considers the movement range of the cover 2, such as Figures 3 to 5 As shown, the cover body 2 of the structure described in this embodiment is in the shape of a head, and the fulcrum is located close to the connection between the normal head and the neck. In this way, the movement range of the cover body 2 can be similar to that of the human head, which is more natural and vivid.

[0053] Step 2: Design the cover 2 as a thin shell. Ideally, use engineering software to assist in the design, and control the shell thickness so that the center of gravity of the shell is on the vertical line of the fulcrum and below the fulcrum. Such shell thickness is usually not uniform, and due to production process limitations, the shell is generally made uniform, which results in the center of gravity position not meeting the ideal position requirements. The shell's own weight has a torque on the fulcrum, and the torque can be calculated using engineering software for processing.

[0054] Step three, arrange the structure and moving parts inside the cover body 2. The parts will be installed in the shell and connected to the shell as a whole. For parts that need to be repaired and replaced, a detachable connection is used. The gravity of each component has a torque on the fulcrum. Through calculation and simulation in engineering software, the components are arranged reasonably to ensure that the sum of the torques of the gravity of all components and the shell on the fulcrum is 0, that is, the center of gravity of the cover body 2 is on the vertical line of the fulcrum, and the cover body 2 reaches mechanical balance. At the same time, calculate the weight of all components including the shell, and arrange the components so that the components that account for more than half of the weight are below the horizontal plane of the fulcrum, which can ensure that the overall center of gravity of the cover body 2 is below the fulcrum and the cover body 2 reaches a stable state. When the necessary number of structures and moving parts is insufficient to meet the requirements of balance and stability, a fixed counterweight specially used for balance can be set and installed on the shell by permanent connection.

[0055] Step 4. In order to prevent the center of gravity from deviating from the designed center of gravity position due to errors in the actual production process, a pair of movable counterweights parallel to the y-axis are set at the lower part of the cover body 2. After the cover body 2 is installed on the support, the counterweight is increased or decreased according to the balance of the cover body 2, and the position of the counterweight is adjusted so that the center of gravity position meets the design requirements. Another function of the movable counterweight is that when disassembling certain parts for maintenance and inspection, the counterweight can be increased or decreased to maintain the overall balance. The contact part between the support and the fulcrum is concave, and lubricating oil is injected to form a lubricating oil pool, which lubricates and prevents the cover body 2 from slipping off the support due to unexpected circumstances.

[0056] The construction method of the structure of this embodiment includes the following steps:

[0057] Step 1: construct a support 1 and install a metal groove 5 on the top of the support 1;

[0058] Step 2: Install the driving device 6 on the cover body 2 , install the telescopic arm 7 on the driving device 6 , and install the metal hemispherical surface 4 on the lower end of the support 3 .

[0059] Step 3: hoist the cover body 2 and install it on the support 1, support the hemispherical surface 4 of the support 3 in the groove 5, and set a bracket at the bottom of the cover body 2 for support.

[0060] Step 4: hinge the telescopic end of the telescopic arm 7 to the hinge point on the side wall of the support 1.

[0061] Step 5: Remove the bracket at the bottom of the cover body 2.

[0062] Step six: the driving device 6 controls the telescopic arm 7 to extend and retract to make the cover body 2 move.

[0063] Specifically, Figure 2 As shown, in step six, the telescopic amount of the telescopic arm 7 is determined by the following formula:

[0064]

[0065] Wherein, Δi is the telescopic amount of the telescopic arm 7;

[0066] a is the length of the line s from the center point of the driving device 6 to the bottom support point of the support 3;

[0067] t is the length of the line k between the hinge point on the side wall of the support 1 and the support point at the bottom end of the support 3;

[0068] α is the angle between line s and line k;

[0069] θ is the pitch angle of the cover 2 .

[0070] The telescopic amount of the telescopic arm 7 relative to the telescopic arm is determined by the following formula:

[0071]

[0072] Wherein, Δm is the telescopic amount of the telescopic arm 7 relative to the telescopic arm;

[0073] b is the length of the line s from the center point of the drive device 6 to the bottom support point of the support 3;

[0074] t is the length of the line k between the hinge point on the side wall of the support 1 and the support point at the bottom end of the support 3;

[0075] β is the angle between line s and line k;

[0076] θ is the pitch angle of the cover 2 .

[0077] like Figure 1 As shown, the structure described in this embodiment is driven by two pairs of drive devices 6 and a drive motor 11. The drive device 6 is a hydraulic drive, with the fulcrum inside the cover body 2 as the far point, the front side of the cover body 2 as the x-axis, and the top direction of the cover body 2 as the z-axis to establish a spatial coordinate system. The center line of a pair of hydraulic drives (A1, A2) in group A is on the xz plane, located directly below the x-axis. The cover body 2 part of the hydraulic drive is installed on a metal shaft parallel to the y-axis inside the cover body 2 and can rotate around the axis. The end of the telescopic arm 7 installed on the hydraulic drive is connected to the metal ring on the support 1 by a hinged manner. The hydraulic drive of group A is used to control the cover body 2 to do forward and backward pitching movements. The drive device 6 controls the pitch angle θ by telescoping each drive arm, and the telescoping amount of the drive arm is controlled by a computer.

[0078] Similarly, the center line of the hydraulic drive of group B is on the yz plane, directly below the y-axis. The installation principle is the same as that of group A, and is used to control the cover body 2 to shake left and right. The rotating sleeve 8 on the support is controlled by the drive motor 11, and rotates around the z-axis. The telescopic arms 7 of the two groups of drives A and B drive the cover body 2 to rotate around the z-axis. All drives work in coordination and synchronization through the control program, and can drive the cover body 2 to rotate to any angle within the range of motion along any path. In this example, the xz cross-sectional dimensions are as shown in the figure, and the control formula for the telescopic amount of the drive arm of the hydraulic drive of group A is as follows:

[0079]

[0080]

[0081] Where Δi is the telescopic amount of the A1 telescopic arm;

[0082] Δm is the extension and retraction of the A2 telescopic arm;

[0083] Unit: mm;

[0084] The pitch angle θ of the cover body 2 is ±12°.

[0085] As 1 and Figure 5 As shown, as the second embodiment of the present invention, sound collection devices 21 are provided on the left and right sides of the cover body, a camera 22 and a speaker 23 are provided on the front side, and the cover body is connected to the cloud server through a wireless network. These hardware and software work together, similar to the reflex arc of a living thing, so that the structure of this embodiment can make a more complex and natural response to external stimuli. For example: 1. Similar to the principle of locating the sound source by the human ear, when the structure receives the sound, the approximate position and direction of the source are calculated through the loaded software system according to the signal differences such as the time difference and intensity difference of the sound collection devices 21 on both sides, and the rotating sleeve 8 of the structure is started to rotate the cover body 2, and the front side of the cover body 2 faces the direction of the sound source. 2. The structure can respond to music through the artificial intelligence of the cloud server, such as shaking the cover body rhythmically. 3. The structure can recognize a person's face and make the front side of the cover body face a specific individual. And it can communicate with people in a simple voice by using an intelligent voice assistant. 4. In the event of an emergency, it can receive warning instructions from the cloud, issue an alarm through the speaker 23, and indicate the direction of avoidance.

[0086] The structure of the present invention has a tendency to automatically return to a balanced and stable state, and is safe and reliable. The materials and drivers used are cheap and readily available, have stable performance, are easy to maintain, and can be controlled by a computer. The production process is simple, the installation is easy, and it is suitable for mass production. The structure has only one connection point and a simple structure, so it is highly reliable and not easy to be damaged.

[0087] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A structure, comprising a support (1) and a cover (2) mounted on the support (1), characterized in that: A support (3) extending downward is provided at the top of the inner wall of the cover body (2); the lower end surface of the support (3) is a hemispherical surface (4); the hemispherical surface (4) is supported in a groove (5) at the upper end of the support (1) to form a fulcrum; A plurality of driving devices (6) are symmetrically arranged on the inner wall of the cover body (2), each of the driving devices (6) being equipped with a telescopic arm (7), the telescopic end of the telescopic arm (7) being connected to the side wall of the support (1), and a movable space for the telescopic arm (7) is provided between the side wall of the support (1) and the inner wall of the cover body (2); a plurality of counterweight blocks (9) are circumferentially arranged on the inner wall of the cover body (2); a pair of slide rails (10) are circumferentially arranged on the inner wall of the cover body (2), the slide rails (10) being located below the driving device (6), each of the slide rails (10) being provided with at least one counterweight block (9), and the counterweight block (9) can move on the slide rail (10); or A pair of guide rods are circumferentially arranged on the inner wall of the cover body (2), the guide rods being located below the driving device (6), at least one counterweight (9) being suspended on each of the guide rods, and the counterweight (9) being movable on the guide rods; the overall center of gravity of the cover body (2) is below the fulcrum.

2. The structure according to claim 1, characterized in that: Four driving devices (6) are symmetrically arranged on the inner wall of the cover body (2), and the connecting lines of each group of symmetrically arranged driving devices (6) are perpendicular to each other.

3. The structure according to claim 1, characterized in that: The telescopic arm (7) is arranged to be tilted downward, and the included angle of the telescopic arm (7) relative to the horizontal plane is 25° to 50°.

4. The structure according to claim 1, characterized in that: A rotating sleeve (8) is provided on the upper part of the support (1), a driving motor (11) is provided inside the support (1), the driving motor (11) drives the rotating sleeve (8) to rotate, and the telescopic end of the telescopic arm (7) is connected to the rotating sleeve (8).

5. The structure according to claim 4, characterized in that: The support (1) is also provided with a controller, and the drive device (6) and the drive motor (11) are electrically connected to the controller.

6. A method for constructing a structure according to any one of claims 1 to 5, characterized in that: The steps include: Step 1: construct a support (1) and install a metal groove (5) on the top of the support (1); Step 2: Install a driving device (6) on the cover (2), install a telescopic arm (7) on the driving device (6), and install a metal hemispherical surface (4) at the lower end of the support (3); Step 3: hoist the cover body (2) and install it on the support (1), support the hemispherical surface (4) of the support (3) in the groove (5), and set a bracket at the bottom of the cover body (2) for support; Step 4: hinge the telescopic end of the telescopic arm (7) to the hinge point on the side wall of the support (1); Step 5: Remove the bracket at the bottom of the cover body (2); Step six: the driving device (6) controls the telescopic arm (7) to extend and retract to make the cover body (2) move.

7. The method for constructing a structure according to claim 6, characterized in that: In step six, the telescopic amount of the telescopic arm (7) is determined by the following formula: Wherein, Δi is the telescopic amount of the telescopic arm (7); a is the length of the line s from the center point of the driving device (6) to the bottom support point of the support (3); t is the length of the line k connecting the hinge point on the side wall of the support (1) and the bottom support point of the support (3); α is the angle between line s and line k; θ is the pitch angle of the cover (2).

8. The method for constructing a structure according to claim 6, characterized in that: In step six, the telescopic amount of the telescopic arm relative to the telescopic arm (7) is determined by the following formula: Wherein, Δm is the telescopic amount of the telescopic arm (7); b is the length of the line s from the center point of the driving device (6) to the bottom support point of the support (3); t is the length of the line k connecting the hinge point on the side wall of the support (1) and the bottom support point of the support (3); β is the angle between line s and line k; θ is the pitch angle of the cover (2).

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