An intelligent vibrating robot

Abstract

The present invention discloses an intelligent vibrating robot, comprising: a chassis bracket, walking wheel groups are arranged on both sides of the chassis bracket, an insertion seat is arranged on the chassis bracket, and an insertion opening is formed on the insertion seat; a vibrating arm is arranged on the chassis bracket, a first winding device is installed on the vibrating arm, a first cable is wound on the first winding device, the first cable is arranged along the length direction of the vibrating arm, a guiding mechanism is arranged at the front end of the vibrating arm, the first cable hangs down by bypassing the guiding mechanism at the front end of the vibrating arm, one end of the first cable hanging down is connected to the first vibrating rod, and the core wire of the first cable is electrically conductive with the vibration generating device inside the first vibrating rod. The present invention can realize full-area vibration, and at the same time can ensure the quality of vibration and meet the needs of various vibration environments.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration equipment, and in particular to an intelligent vibration robot. Background Art

[0002] A Chinese patent with patent publication number CN217205400U discloses a retractable vibrating robot arm, which is provided with a retracting device. One end of a hose is connected to a vibrating rod, which is suspended on the vibrating robot arm, and the hose is retracted on the retracting device. The vibrating rod is driven up and down by the retraction and extension of the retracting device. However, the vibrating robot arm needs to be fixedly installed in a designated position, and it can only vibrate the area within the range of movement of the vibrating robot arm. Moreover, during the vibration process, the depth of vibration and the time of vibration need to rely on the operator's experience to make judgments. It cannot achieve all-terrain vibration, and the quality of its vibration cannot be guaranteed. Summary of the Invention

[0003] The present invention provides an intelligent vibrating robot, which can realize full-area vibration, ensure the quality of vibration and meet the needs of various vibration environments.

[0004] In order to solve the above technical problems, the present invention provides an intelligent vibrating robot, comprising:

[0005] A chassis bracket, wherein walking wheel sets are provided on both sides of the chassis bracket, an insertion seat is provided on the chassis bracket, and an insertion opening is formed on the insertion seat;

[0006] A vibrating arm is provided on the chassis bracket, and a first retracting device is installed on the vibrating arm. A first cable is wound on the first retracting device, and the first cable is arranged along the length direction of the vibrating arm. A guide mechanism is provided at the front end of the vibrating arm. The first cable passes over the guide mechanism at the front end of the vibrating arm and hangs down. One end of the hanging first cable is connected to the first vibrating rod, and the core wire of the first cable is electrically connected to the vibration generating device inside the first vibrating rod;

[0007] a second retracting device, disposed on the chassis bracket, with a second cable wound on the second retracting device, the second cable being connected to a second vibrating rod, and a core wire of the second cable being electrically connected to a vibration generating device inside the second vibrating rod, the second vibrating rod being inserted into the insertion opening;

[0008] A control system is used to control the walking speed of the walking wheel group. The control system is also used to control the unwinding length of the first winding device based on the vibration depth, and to control the vibration time of the first vibrating rod based on the vibration depth.

[0009] As a preferred embodiment of the above technical solution, the control system is further used to control the unwinding speed of the second winding device based on the walking speed of the walking wheel group.

[0010] As a preferred embodiment of the above technical solution, a lifting mechanism is provided on the chassis bracket, the lifting mechanism is connected to the vibrating arm, and the lifting mechanism is used to drive the vibrating arm so that the front end of the vibrating arm is lifted upward relative to the rear end.

[0011] As a preferred embodiment of the above technical solution, the lifting mechanism is connected to the rear end of the vibrating arm.

[0012] As a preferred embodiment of the above technical solution, the lifting mechanism includes a first articulated seat, a second articulated seat, a driving assembly, a first articulated arm, a second articulated arm and a third articulated arm. The first articulated seat and the second articulated seat are fixed on the chassis bracket, and there is a set distance between the first articulated seat and the second articulated seat. The first articulated seat is close to the vibrating arm, and the second articulated seat is far away from the vibrating arm. The two ends of the second articulated arm are respectively hinged to the first articulated arm and the third articulated arm. The first articulated arm is hinged to the upper end of the second articulated seat, and the third articulated arm is hinged to the upper end of the first articulated seat. The cylinder body of the driving assembly is hinged to the second articulated seat, the piston rod of the driving assembly is hinged to the middle part of the second articulated arm, the second articulated arm is fixedly connected to the connecting arm, and the connecting arm is fixedly connected to the rear end of the vibrating arm.

[0013] As a preferred embodiment of the above technical solution, the walking wheel group includes a first bracket, a second bracket, a first walking wheel and a second walking wheel, the first bracket is hingedly connected to the second bracket, the second bracket is fixedly connected to the chassis bracket, the first walking wheel is rotatably installed on the first bracket, and the second walking wheel is rotatably installed on the second bracket.

[0014] As a preferred embodiment of the above technical solution, the intelligent vibration robot also includes a first connecting rod and a second connecting rod, the upper end of the first connecting rod is hinged to the chassis bracket, the first connecting rod and the second connecting rod are hingedly connected, and the lower end of the second connecting rod is hinged to the first bracket.

[0015] As a preferred embodiment of the above technical solution, the walking wheel group further includes a walking drive device, which is connected to the first walking wheel or the second walking wheel, and is used to drive the first walking wheel or the second walking wheel to rotate.

[0016] As a preferred embodiment of the above technical solution, a first limiting mechanism is provided below the vibrating arm, and the first limiting mechanism includes a limiting plate, and a limiting through-hole is formed on the limiting plate for the first vibrating rod to pass through. A limiting roller is rotatably provided on the limiting plate, and the circumferential surface of the limiting roller can contact the outer wall of the first vibrating rod.

[0017] As a preferred embodiment of the above technical solution, a second limiting mechanism is further provided on the vibrating arm, and the second limiting mechanism is used to limit the rising height of the first vibrating rod.

[0018] The present invention provides an intelligent vibrating robot, which includes a chassis bracket, a vibrating arm, a second retracting device and a control system. The vibrating arm is arranged on the chassis bracket, and walking wheel groups are arranged on both sides of the chassis bracket. When working, the walking wheel group is controlled by the control system to move to a specified position, and then the control system controls the first retracting device on the vibrating arm to unwind, so that the first vibrating rod is lowered and inserted into the concrete, and the control system controls the start of the vibration generating device inside the first vibrating rod. After the vibration set time, the control system controls the first retracting device to rewind so that the first vibrating rod is separated from the concrete, and then it can be moved to the next position to repeat the above process for vibrating, so it can vibrate the entire area. In addition, when it is impossible to use the lifting method In the case of vibration, if it is necessary to insert the vibration obliquely, the second vibrating rod can be manually taken for vibration, which can vibrate various vibration environments. In addition, the control system is also used to control the unwinding length of the first reeling device based on the vibration depth, and control the vibration time of the first vibrating rod based on the vibration depth, which can ensure the consistency of vibration and the quality of vibration. Specifically, in the prior art, whether the bubbles in the concrete are completely discharged during the vibration process needs to be judged based on the workers' experience, and it is impossible to achieve the vibration quality of each vibration depth. The present invention uses a control system and sets a specific vibration time based on different vibration depths to ensure the vibration quality and prevent the occurrence of inconsistent vibration quality in different vibration areas.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of an intelligent vibrating robot according to an embodiment of the present invention is shown;

[0021] Figure 2 A schematic diagram of the connection structure between the vibrating arm and the lifting mechanism in an embodiment of the present invention is shown;

[0022] Figure 3 A schematic diagram of the three-dimensional structure of the lifting mechanism in an embodiment of the present invention is shown;

[0023] Figure 4 A schematic diagram of the connection structure between the chassis bracket and the running wheel assembly in an embodiment of the present invention is shown;

[0024] Figure 5 It shows a schematic diagram of the connection structure between the chassis bracket and the running wheel assembly at another angle in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the three-dimensional structure of the traveling wheel assembly in an embodiment of the present invention is shown;

[0026] Figure 7 A schematic diagram of the connection structure between the first bracket and the second bracket in an embodiment of the present invention is shown;

[0027] Figure 8 A schematic diagram of the connection structure between the vibrating arm and the first vibrating rod in an embodiment of the present invention is shown;

[0028] Figure 9 A schematic diagram of the connection structure between the first limiting mechanism and the connecting bracket in an embodiment of the present invention is shown;

[0029] Figure 10 FIG2 shows a schematic diagram of the three-dimensional structure of the first limiting mechanism in an embodiment of the present invention;

[0030] Figure 11 A schematic diagram showing the three-dimensional structure of the connecting bracket in an embodiment of the present invention is shown

[0031] In the figure: 10, vibrating arm; 20, second limiting mechanism; 30, first cable; 40, first vibrating rod; 50, first limiting mechanism; 60, connecting bracket; 70, guide mechanism; 201, gravity block; 202, gravity sensing component; 501, limiting plate; 502, mounting block; 503, limiting roller; 504, limiting perforation; 505, bending plate; 506, second bending ear; 507, first mounting hole; 508, second mounting hole; 509, first bending ear; 601, connecting plate; 602, first extension plate; 603, second extension plate; 604, first waist-shaped hole; 605, second waist-shaped hole; 80, chassis bracket; 90, walking wheel group; 801, mounting rod body ;802, fixed bracket;803, first connecting rod;804, second connecting rod;901, first walking wheel;902, second walking wheel;903, first bracket;904, second bracket;905, second closing plate;906, first closing plate;907, connecting guard plate;908, first rotating shaft;909, second rotating shaft;910, walking drive device;100, second winding device;110, first winding device;120, insertion seat;130, lifting mechanism;1201, insertion opening;131, first articulated seat;132, connecting arm;133, second articulated arm;134, first articulated arm;135, driving assembly;136, second articulated seat;137, third articulated arm. DETAILED DESCRIPTION

[0032] In order to make the purposes, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0033] See also Figures 1 to 11 , an embodiment of the present invention provides an intelligent vibrating robot, comprising:

[0034] A chassis bracket 80, with walking wheel sets 90 provided on both sides of the chassis bracket 80, an insertion seat 120 provided on the chassis bracket 80, and an insertion opening 1201 formed on the insertion seat 120;

[0035] The vibrating arm 10 is mounted on the chassis bracket 80. A first retracting device 110 is mounted on the vibrating arm 10. A first cable 30 is wound around the first retracting device 110. The first cable 30 is arranged along the length of the vibrating arm 10. A guide mechanism 70 is provided at the front end of the vibrating arm 10. The first cable 30 passes over the guide mechanism 70 at the front end of the vibrating arm 10 and hangs down. One end of the hanging first cable 30 is connected to the first vibrating rod 40. The core wire of the first cable 30 is electrically connected to the vibration generating device inside the first vibrating rod 40.

[0036] A second retracting device 100 is mounted on the chassis bracket 80 . A second cable (not shown) is wound around the second retracting device 100 . The second cable is connected to a second vibrating rod (not shown). The core wire of the second cable is electrically connected to a vibration generating device within the second vibrating rod. The second vibrating rod is inserted into the insertion opening 1201 .

[0037] The control system is used to control the walking speed of the walking wheel group 90. The control system is also used to control the unwinding length of the first reeling device 110 based on the vibration depth, and control the vibration time of the first vibrating rod 40 based on the vibration depth.

[0038] The present embodiment provides an intelligent vibrating robot, which includes a chassis bracket 80, a vibrating arm 10, a second retracting device 100 and a control system. The vibrating arm 10 is arranged on the chassis bracket 80, and walking wheel groups 90 are arranged on both sides of the chassis bracket 80. When working, the control system controls the walking wheel group 90 to move to a specified position, and then controls the first retracting device 110 on the vibrating arm 10 to unwind, so that the first vibrating rod 40 is lowered and inserted into the concrete, and the control system controls the start of the vibration generating device inside the first vibrating rod 40. After the vibration setting time, the control system controls the first retracting device 110 to rewind so that the first vibrating rod 40 is separated from the concrete, and then it can move to the next position to repeat the above process for vibration, so it can vibrate the entire area. In addition, when encountering a situation where it is impossible to use lifting vibration, such as when oblique insertion is required for vibration, the second vibrating rod can be manually taken for vibration, which can vibrate various vibration environments. In addition, the control system is also used to control the unwinding length of the first reeling device 110 based on the vibration depth, and control the vibration time of the first vibrating rod 40 based on the vibration depth, which can ensure the consistency of vibration and the quality of vibration. Specifically, in the prior art, whether the bubbles in the concrete are discharged cleanly during the vibration process needs to be judged based on the workers' experience, and it is impossible to achieve the vibration quality of each vibration depth. The present invention uses a control system and sets a specific vibration time based on different vibration depths to ensure the vibration quality and prevent the occurrence of inconsistent vibration quality in different vibration areas.

[0039] In this embodiment, the second vibrator is inserted into the insertion seat 120 when not in use, and is removed from the insertion seat 120 when needed. The first retracting device 110 and the second retracting device 100 in this embodiment can both be driven by clicking and rotating to achieve reeling. In addition, the chassis bracket 80 in this embodiment is also provided with a power supply, which supplies power to each mechanism, mainly to the control system, the walking wheel group 90, the first vibrator 40, the second vibrator and the first retracting device 110 and the second retracting device 100 installed on the arm 10.

[0040] In this embodiment, the vibration time of the first vibrating rod 40 is controlled by, for example, the first reeling device 110 reels the first vibrating rod 40 out of the concrete after the set vibration time.

[0041] In a further feasible embodiment of this embodiment, the control system is further configured to control the unwinding speed of the second reeling device 100 based on the traveling speed of the traveling wheel assembly 90 .

[0042] In this embodiment, the unwinding speed of the second rewinding device 100 is controlled based on the walking speed of the walking wheel group 90, which can improve work efficiency and increase the vibration area. Specifically, when the second vibrating rod is manually vibrating, the control system can control the walking wheel group 90 to move to the area where the vibrating arm 10 can vibrate for automatic vibration, which can prevent the operation of the second vibrating rod from being affected by the movement of the walking wheel group 90. Specifically, the walking wheel group 90 moves at a set speed while the second rewinding device 100 is unwinding.

[0043] In a further embodiment of the present invention, a lifting mechanism 130 is provided on the chassis bracket 80 , and the lifting mechanism 130 is connected to the vibrating arm 10 . The lifting mechanism 130 is used to drive the vibrating arm 10 so that the front end of the vibrating arm 10 is lifted upward relative to the rear end.

[0044] In this embodiment, when encountering an obstacle, the lifting mechanism 130 can drive the front end of the vibrating arm 10 to lift upward to cross the obstacle for vibration.

[0045] In a further embodiment of the present invention, the lifting mechanism 130 is connected to the rear end of the vibrating arm 10 .

[0046] In a further embodiment of the present embodiment, the lifting mechanism 130 includes a first articulated seat 131, a second articulated seat 136, a driving assembly 135, a first articulated arm 134, a second articulated arm 133 and a third articulated arm 137. The first articulated seat 131 and the second articulated seat 136 are fixed on the chassis bracket 80, and there is a set distance between the first articulated seat 131 and the second articulated seat 136. The first articulated seat 131 is close to the vibrating arm 10, the second articulated seat 136 is away from the vibrating arm 10, and the third articulated arm 137 is fixed on the chassis bracket 80. The two ends of the second articulated arm 133 are respectively articulated to the first articulated arm 134 and the third articulated arm 137, the first articulated arm 134 is articulated to the upper end of the second articulated seat 136, the third articulated arm 137 is articulated to the upper end of the first articulated seat 131, the cylinder body of the driving assembly 135 is articulated to the second articulated seat 136, the piston rod of the driving assembly 135 is articulated to the middle part of the second articulated arm 133, the second articulated arm 133 is fixedly connected to the connecting arm 132, and the connecting arm 132 is fixedly connected to the rear end of the vibrating arm 10.

[0047] The connection between the connecting arm 132 and the rear end of the vibrating arm 10 and the specific structure of the lifting mechanism 130 in this embodiment can achieve a larger angle of lifting of the front end of the vibrating arm 10 when the driving component 135 moves less. Specifically, since the vibrating arm 10 is vertically suspended at the front end of the vibrating arm 10, it needs to be lifted to a greater height when crossing an obstacle.

[0048] The walking wheel group 90 is arranged on both sides of the chassis bracket 80. The walking wheel group 90 includes a first bracket 903, a second bracket 904, a first walking wheel 901 and a second walking wheel 902. The first bracket 903 is hingedly connected to the second bracket 904, and the second bracket 904 is fixedly connected to the chassis bracket 80. The first walking wheel 901 is rotatably installed on the first bracket 903, and the second walking wheel 902 is rotatably installed on the second bracket 904.

[0049] The vibrating mechanism in this embodiment is installed on the chassis bracket 80, and the walking wheel group 90 is arranged on both sides of the walking wheel group 90. In the prior art, due to the size limitation of the walking wheel, it cannot climb over when encountering stairs. A walking mechanism for vibrating when it is walking, since the first bracket 903 and the second bracket 904 are hingedly connected, the first walking wheel 901 is rotatably installed on the first bracket 903, and the second walking wheel 902 is rotatably installed on the second bracket 904. When encountering stairs, the first walking wheel 901 first contacts the step, and the first bracket 903 rotates relative to the second bracket 904 so that the first walking wheel 901 can climb up the step. In addition, when it walks on uneven ground, it can maintain the stability of the chassis bracket 80 to prevent it from overturning when walking.

[0050] The chassis bracket 80 in this embodiment has a downwardly extending fixing bracket 802 , and the second bracket 904 is fixed on the fixing bracket 802 .

[0051] In a further feasible embodiment of this embodiment, the intelligent vibrating robot also includes a first link 803 and a second link 804, the upper end of the first link 803 is hinged to the chassis bracket 80, the first link 803 and the second link 804 are hingedly connected, and the lower end of the second link 804 is hinged to the first bracket 903.

[0052] In this embodiment, the first bracket 903 is connected to the chassis bracket 80 via the first connecting rod 803 and the second connecting rod 804 , which makes the connection and rotation of the first bracket 903 more stable.

[0053] In a further embodiment of the present invention, the first bracket 903 is located in front of the second bracket 904 .

[0054] In this embodiment, the first bracket 903 is located in front of the second bracket 904, and when it moves, it can make the first running wheel 901 contact with the obstacle.

[0055] In a further embodiment of this embodiment, the walking wheel group 90 also includes a walking drive device 910, which is connected to the first walking wheel 901 or the second walking wheel 902, and the walking drive device 910 is used to drive the first walking wheel 901 or the second walking wheel 902 to rotate.

[0056] In this embodiment, the travel drive device 910 drives the first travel wheel 901 or the second travel wheel 902 to rotate, thereby driving the travel mechanism to move.

[0057] In a further feasible embodiment of this embodiment, there are multiple second walking wheels 902, and the multiple second walking wheels 902 are all rotatably mounted on the second bracket 904. The multiple second walking wheels 902 are distributed along the length direction of the second bracket 904. A walking drive device 910 is provided on the second bracket 904. The walking drive device 910 is connected to any second walking wheel 902, and the multiple second walking wheels 902 are connected through a linkage mechanism.

[0058] In this embodiment, there are multiple second walking wheels 902, which can make walking more stable. In addition, it can also have greater grip and driving force, making it easier to climb stairs.

[0059] In a further embodiment of the present invention, the first running wheel 901 and the second running wheel 902 are rubber tires.

[0060] In this embodiment, the first running wheel 901 and the second running wheel 902 are rubber tires, and friction patterns are formed on the rubber tires, which can further provide greater grip and further facilitate climbing stairs.

[0061] In a further embodiment of this embodiment, the first bracket 903 and the second bracket 904 are square cylindrical structures, and there is a accommodating space inside the first bracket 903 and the second bracket 904. The first walking wheel 901 is connected to the first rotating shaft 908, and the second walking wheel 902 is connected to the second rotating shaft 909. The linkage mechanism is arranged in the accommodating space inside the second bracket 904, and the second rotating shaft 909 extends into the accommodating space inside the second bracket 904 and is connected to the linkage mechanism (not shown in the figure), and the first rotating shaft 908 extends into the accommodating space inside the first bracket 903 and forms a rotating connection with the first bracket 903.

[0062] The first bracket 903 and the second bracket 904 in this embodiment are square cylindrical structures, which can facilitate the installation of auxiliary mechanisms and can protect each mechanism. Specifically, the linkage mechanism in this embodiment can be a pulley mechanism or a chain mechanism, etc. In addition, the accommodating space inside the first bracket 903 can be provided with a mounting seat, and the first rotating shaft 908 is rotatably installed on the mounting seat.

[0063] In a further embodiment of this embodiment, a connecting guard plate 907 protruding toward the second bracket 904 is provided at the rear end opening of the first bracket 903, the front end of the second bracket 904 is located on the inner side of the second bracket 904, and the second bracket 904 is hinged to the connecting guard plate 907.

[0064] In a further feasible embodiment of this embodiment, a first sealing plate 906 is provided at the front end opening of the first bracket 903, and the first sealing plate 906 closes the front end opening of the first bracket 903, and a second sealing plate 905 is provided at the rear end opening of the second bracket 904, and the second sealing plate 905 closes the rear end opening of the second bracket 904.

[0065] In a further embodiment of the present invention, the chassis bracket 80 at least includes a mounting rod 801 . The mounting rod 801 is provided on both sides of the chassis bracket 80 . The upper end of the first connecting rod 803 is hinged to the mounting rod 801 .

[0066] The first limiting mechanism 50 is arranged below the vibrating arm 10. The first limiting mechanism 50 includes a limiting plate 501. The limiting plate 501 is formed with a limiting through-hole 504 for the first vibrating rod 40 to pass through. A limiting roller 503 is rotatably provided on the limiting plate 501. The circumferential surface of the limiting roller 503 can contact the outer wall of the first vibrating rod 40.

[0067] In this embodiment, the vibrating arm 10 is provided with a first vibrating rod 40 that can rise and fall. When working, the first vibrating rod 40 is lowered and inserted into the concrete. After the vibration is completed, the first vibrating rod 40 rises to a set height and leaves the concrete. Since a first limiting mechanism 50 is provided below the vibrating arm 10, the first limiting mechanism 50 includes a limiting plate 501, and the first vibrating rod 40 passes through the limiting through-hole 504 of the limiting through-hole 504, and the outer side of the limiting through-hole 504 is rotated. A limiting roller 503 is movably set. When the first vibrating rod 40 rises to the set height, the first vibrating rod 40 is just passed through the limiting through-hole 504. The limiting roller 503 contacts the outer wall of the first vibrating rod 40. When the first vibrating rod 40 moves in the limiting through-hole 504, the limiting roller 503 rotates along with the first vibrating rod 40. Since the limiting roller 503 contacts the first vibrating rod 40, it can effectively prevent the first vibrating rod 40 from shaking during the movement of the vibrating arm.

[0068] Specifically, the limiting through-hole 504 in this embodiment is a circular hole, and the limiting roller 503 protrudes above the limiting through-hole 504 so that when the first vibrating rod 40 extends into the limiting through-hole 504 , the limiting roller 503 contacts the first vibrating rod 40 .

[0069] In a further possible implementation of this embodiment, there are multiple limiting rollers 503 , and the multiple limiting rollers 503 are distributed in a circular array around the center of the limiting through-hole 504 .

[0070] The plurality of limiting rollers 503 in this embodiment can clamp the first vibrating rod 40 at a middle position from multiple directions, which can make the first vibrating rod 40 more stable when moving.

[0071] In a further possible implementation of this embodiment, a mounting block 502 is fixedly provided on the limiting plate 501 , and the limiting roller 503 is rotatably mounted on the mounting block 502 .

[0072] In a further embodiment of the present invention, the outer surface of the limiting roller 503 is an inwardly concave arc surface.

[0073] The outer surface of the limiting roller 503 in this embodiment can better cooperate with the first vibrating rod 40.

[0074] In a further feasible embodiment of the present invention, a second limiting mechanism 20 is further provided on the vibrating arm 10 , and the second limiting mechanism 20 is used to limit the rising height of the first vibrating rod 40 .

[0075] In a further feasible embodiment of this embodiment, the first vibrating rod 40 is connected to the first cable 30, and a first retracting device 110 is provided on the vibrating arm 10. The first retracting device 110 is used to drive the first cable 30 to make the first vibrating rod 40 rise and fall. The second limiting mechanism 20 includes a gravity block 201 and a gravity sensing component 202. The gravity sensing component 202 is fixed to the vibrating arm 10, and the gravity block 201 is connected to the sensing component. A cable through-hole is provided on the gravity block 201, and the first cable 30 passes through the cable through-hole.

[0076] In a further possible implementation of this embodiment, the gravity block 201 is connected to the sensing head of the gravity sensing component 202 via a connecting rope (not shown in the figure).

[0077] The first cable 30 in this embodiment can power the vibration generating device inside the first vibrating rod 40. The diameter of the first vibrating rod 40 in this embodiment is larger than the diameter of the first cable 30. The diameter of the cable through-hole is larger than the diameter of the first cable 30, so that the first cable 30 can move in the cable through-hole, while the diameter of the cable through-hole is smaller than the diameter of the first vibrating rod 40, so that the first vibrating rod 40 cannot pass through the cable through-hole.

[0078] In this embodiment, when it is working, the first cable drives the first vibrating rod 40 to rise. When the first vibrating rod 40 contacts the gravity block 201, it can drive the gravity block 201 upward so that the tension on the connecting rope disappears, and the gravity sensing component 202 no longer senses the weight of the gravity block 201. The gravity sensing component 202 can control the closure of the first retracting device 110 to make the first vibrating rod 40 stay at the set height, and it is just passed through the limiting through-hole 504.

[0079] In a further embodiment of the present invention, the limiting plate 501 is connected to the vibrating arm 10 via a connecting bracket 60 .

[0080] In a further feasible embodiment of this embodiment, the connecting bracket 60 includes a first extension plate 602, a second extension plate 603 and a connecting flat plate 601, the lower ends of the first extension plate 602 and the second extension plate 603 are respectively connected to the two ends of the connecting flat plate 601, the upper surface of the connecting flat plate 601 contacts the lower surface of the limiting plate 501, the connecting flat plate 601 and the limiting plate 501 are fixed by fasteners, and the upper ends of the first extension plate 602 and the second extension plate 603 are fixed to the vibrating arm 10 by fasteners.

[0081] In a further embodiment of this embodiment, a bending plate 505 that is bent vertically upward is formed at the rear end of the limiting plate 501, and a first bending ear 509 and a second bending ear 506 that are bent vertically forward are formed on both sides of the bending plate 505. The first extension plate 602 and the second extension plate 603 are respectively provided with a first waist-shaped hole 604 and a second waist-shaped hole 605 extending along their length direction, a first mounting hole 507 is provided on the first bending ear 509, and a second mounting hole 508 is provided on the second bending ear 506. The outer surface of the first bending ear 509 contacts the inner surface of the first extension plate 602, fasteners are provided in the first mounting hole 507 and the first waist-shaped hole 604, and fasteners are provided in the second mounting hole 508 and the second waist-shaped hole 605.

[0082] In this embodiment, a guide mechanism 70 is further provided at the front end of the vibrating arm 10 , and the first cable 30 is connected to the guide mechanism 70 . The guide mechanism 70 enables the first cable 30 to move in a preset direction.

[0083] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless otherwise inconsistent.

[0084] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An intelligent vibrating robot, characterized in that: include: A chassis bracket, wherein both sides of the chassis bracket are provided with walking wheel groups, and an insertion seat is provided on the chassis bracket, and an insertion opening is formed on the insertion seat; A vibrating arm is arranged on the chassis bracket, a first retracting device is installed on the vibrating arm, a first cable is wound on the first retracting device, the first cable is arranged along the length direction of the vibrating arm, a guide mechanism is arranged at the front end of the vibrating arm, the first cable bypasses the guide mechanism at the front end of the vibrating arm and hangs down, one end of the first cable hanging down is connected to the first vibrating rod, and the core wire of the first cable is electrically connected to the vibration generating device inside the first vibrating rod; A second winding device is arranged on the chassis bracket, a second cable is wound on the second winding device, the second cable is connected to a second vibrating rod, and a core wire of the second cable is electrically connected to a vibration generating device inside the second vibrating rod, and the second vibrating rod is inserted into the insertion opening; A control system, the control system is used to control the travel speed of the travel wheel set, the control system is also used to control the unwinding length of the first reeling device based on the vibration depth, and control the vibration time of the first vibrating rod based on the vibration depth; The control system is also used to control the unwinding speed of the second winding device based on the traveling speed of the traveling wheel set.

2. The intelligent vibrating robot according to claim 1, characterized in that: The chassis bracket is provided with a lifting mechanism, the lifting mechanism is connected to the vibrating arm, and the lifting mechanism is used to drive the vibrating arm so that the front end of the vibrating arm is lifted upward relative to the rear end.

3. The intelligent vibrating robot according to claim 2, characterized in that: The lifting mechanism is connected to the rear end of the vibrating arm.

4. The intelligent vibrating robot according to claim 3, characterized in that: The lifting mechanism includes a first articulated seat, a second articulated seat, a driving assembly, a first articulated arm, a second articulated arm and a third articulated arm. The first articulated seat and the second articulated seat are fixed on the chassis bracket, and there is a set distance between the first articulated seat and the second articulated seat. The first articulated seat is close to the vibrating arm, and the second articulated seat is far away from the vibrating arm. Both ends of the second articulated arm are respectively articulated to the first articulated arm and the third articulated arm. The first articulated arm is articulated to the upper end of the second articulated seat, and the third articulated arm is articulated to the upper end of the first articulated seat. The cylinder body of the driving assembly is articulated to the second articulated seat, and the piston rod of the driving assembly is articulated to the middle part of the second articulated arm. The second articulated arm is fixedly connected to the connecting arm, and the connecting arm is fixedly connected to the rear end of the vibrating arm.

5. The intelligent vibrating robot according to claim 1, characterized in that: The walking wheel group includes a first bracket, a second bracket, a first walking wheel and a second walking wheel, the first bracket is hingedly connected to the second bracket, the second bracket is fixedly connected to the chassis bracket, the first walking wheel is rotatably mounted on the first bracket, and the second walking wheel is rotatably mounted on the second bracket.

6. The intelligent vibrating robot according to claim 5, characterized in that: The intelligent vibrating robot also includes a first connecting rod and a second connecting rod, the upper end of the first connecting rod is hinged to the chassis bracket, the first connecting rod and the second connecting rod are hingedly connected, and the lower end of the second connecting rod is hinged to the first bracket.

7. The intelligent vibrating robot according to claim 6, characterized in that: The walking wheel group also includes a walking drive device, which is connected to the first walking wheel or the second walking wheel, and is used to drive the first walking wheel or the second walking wheel to rotate.

8. The intelligent vibrating robot according to claim 1, characterized in that: A first limiting mechanism is arranged below the vibrating arm, and the first limiting mechanism includes a limiting plate, and a limiting through-hole is formed on the limiting plate for the first vibrating rod to pass through. A limiting roller is rotatably arranged on the limiting plate, and the circumferential surface of the limiting roller can contact the outer wall of the first vibrating rod.

9. The intelligent vibrating robot according to claim 8, characterized in that: The vibrating arm is also provided with a second limiting mechanism, and the second limiting mechanism is used to limit the rising height of the first vibrating rod.

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