Mechanical arm-based automatic vibrating device

Abstract

The application provides a mechanical arm-based automatic vibrating device, which comprises a crane, a mounting frame capable of multi-angle deflection is arranged on the crane, a fixing frame is arranged on the mounting frame, a plurality of rear drives are arranged on the fixing frame, a plurality of front drives capable of automatic distance adjustment are arranged on the mounting frame, a plurality of multi-stage telescopic rods are arranged at the bottom of the front drives, and vibrating rods are arranged on the multi-stage telescopic rods; cables are connected with the vibrating rods in sequence through the rear drives, the front drives and the multi-stage telescopic rods. The precision of the deflection angles of the vibrating rods is adjusted by controlling and adjusting the hydraulic cylinders and the deflection device, so as to control the angles of the vibrating rods inserted into the concrete. The swinging range of the structure cable of the multi-stage telescopic rod is reduced, the deflection does not occur, the automatic distance adjustment mechanism is used to accurately adjust the distances of the vibrating rods. The phenomenon of missing vibration, the collision with the steel bars, the collision with the obstacles such as the tie rods and the like are avoided, the quality of the concrete vibration is improved, and the automatic vibrating device has great popularization value.

Description

Technical Field

[0001] This invention relates to the field of concrete vibration, and in particular to an automatic vibration device based on a robotic arm. Background Technology

[0002] Traditional concrete construction methods are extensive, relying primarily on manual labor or mechanical equipment for vibration, and heavily depending on the experience of the workers to determine compaction. Due to the variability of actual engineering site environments and working conditions, the factors constraining the compaction effect of concrete vibration are extremely complex. Furthermore, the continuous, overall, invisible, and irreversible nature of the pouring process makes on-site quality control difficult, a persistent pain point in industry management. This is especially true for important projects, which often involve complex construction conditions and numerous irregularly shaped large and medium-sized buildings and structures. Process defects such as under-vibration or missed vibration during concrete pouring can have serious consequences. Existing vibration devices cannot effectively control the distance between multiple vibrators, nor can they accurately position the vibration angle, location, or depth within the concrete. This leads to under-vibration, missed vibration, or contact with obstacles such as reinforcing bars or tie rods, resulting in poor concrete quality and substandard construction. Therefore, we propose an automated vibration device based on a robotic arm to address these problems.

[0003] Chinese patent document CN105178606A discloses an automatic vibration device, including a truss with a set of wheels on the lower side of the truss. A travel motor is connected to at least one of the wheels. At least one winding device is connected to the truss, and a vibrating rod is connected to each winding device. The winding device includes a winding motor, and a winding shaft is connected to the winding motor. The advantages of this invention are: the device has a simple structure and is suitable for vibrating concrete beams in building construction. It is easy to move and disassemble, ensuring both construction quality and efficiency. The device achieves automatic control, ensuring the stability of the equipment operation. Furthermore, it can be adjusted in size to a certain extent to adapt to different working conditions and reduces noise pollution and the risk factor to some extent. However, the device cannot accurately locate the vibration position and depth, and is prone to defects such as missed vibration, under-vibration, or encountering obstacles such as reinforcing bars or tie rods. These shortcomings necessitate improvement. Summary of the Invention

[0004] This invention provides an automatic vibration device based on a robotic arm, which solves the problems of existing vibration devices that cannot reasonably control the distance between multiple vibration rods, cannot accurately position the vibration angle of the vibration rod in the concrete, and cannot accurately position the vibration location and depth. These problems easily lead to defects such as missed vibration, under-vibration, or collision with obstacles such as reinforcing bars or tie rods, resulting in poor concrete quality and serious consequences of substandard construction quality.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an automatic vibration device based on a robotic arm, including a crane, a mounting frame that can swing at multiple angles on the crane, a fixed frame on the mounting frame, multiple rear drives on the fixed frame, multiple front drives that can automatically change distance on the mounting frame, a multi-stage telescopic rod at the bottom of the front drive, and a vibrating rod on the multi-stage telescopic rod. The cable passes through the rear drive, front drive, multi-stage telescopic rod, and vibrator in sequence.

[0006] In a preferred embodiment, the crane includes a telescopic hydraulic cylinder, the crane's boom is rotatably connected to the fixed frame, and the crane's boom is equipped with a hinged adjusting hydraulic cylinder, one end of which is rotatably connected to the fixed frame.

[0007] In a preferred embodiment, the mounting frame is provided with a deflection device, which includes a top plate, a mounting plate on one side of the top plate, a first rotating joint and a second rotating joint on the top plate, a deflection motor at the bottom of the first rotating joint, a first lead screw at the output shaft end of the deflection motor, and the first lead screw being threadedly connected to a lead screw seat on the mounting plate, and the lead screw seat being rotatably connected to the mounting plate. The top plate is rotatably connected to the deflection motor via the first rotating joint; The top plate is rotatably connected to the mounting plate via a second rotating joint.

[0008] In a preferred embodiment, the mounting frame is equipped with an automatic pitch-changing mechanism, which includes side plates at both ends, two guide posts between the two side plates, a second lead screw between the two guide posts, and multiple movable sliders that move at equal intervals on the second lead screw. The side plates are connected to the mounting plate.

[0009] In a preferred embodiment, an adjusting motor is provided on one of the side plates and is connected to a second lead screw. A nut is provided on one of the movable sliders near the edge and is threadedly connected to the second lead screw. A linkage group is provided on both sides of multiple movable sliders. The linkage group includes multiple connecting rods that are hinged sequentially. The two ends of the linkage group are respectively hinged to the side plate and the movable slider near the edge. The connecting rod is provided with a rotating seat and is rotatably connected to the movable slider through the rotating seat. The guide post passes through the movable slider and slides to connect with it.

[0010] In a preferred embodiment, the mounting frame is provided with a rectangular pitch-changing mechanism, which includes a disc with multiple arc-shaped grooves, a guide rail at the bottom of the disc with guide grooves, a movable block on the guide rail that slides against the guide grooves, a cylinder on the movable block that abuts against the arc-shaped grooves, and the disc being connected to the output shaft of the rotating motor. Multiple guide rails are mounted on the mounting plate.

[0011] In the preferred embodiment, the multi-stage telescopic boom includes a head boom, multiple intermediate booms, and a tail boom from top to bottom. The tail boom rests against the bottom intermediate boom, the lower intermediate booms slide against the upper intermediate booms in sequence, and the top intermediate boom rests against the head boom. The tail boom is equipped with a connecting seat, and the head boom is equipped with a winch. The winch is connected to the connecting seat via a steel wire.

[0012] In a preferred embodiment, the inner wall of the head rod is provided with multiple first sliding grooves, the outer wall of the middle rod is provided with multiple sliders, the sliders slide in the first sliding grooves, the sliders are provided with balls, the balls abut against the first sliding grooves, the middle rod is provided with a second sliding groove, and the slider of the bottom middle rod slides in the upper second sliding groove.

[0013] In a preferred embodiment, the front drive includes a connecting frame, a worm gear on the connecting frame, multiple drive rods on the worm gear, a worm wheel at one end of each drive rod meshing with the worm gear, a clamping wheel at the other end of each drive rod, a pulley on the connecting frame, the pulley and the clamping wheel abutting against the cable, the worm gear being connected to the drive motor, and a guide wheel on one side of the connecting frame. Multiple connecting brackets are mounted on the movable slider or movable block; The rear drive has the same structure as the front drive; the number of rear drives, front drives, and moving sliders or blocks is the same, and they correspond one-to-one.

[0014] In the preferred embodiment, the mounting frame is equipped with a vision device and a meter-counting wheel; A low-voltage current is connected to the concrete at the bottom of the vibrator.

[0015] The beneficial effects of this invention are as follows: The pitch angle of the entire device is adjusted by driving and adjusting the hydraulic cylinder. The yaw device adjusts the planar deflection angle of the overall structure, causing the automatic pitch-changing mechanism or rectangular pitch-changing mechanism to rotate relative to the top plate, thereby causing multiple vibrating rods to deflect, with the deflection angle controlled between 0 and 18 degrees. By controlling the adjusting hydraulic cylinder and the yaw device, the yaw angle of multiple vibrating rods is precisely adjusted to control the angle at which multiple vibrating rods are inserted into the concrete.

[0016] When laying the cable, the drive motors of the front and rear drives rotate forward; when retracting the cable, the drive motors rotate in reverse, and the rear and front drives retract the cable. The front and rear drives work in conjunction with the metering wheel to precisely control the extension or retraction length of the cable, allowing for accurate measurement of the lowering length of each vibrator and thus precise control of the vibration depth.

[0017] The multi-stage telescopic boom structure lowers along with the cable as it extends. The multi-stage boom possesses a certain rigidity, reducing the cable's sway. This improves the accuracy of vibrator positioning. Simultaneously, the rigidity of the multiple vibrators prevents them from shifting or becoming entangled as they move through the concrete. Ball bearings in the slider further reduce friction generated during the expansion and contraction of the multi-stage boom.

[0018] The preferred scheme features an automatic pitch-changing mechanism that enables continuous pitch-changing motion of the linkage assembly, driving the movement of other moving sliders. To prevent interference and locking during movement, linkage assemblies are installed on both sides, and the parameters are set to ensure the nut's movement length is less than the maximum extension of the linkage. This automatic pitch-changing mechanism automatically adjusts the distance between multiple moving sliders, ensuring they move the same distance, thus allowing for precise adjustment of the vibrator distance and preventing under-vibration. Furthermore, by rationally adjusting the distance between the vibrators, it prevents them from hitting obstacles such as reinforcing bars or tie rods, improving concrete compaction quality and demonstrating significant potential for widespread application. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a side view of the overall structure of the invention on a crane; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a front view of the overall structure of the present invention; Figure 4 This is a front view of the mounting bracket and the oscillation device of the present invention; Figure 5 This is an axonometric view of the automatic pitch-changing mechanism of the present invention; Figure 6 This is an isometric view of the rectangular variable pitch mechanism of the present invention; Figure 7 This is an isometric view of the guide rail and moving block of the present invention; Figure 8 This is a cross-sectional view of the multi-stage telescopic rod of the present invention; Figure 9 This is the present invention. Figure 8 A magnified view of A in the middle; Figure 10 This is a schematic diagram of the rear-drive mechanism of the present invention; Figure 11 This is a schematic diagram of the front-end driver of the present invention; In the diagram: 1. Hoist; 101. Telescopic hydraulic cylinder; 2. Adjustable hydraulic cylinder; 3. Fixing frame; 4. Mounting frame; 5. Multi-stage telescopic rod; 501. Head rod; 5011. First slide groove; 502. Intermediate rod; 5021. Slider; 5022. Ball bearing; 5023. Second slide groove; 503. Tail rod; 5031. Connecting seat; 504. Winch; 505. Steel wire; 6. Swaying device; 601. Top plate; 602. First rotating pair; 603. Second rotating pair; 604. Mounting plate; 6041. Lead screw seat; 605. First lead screw; 606. Deflection motor; 7. Automatic pitch control mechanism; 701. Side plate; 702. Guide column 703; connecting rod assembly 704; connecting rod 7041; rotating seat 7042; moving slider 705; nut 706; adjusting motor 707; rectangular pitch mechanism 8; disc 801; arc groove 802; guide rail 803; guide groove 8031; moving block 804; cylinder 8041; rotating motor 805; front drive 9; connecting frame 901; worm gear 902; worm 903; drive rod 904; clamping wheel 905; guide wheel 906; pulley 907; drive motor 908; rear drive 10; vibrating rod 11; vision device 12; meter wheel 13; cable 14. Detailed Implementation

[0020] Example 1: like Figure 1-11 In the automatic vibration device based on a robotic arm, there is a crane 1, the crane 1 is equipped with a mounting frame 4 that can swing at multiple angles, the mounting frame 4 is equipped with a fixed frame 3, the fixed frame 3 is equipped with multiple rear drives 10, the mounting frame 4 is equipped with multiple front drives 9 that can automatically change distance, the bottom of the front drive 9 is equipped with a multi-stage telescopic rod 5, and the multi-stage telescopic rod 5 is equipped with a vibrating rod 11. Cable 14 sequentially passes through the rear drive 10, the front drive 9, the multi-stage telescopic rod 5, and connects to the vibrator 11. With this structure, After the crane 1 completes the lifting operation, the pitch angle of the entire device is adjusted by driving the adjusting hydraulic cylinder 2. The yaw device 6 adjusts the planar deflection angle of the overall structure. The mounting plate 604 is rotatably connected to the top plate 601 via the second rotating joint 603. The deflection motor 606 is driven to make the mounting plate 604 rotate relative to the mounting frame 4, so that the automatic pitch changing mechanism 7 or the rectangular pitch changing mechanism 8 rotates with the top plate 601, causing multiple vibrating rods 11 to deflect. The deflection angle is controlled between 0 and 18 degrees. By controlling the adjusting hydraulic cylinder 2 and the yaw device 6, the yaw angle of multiple vibrating rods 11 is precisely adjusted to control the angle at which multiple vibrating rods 11 are inserted into the concrete.

[0021] When cable 14 is laid out, the drive motors of the front drive 9 and the rear drive 10 rotate forward. The front drive 9, through a worm gear 902 and worm 903 mechanism, transmits force to the drive rod 904 via the worm gear when the overall device feeds cable 14. The drive rod 904 achieves the function of laying out the cable through friction with cable 14. When cable 14 is retracted, the drive motor 908 reverses, and the rear drive 10 and the front drive 9 retract cable 14. The front drive 9 and the rear drive 10, in conjunction with the meter wheel 13, enable the overall device to precisely control the extension or retraction length of cable 14, so as to accurately measure the length of each vibrator 11, thereby achieving precise control of the vibration depth.

[0022] The multi-stage telescopic rod 5 has a structure where, when the vibrator 11 is not working, it is in a compressed state; when the vibrator 11 is working, the multi-stage telescopic rod 5 extends along with the cable 14 and falls together. The multi-stage telescopic rod 5 has a certain rigidity, reducing the swaying amplitude of the cable 14. This improves the accuracy of the vibrator 11's positioning. Simultaneously, the multiple vibrators 11 have sufficient rigidity to prevent displacement when moving in the concrete, avoiding entanglement. The slider 5021 is equipped with ball bearings 5022, thereby reducing the frictional force generated during the extension and retraction of the multi-stage telescopic rod 5.

[0023] In the preferred embodiment, the automatic pitch-changing mechanism 7 controls the adjusting motor 707 to rotate the nut 706, thereby causing the first movable slider 705 to slide. When the first movable slider 705 moves, the motion is transmitted through the connecting rod assembly 704, causing the connecting rod assembly 704 to generate continuous pitch-changing motion and drive the other movable sliders 705 to move. To prevent interference and locking during the movement of the connecting rod assembly 704, connecting rod assemblies 704 are installed on both sides, and the parameters are set so that the movement length of the nut 706 is less than the maximum extension length of the connecting rod 7041. The automatic pitch-changing mechanism 7 automatically adjusts the distance between multiple movable sliders 705, ensuring that the multiple movable sliders 705 move the same distance, thus allowing for precise adjustment of the distance between multiple vibrating rods 11 and preventing missed vibration. Furthermore, by reasonably adjusting the distance between multiple vibrating rods 11, it prevents the vibrating rods 11 from hitting obstacles such as reinforcing bars and tie rods, thereby improving the quality of concrete vibration.

[0024] In the preferred embodiment, the crane 1 includes a telescopic hydraulic cylinder 101. The lifting arm of the crane 1 is rotatably connected to the fixed frame 3. A hinged adjusting hydraulic cylinder 2 is mounted on the lifting arm of the crane 1, with one end of the adjusting hydraulic cylinder 2 rotatably connected to the fixed frame 3. With this structure, after the crane 1 completes lifting, the pitch angle of the entire device is adjusted by driving the adjusting hydraulic cylinder 2. The yaw device 6 adjusts the planar deflection angle of the overall structure. The mounting plate 604 is rotatably connected to the top plate 601 via a second rotating joint 603. Driving the deflection motor 606 causes the mounting plate 604 to rotate relative to the mounting frame 4, causing the automatic pitch-changing mechanism 7 or the rectangular pitch-changing mechanism 8 to rotate with the top plate 601, thereby causing multiple vibrating rods 11 to deflect. The deflection angle is controlled between 0 and 18 degrees. By controlling the adjusting hydraulic cylinder 2 and the yaw device 6, the yaw angle of the multiple vibrating rods 11 is precisely adjusted to control the angle at which the multiple vibrating rods 11 are inserted into the concrete.

[0025] In a preferred embodiment, the mounting frame 4 is provided with a tilting device 6, which includes a top plate 601, a mounting plate 604 on one side of the top plate 601, a first rotating joint 602 and a second rotating joint 603 on the top plate 601, a deflection motor 606 at the bottom of the first rotating joint 602, a first lead screw 605 at the output shaft end of the deflection motor 606, and the first lead screw 605 is threadedly connected to the lead screw seat 6041 on the mounting plate 604. The lead screw seat 6041 is rotatably connected to the mounting plate 604. Top plate 601 is rotatably connected to deflection motor 606 via first rotating joint 602; The top plate 601 is rotatably connected to the mounting plate 604 via a second rotating joint 603. With this structure, the sway device 6 adjusts the planar deflection angle of the overall structure. The mounting plate 604 is rotatably connected to the top plate 601 via the second rotating joint 603, driving the deflection motor 606 to rotate the mounting plate 604 relative to the mounting frame 4. This causes the automatic pitch-changing mechanism 7 or the rectangular pitch-changing mechanism 8 to rotate with the top plate 601, causing multiple vibrating rods 11 to deflect. The deflection angle is controlled between 0 and 18 degrees. By controlling and adjusting the hydraulic cylinder 2 and the sway device 6, the sway angle of the multiple vibrating rods 11 is precisely adjusted to control the angle at which the multiple vibrating rods 11 are inserted into the concrete.

[0026] In a preferred embodiment, the mounting frame 4 is provided with an automatic pitch-changing mechanism 7. The automatic pitch-changing mechanism 7 includes side plates 701 located at both ends, two guide posts 703 between the two side plates 701, a second lead screw 702 between the two guide posts 703, and a plurality of movable sliders 705 that move at equal intervals on the second lead screw 702. The side plates 701 are connected to the mounting plate 604.

[0027] In a preferred embodiment, an adjusting motor 707 is provided on one of the side plates 701, and the adjusting motor 707 is connected to the second lead screw 702. A nut 706 is provided on one of the movable sliders 705 near the side, and the nut 706 is threadedly connected to the second lead screw 702. A connecting rod group 704 is provided on both sides of the multiple movable sliders 705. The connecting rod group 704 includes multiple connecting rods 7041, which are hinged in sequence. The two ends of the connecting rod group 704 are respectively hinged to the side plate 701 and the movable slider 705 near the side. The connecting rod 7041 is provided with a rotating seat 7042, and the connecting rod 7041 is rotatably connected to the movable slider 705 through the rotating seat 7042. The guide post 703 passes through and slides through the movable slider 705. With this structure, the nut 706 rotates by controlling the adjusting motor 707, causing the first movable slider 705 to slide. When the first movable slider 705 moves, the motion is transmitted through the connecting rod assembly 704, causing the connecting rod assembly 704 to generate continuous pitch-changing motion and drive the other movable sliders 705 to move. To prevent interference and locking of the connecting rod assembly 704 during movement, connecting rod assemblies 704 are installed on both sides, and the parameters are set so that the movement length of the nut 706 is less than the maximum extension length of the connecting rod 7041. The automatic pitch-changing mechanism 7 automatically adjusts the distance between multiple movable sliders 705, ensuring that the multiple movable sliders 705 move the same distance, allowing for precise adjustment of the distance between multiple vibrating rods 11. This avoids missed vibration. Furthermore, by reasonably adjusting the distance between multiple vibrating rods 11, it prevents the vibrating rods 11 from hitting obstacles such as reinforcing bars and tie rods, thereby improving the quality of concrete vibration.

[0028] In the preferred embodiment, the multi-stage telescopic rod 5 comprises, from top to bottom, a head rod 501, multiple intermediate rods 502, and a tail rod 503. The tail rod 503 abuts against the bottommost intermediate rod 502, the lower intermediate rods 502 slide against the uppermost intermediate rods 502, and the topmost intermediate rod 502 abuts against the head rod 501. A connecting seat 5031 is provided on the tail rod 503, and a winch 504 is provided on the head rod 501. The winch 504 is connected to the connecting seat 5031 via a steel wire 505. This structure provides the multi-stage telescopic rod 5 with a certain rigidity, reducing the swaying amplitude of the cable 14. This improves the accuracy of the vibrator 11's positioning. Simultaneously, the multiple vibrators 11 maintain a certain rigidity and do not shift when moving in the concrete, preventing them from tangling together. The slider 5021 is equipped with ball bearings 5022, thereby reducing the friction generated during the extension and retraction of the multi-stage telescopic rod 5.

[0029] In a preferred embodiment, the inner wall of the head rod 501 is provided with multiple first sliding grooves 5011, and the outer wall of the intermediate rod 502 is provided with multiple sliders 5021. The sliders 5021 slide in the first sliding grooves 5011, and the sliders 5021 are provided with ball bearings 5022, which abut against the first sliding grooves 5011. The intermediate rod 502 is provided with second sliding grooves 5023, and the slider of the bottom intermediate rod 502 slides in the upper second sliding groove 5023. With this structure, the sliders abut against the intermediate rods 502 one by one from top to bottom, and the tail rod 503 slides against the bottommost intermediate rod 502.

[0030] In a preferred embodiment, the front drive 9 includes a connecting frame 901, a worm gear 903 on the connecting frame 901, a plurality of drive rods 904 on the worm gear 903, a worm wheel 902 at one end of each drive rod 904, the worm wheel 902 meshing with the worm gear 903, a clamping wheel 905 at the other end of each drive rod 904, a pulley 907 on the connecting frame 901, the pulley 907 and the clamping wheel 905 abutting against the cable 14, the worm gear 903 being connected to the drive motor 908, and a guide wheel 906 on one side of the connecting frame 901. Multiple connecting brackets 901 are mounted on the movable slider 705 or the movable block 804; The rear drive 10 has the same structure as the front drive 9; the number of rear drives 10, front drives 9, and movable sliders 705 or movable blocks 804 are the same and correspond one-to-one. With this structure, when releasing cable 14, the drive motors of the front drive 9 and rear drive 10 rotate forward. The front drive 9, through a worm gear 902 and worm 903 mechanism, transmits force to the drive rod 904 via the worm gear when the entire device feeds cable 14. The drive rod 904 achieves the cable release function through friction with cable 14. When retracting cable 14, the drive motor 908 reverses, and the rear drive 10 and front drive 9 retract cable 14. The front drive 9 and rear drive 10, in conjunction with the meter wheel 13, enable the entire device to precisely control the extension or retraction length of cable 14, allowing for precise measurement of the lowering length of each vibrator 11, thus achieving precise control of the vibration depth.

[0031] In the preferred embodiment, the mounting frame 3 is equipped with a vision device 12 and a meter-counting wheel 13; A low-voltage current is connected to the concrete at the bottom of the vibrator 11. This structure, along with the vision device 12 of the fixing frame 3, ensures accurate insertion of the vibrator 11. The measuring wheel 13 precisely measures the lowering length of each vibrator 11, achieving precise control of the vibration depth. Image recognition is used to pinpoint precise locations, avoiding obstacles such as reinforcing bars. For coarse points, a local coordinate system is established before vibration, setting the origin and positions of each vibration point. This information is transmitted to the PLC control system, which operates the crane 1 to automatically move and locate points. For fine points, image recognition technology is used, with the vision device 12 capturing real-time images of the vibration points and finely adjusting the vibrator position to avoid obstacles such as reinforcing bars and tie rods.

[0032] A low-voltage current is pre-connected to the concrete to be vibrated. When the vibrator 11 comes into contact with the concrete, the low-voltage current can be detected, thereby initiating the descent process of the vibrator 11 without vibration. Vibration only begins after contact with the concrete. The number of turns of the cable 14 is calculated by the meter wheel 13 to control the depth of the vibrator inserted into the concrete.

[0033] Example 2: Further explanation in conjunction with Example 1, such as Figures 5-6 In the preferred embodiment, the mounting frame 4 is provided with a rectangular pitch-changing mechanism 8, which includes a disc 801, a plurality of arc-shaped grooves 802 on the disc 801, a guide rail 803 at the bottom of the disc 801, a guide groove 8031 ​​on the guide rail 803, a moving block 804 on the guide rail 803 that slides against the guide groove 8031, a cylinder 8041 on the moving block 804, the cylinder 8041 abutting against the arc-shaped groove 802, and the disc 801 is connected to the output shaft of the rotating motor 805. Multiple guide rails 803 are mounted on the mounting plate 604. This structure drives a rotary motor 805 to slide multiple moving blocks 804 on the guide rails 803, causing the vibrating rods 11 on the guide rails 803 to move relative to the mounting frame 4. The position of the multiple vibrating rods 11 is adjusted in a rectangular orientation to improve the overall structural flexibility.

[0034] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An automatic vibration compaction device based on a robotic arm, characterized by: Includes a crane (1), the crane (1) is equipped with a mounting frame (4) that can swing at multiple angles, the mounting frame (4) is equipped with a fixed frame (3), the fixed frame (3) is equipped with multiple rear drives (10), the mounting frame (4) is equipped with multiple front drives (9) that can automatically change pitch, the bottom of the front drive (9) is equipped with a multi-stage telescopic rod (5), and the multi-stage telescopic rod (5) is equipped with a vibrating rod (11); The cable (14) passes through the rear drive (10), the front drive (9), the multi-stage telescopic rod (5) and connects to the vibrator (11) in sequence; The mounting bracket (4) is provided with a sway device (6). The sway device (6) includes a top plate (601). A mounting plate (604) is provided on one side of the top plate (601). A first rotating pair (602) and a second rotating pair (603) are provided on the top plate (601). A deflection motor (606) is provided at the bottom of the first rotating pair (602). A first lead screw (605) is provided at the output shaft end of the deflection motor (606). The first lead screw (605) is threadedly connected to the lead screw seat (6041) on the mounting plate (604). The lead screw seat (6041) is rotatably connected to the mounting plate (604). The top plate (601) is rotatably connected to the deflection motor (606) via the first rotating joint (602); The top plate (601) is rotatably connected to the mounting plate (604) via a second rotating joint (603); The mounting bracket (4) is provided with an automatic pitch-changing mechanism (7). The automatic pitch-changing mechanism (7) includes side plates (701) located at both ends. Two guide posts (703) are provided between the two side plates (701). A second lead screw (702) is provided between the two guide posts (703). Multiple movable sliders (705) that move at equal intervals are provided on the second lead screw (702). The side plates (701) are connected to the mounting plate (604). The crane (1) includes a telescopic hydraulic cylinder (101), the lifting arm of the crane (1) is rotatably connected to the fixed frame (3), and the lifting arm of the crane (1) is provided with a hinged adjusting hydraulic cylinder (2), one end of the adjusting hydraulic cylinder (2) is rotatably connected to the fixed frame (3). The multi-stage telescopic pole (5) includes a head pole (501), multiple intermediate poles (502) and a tail pole (503) from top to bottom; the tail pole (503) abuts against the bottom intermediate pole (502), the lower intermediate poles (502) slide against the upper intermediate poles (502) in sequence, and the uppermost intermediate pole (502) abuts against the head pole (501). The tail pole (503) is provided with a connecting seat (5031), and the head pole (501) is provided with a winch (504). The winch (504) is connected to the connecting seat (5031) through a steel wire (505). One of the side plates (701) is equipped with an adjustment motor (707), which is connected to the second lead screw (702). A nut (706) is provided on one of the movable sliders (705) near the side. The nut (706) is threadedly connected to the second lead screw (702). Multiple movable sliders (705) are provided with connecting rod groups (704) on both sides. The connecting rod group (704) includes multiple connecting rods (7041). The multiple connecting rods (7041) are hinged in sequence. The two ends of the connecting rod group (704) are respectively hinged to the side plate (701) and the movable slider (705) near the side. The connecting rod (7041) is provided with a rotating seat (7042). The connecting rod (7041) is rotatably connected to the movable slider (705) through the rotating seat (7042). The guide post (703) passes through the movable slider (705) and is slidably connected to it; The inner wall of the head rod (501) is provided with multiple first sliding grooves (5011), and the outer wall of the middle rod (502) is provided with multiple sliders (5021). The sliders (5021) slide in the first sliding grooves (5011), and the sliders (5021) are provided with balls (5022). The balls (5022) abut against the first sliding grooves (5011). The middle rod (502) is provided with a second sliding groove (5023), and the slider of the bottom middle rod (502) slides in the upper second sliding groove (5023). The fixed frame (3) is equipped with a vision device (12) and a meter wheel (13); Low-voltage current is connected to the concrete at the bottom of the vibrator (11).

2. The automatic vibration device based on a robotic arm according to claim 1, characterized in that: The mounting bracket (4) is provided with a rectangular pitch mechanism (8). The rectangular pitch mechanism (8) includes a disc (801). The disc (801) is provided with multiple arc grooves (802). The bottom of the disc (801) is provided with a guide rail (803). The guide rail (803) is provided with a guide groove (8031). The guide rail (803) is provided with a moving block (804) that slides against the guide groove (8031). The moving block (804) is provided with a cylinder (8041). The cylinder (8041) abuts against the arc groove (802). The disc (801) is connected to the output shaft of the rotating motor (805). Multiple guide rails (803) are mounted on the mounting plate (604).

3. The automatic vibration device based on a robotic arm according to claim 2, characterized in that: The front drive (9) includes a connecting frame (901), a worm gear (903) is provided on the connecting frame (901), a plurality of drive rods (904) are provided on the worm gear (903), a worm wheel (902) is provided at one end of the drive rod (904), the worm wheel (902) meshes with the worm gear (903), a clamping wheel (905) is provided at the other end of the drive rod (904), a pulley (907) is provided on the connecting frame (901), the pulley (907) and the clamping wheel (905) abut against the cable (14), the worm gear (903) is connected to the drive motor (908), and a guide wheel (906) is provided on one side of the connecting frame (901). Multiple connecting brackets (901) are mounted on the movable slider (705) or the movable block (804); The rear drive (10) has the same structure as the front drive (9); the number of rear drive (10), front drive (9) and moving slider (705) or moving block (804) are the same and correspond one-to-one.

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