A prefabricated intelligent concrete cast-in-place paver for floor decking

Abstract

This invention provides a prefabricated intelligent concrete paving machine for cast-in-place floor decking, comprising: a vertical linear movable track with a single degree of freedom in the X or Y direction, arranged parallel to the desired paving direction, maintaining a certain normal gap (i.e., a Z-direction gap) with the floor decking surface, and a limiting flange at the top of the track for connecting a moving trolley. The movable track provides the intelligent paver with a unidirectional movement direction along the paving direction. Applying this technical solution can realize intelligent casting in floor decking construction, thereby ensuring construction safety.

Description

Technical Field

[0001] This invention relates to the field of civil engineering construction equipment technology, and in particular to a prefabricated intelligent concrete paving machine for cast-in-place floor slabs. Background Technology

[0002] The prefabricated concrete slab casting-in-place intelligent paver is a new type of composite structural system composed of steel structure and electronic components, possessing a series of advantages such as lightweight and high strength, fire resistance, earthquake resistance, and low carbon footprint. Therefore, this new paver is suitable for various construction fields, including cast-in-place concrete structures, steel structure buildings, and precast concrete wall panel components.

[0003] Floor decking is a concrete slab integrated with reinforcing steel bars and formwork to form a load-bearing component that can withstand the self-weight of wet concrete and construction loads during construction, and also serves as lateral support for steel beams. During service, the steel truss works together with the concrete to bear the service load. In ordinary cast-in-place floor decking technology, there is basically no deflection during construction due to the lower formwork. However, after the concrete reaches a certain strength and the formwork is removed, the floor slab deflects under its own weight, causing tensile stress and even cracks in the bottom concrete. Furthermore, under current construction technology, floor decking concrete pouring is generally done manually, with concrete falling directly from the pouring pipe onto the floor decking, and then spread evenly by construction workers. This can easily lead to excessive load due to concentrated concrete accumulation, causing bending or damage to the floor decking. In addition, the above construction process requires multiple workers, and due to various on-site influencing factors, the pouring and spreading work is large, therefore, the floor decking pouring and spreading period is generally quite long.

[0004] Regarding the problem of excessive load caused by concentrated concrete loading in the aforementioned construction projects, leading to bending or damage to the floor decking, there is currently no mature and efficient solution available domestically or internationally. Furthermore, existing construction equipment cannot guarantee stable and efficient completion of the project due to the large scale and long construction time. Additionally, no new concrete pouring and spreading technology for floor decking has been invented in China. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an intelligent concrete paving machine for prefabricated floor decking, so as to realize intelligent pouring in the construction of floor decking and thus ensure construction safety.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a prefabricated intelligent concrete paving machine for cast-in-place floor slabs, comprising:

[0007] The vertical linear movable track has a single degree of freedom in the X or Y direction, is arranged parallel to the required paving direction, maintains a certain normal gap with the floor deck surface, i.e., the Z-direction gap, and has a limiting flange at the top of the track for connecting the moving trolley. The movable track provides the intelligent paver with a unidirectional movement direction along the paving direction.

[0008] The dual-lens camera is installed on the intelligent paver to capture images of the construction site in real time and upload the captured data to the central control system in real time. After the central control system issues an electrical control command, the intelligent paver receives the electrical control command and provides necessary warnings to ensure the safe operation of the intelligent paver.

[0009] The central control system, installed on the intelligent paver, is used to receive and analyze real-time image data collected by the binocular camera, perform distance measurement by calculating the image viewing angle difference, identify and locate the spatial distribution of the intelligent paver based on changes in distance information, and generate electronic control commands to control the operation of the intelligent paver, thereby realizing trajectory adjustment and braking of the paver during operation.

[0010] The support structure is a rectangular frame with an XY plane, which is installed on the surface of the movable track and reliably connects the track to the structural surface.

[0011] The track drive system, specifically a rack and pinion mechanism, consists of a stepper motor and a spiral conveying tube. It is bolted to the middle of the movable track, wherein the center of the spiral conveying tube passes through the midpoint of the track, and the two ends of the rack structure are welded to the mid-span of the crossbeam of the movable track.

[0012] The receiving container is a funnel-shaped receiving container. The bottom of the receiving container is equipped with a concrete filter controller, which controls the concrete infiltration rate according to the electrical control command issued by the central control system based on the paving degree, and thus controls the concrete output rate.

[0013] The unidirectional movement directions, namely the X and Y directions, are the directions in which the concrete pouring pipe moves during the paving of the prefabricated floor deck. The movable pipe is placed in a suitable position before the operation according to the required paving direction. The Z direction is the normal direction between the intelligent paver and the prefabricated floor deck. The X, Y and Z directions satisfy the right-hand screw rule.

[0014] In a preferred embodiment, the movable track has different length specifications, and different length tracks can be replaced according to the required length of the prefabricated floor deck to be paved. All length specifications of the track are provided with screw holes at the midpoint for installing the stepper motor of the track drive system and the spiral conveying pipe.

[0015] In a preferred embodiment, the track drive system includes:

[0016] A stepper motor and its spiral conveyor are installed in the middle of the track. The stepper motor receives electrical control commands from the main control system and drives the spiral conveyor to rotate, thereby moving the intelligent paver to a specific desired paving position.

[0017] The moving trolley is driven by an internal drive motor, which generates driving force to move the entire trolley, thereby moving the movable track to the desired specific position. The moving trolley is equipped with a signal receiver to receive electrical control signals from the central control system, thereby controlling the operation of the moving trolley.

[0018] In a preferred embodiment, the support structure includes:

[0019] Two rectangular frames, parallel to each other and perpendicular to the spiral conveying pipe, are welded together by two parallel crossbeams to form the outer rectangular main frame of the supporting structure.

[0020] The movable trolley connects the first and second equipment holes via fasteners, allowing the movable trolley to directly contact the ground. This ensures that when the intelligent paver is paving between the movable track and the required prefabricated floor deck in the paving system, the supporting structure is parallel to the working surface of the paving system and has a normal clearance, allowing the paving leveler to directly contact the target.

[0021] In a preferred embodiment, the central control system is an automatic control system based on an embedded hardware platform, mainly comprising:

[0022] The main control module is used to analyze and process the real-time image signals collected by the binocular camera, and generate electrical control commands for the stepper motor, the spiral conveyor pipe, the moving trolley, and the intelligent paver.

[0023] A general I / O structure serves as the communication port between the central control system, the paving and leveling device, and the binocular camera.

[0024] Compared with the prior art, the present invention has the following beneficial effects: it enables intelligent pouring in the construction of floor decking, thereby ensuring construction safety. Attached Figure Description

[0025] Figure 1 This is a schematic structural diagram of the intelligent concrete cast-in-place paver for prefabricated floor deck slabs in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the movable track structure.

[0027] Figure 3 It is a schematic diagram of the connection between the movable track and the cast-in-place intelligent paver, and a schematic structural diagram of the moving trolley in the implementation examples of the invention.

[0028] Figure 4 This is a flowchart of the intelligent paver operation in this invention.

[0029] Figure label:

[0030] 1-Dual-lens camera; 2-Paver leveler; 3-Receiving container; 4-Filter controller; 5-Concrete pouring port; 6-First equipment hole; 7-Spiral conveyor pipe; 8-Stepper motor; 9-Moving trolley; 10-Drive motor; 11-Second equipment hole; 12-Master control system; 13-Position sensor; 14-Signal receiver. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] A prefabricated intelligent concrete paving machine for cast-in-place concrete floor slabs, reference Figure 1-4 ,include:

[0035] The vertical linear movable track has a single degree of freedom in the X or Y direction, is arranged parallel to the required paving direction, maintains a certain normal gap with the surface of the floor deck, i.e., the Z-direction gap, and has a limiting flange at the top of the track for connecting the moving trolley 9. The movable track provides the intelligent paver with a unidirectional movement direction along the paving direction.

[0036] A dual-lens camera 1 is installed on the intelligent paver to capture images of the construction site in real time and upload the captured data to the central control system 12 in real time. After the central control system 12 issues an electrical control command, the camera receives the electrical control command from the central control system 12 and provides necessary warnings to ensure the safe operation of the intelligent paver.

[0037] The central control system 12 is installed on the intelligent paver and is used to receive and analyze the real-time image data collected by the binocular camera 1. It performs distance measurement by calculating the difference in the image viewing angle, identifies and locates the spatial distribution of the intelligent paver based on the changes in distance information, and generates electronic control commands to control the operation of the intelligent paver, thereby realizing trajectory adjustment and braking of the paver during operation.

[0038] The support structure is a rectangular frame with an XY plane, which is installed on the surface of the movable track and reliably connects the track to the structural surface.

[0039] The track drive system, specifically a gear and rack mechanism, consists of a stepper motor 8 and a spiral conveying tube 7, and is bolted to the middle of the movable track. The center of the spiral conveying tube 7 passes through the midpoint of the track, and the two ends of the rack structure are welded to the mid-span of the movable track beam.

[0040] The receiving container 3 is a funnel-shaped receiving container 3. The lower part of the receiving container 3 is equipped with a concrete filter controller 4, which controls the concrete infiltration rate and then controls the concrete output rate according to the electrical control command issued by the central control system 12 based on the paving degree.

[0041] The unidirectional movement directions, namely the X and Y directions, are the directions in which the concrete pouring pipe moves during the paving of the prefabricated floor deck. The movable pipe is placed in a suitable position before the operation according to the required paving direction. The Z direction is the normal direction between the intelligent paver and the prefabricated floor deck. The X, Y and Z directions satisfy the right-hand screw rule.

[0042] The movable track has different length specifications. Different length tracks can be replaced according to the required length of the prefabricated floor decking to be paved. All track length specifications have screw holes at the midpoint for installing the stepper motor 8 and the spiral conveying pipe 7 of the track drive system.

[0043] The track drive system includes:

[0044] A stepper motor 8 and its spiral conveying pipe 7 are installed in the middle of the track. The stepper motor 8 receives the electrical control command of the main control system 12 and drives the spiral conveying pipe 7 to rotate, thereby moving the intelligent paver to a specific required paving position.

[0045] The moving trolley 9 is driven by an internal drive motor 10, which generates driving force to move the entire moving trolley 9, thereby moving the movable track to the desired specific position; the moving trolley 9 is equipped with a signal receiver 14, which is used to receive electrical control signals from the central control system 12, thereby controlling the operation of the moving trolley 9.

[0046] The support structure includes:

[0047] Two rectangular frames, parallel to each other and perpendicular to the spiral conveying pipe 7, are welded together by two parallel crossbeams to form the outer rectangular main frame of the supporting structure.

[0048] The movable trolley is connected to the first equipment hole 6 and the second equipment hole 11 by fasteners. The movable trolley is in direct contact with the ground, thereby ensuring that when the intelligent paver is paving between the movable track and the required prefabricated floor deck in the paving operation system, the support structure is parallel to the working surface of the paving system and has a normal gap, so that the paving leveler 2 can directly contact the required working target.

[0049] The central control system 12 is an automatic control system based on an embedded hardware platform, mainly comprising:

[0050] The main control module is used to analyze and process the real-time image signals collected by the binocular camera, and generate electrical control commands for the stepper motor 8, the spiral conveyor pipe 7, the moving trolley 9, and the intelligent paver.

[0051] The general I / O structure serves as the communication port between the central control system 12, the paving and leveling device 2, and the binocular camera 1.

[0052] Figure 1 This is a schematic structural diagram of the intelligent concrete paver for prefabricated floor decking in an embodiment of the present invention. In this embodiment, the intelligent paver uses the driving force generated by the stepper motor 8 to move the movable track in one direction. The binocular camera 1 captures images and uploads them to the central control system 12. The central control system 12 rotates the spiral conveyor pipe 7 and operates the stepper motor 8. The receiving container 3 receives and temporarily stores the concrete. If there is concentrated concrete accumulation or uneven paving thickness, the central control system 12 issues an instruction to the electrical control box to control the concrete output rate of the filter controller 4, thereby controlling the concrete output rate in the concrete pouring port 5. At the same time, it controls the working route of the intelligent paver to achieve uniform paving.

[0053] The overall control system is a kernel-based embedded hardware platform. The hardware platform is connected to a binocular camera 1 and a pose sensor 13 via a general-purpose I / O communication interface. The binocular depth camera is a binocular vision sensor 1 that receives electronic control commands from the overall control system 12. It can automatically identify characteristic parameters such as concrete thickness and paver operating route. Combined with the real-time spatial pose of the intelligent paver fed back by the pose sensor 13, it can achieve closed-loop adjustment of the overall pose to control the paving operation. The overall movement of the movable track is achieved through real-time feedback control of the moving trolley 9.

[0054] Figure 2This is a schematic structural diagram of a movable track. In this embodiment, the movable track is a vertical linear track, mainly including: a first device hole 6, a stepper motor 8, and a spiral conveying tube 7. The first device hole 6 is used to connect with a second device hole 11 via fasteners, thereby enabling the movable track to move in one direction. A rectangular frame (XY plane) is installed on the surface of the movable track, and this support structure tightly connects the movable track. The stepper motor 7 and its spiral conveying tube 7 are installed at the middle position of the track. The stepper motor 7 receives electrical control commands from the central control system and then drives the spiral conveying tube 7 to rotate.

[0055] Figure 3 This document presents a schematic diagram of the connection between a movable track and a cast-in-place intelligent paver, as well as a schematic structural diagram of a moving trolley, according to an embodiment of the present invention. The prefabricated floor slab cast-in-place intelligent paver is used to achieve automatic paving in the concrete pouring process of floor slabs. During on-site construction, after the movable track, intelligent paver, and moving trolley are connected in place, the supporting structure is hoisted to a suitable position. The moving trolley 9 moves on the main beam, and after inputting the appropriate concrete paving height, the overall paving operation of the prefabricated floor slab is completed.

[0056] More specifically, before the overall installation of the support structure, based on the dimensions of the floor deck in the paving system, suitable movable tracks and moving trolleys are selected and assembled in parallel pairs through the first equipment hole 6 and the second equipment hole 11 using fasteners. During this process, the first equipment hole 6 of the movable track and the second equipment hole 11 of the moving trolley are fixed with bolts, thus completing the assembly of the overall support structure itself. In actual use, the required paving concrete thickness is first input into the central control system 12. After the intelligent paver starts, concrete is poured into the receiving container 3. The binocular camera 1 monitors the concrete accumulation to the set thickness. The stepper motor 7 generates electromagnetic torque, which drives the spiral conveyor pipe 7 to rotate, thus enabling the intelligent paver to operate. The paving leveler 2 compacts the poured concrete distributed within the movable track, making it smooth. After the concrete paving within the movable track is completed, the central control system 12 issues an electrical control command. The signal receiver 14 receives the command and issues a command to rotate the drive motor 10, which in turn drives the movable track to move as a whole, thereby proceeding with the paving operation of the next area.

[0057] Figure 4This is a flowchart illustrating the operation of the intelligent paver in this invention. In this embodiment, the required paving area of ​​the floor decking and the distance between the main beam and secondary beam are first collected at the construction site. Then, a suitable length of movable track is selected based on the required length of the prefabricated floor decking to be paved. The entire intelligent paver is placed in the required paving area, and the moving trolley 9 moves on the main beam, thereby driving the overall operation. The required paving thickness is input, and after starting the instrument, concrete is poured onto the receiving container 3. During paving, the binocular camera 1 detects the paving thickness and uploads the collected information to the central control system. The central control system compares the set paving data. If there is uneven paving thickness, the central control system issues an electrical control command to control the overall operation of the paver, thereby ensuring the feasibility of the paving operation.

[0058] The above description is merely a preferred embodiment of the present invention. Any person skilled in the art can modify the present invention or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A prefabricated intelligent concrete paving machine for cast-in-place floor slabs, characterized in that... include: The vertical linear movable track has a single degree of freedom in the X or Y direction, is arranged parallel to the required paving direction, maintains a certain normal gap with the floor deck surface, i.e., the Z-direction gap, and has a limiting flange at the top of the track for connecting the moving trolley. The movable track provides the intelligent paver with a unidirectional movement direction along the paving direction. The dual-lens camera is installed on the intelligent paver to capture images of the construction site in real time and upload the captured data to the central control system in real time. After the central control system issues an electrical control command, the intelligent paver receives the electrical control command and provides necessary warnings to ensure the safe operation of the intelligent paver. The central control system, installed on the intelligent paver, is used to receive and analyze real-time image data collected by the binocular camera, perform distance measurement by calculating the image viewing angle difference, identify and locate the spatial distribution of the intelligent paver based on changes in distance information, and generate electronic control commands to control the operation of the intelligent paver, thereby realizing trajectory adjustment and braking of the paver during operation. The support structure is a rectangular frame with an XY plane, which is installed on the surface of the movable track and reliably connects the track to the structural surface. The track drive system, specifically a rack and pinion mechanism, consists of a stepper motor and a spiral conveying tube, and is bolted to the middle of the movable track. The center of the spiral conveying tube passes through the midpoint of the movable track, and the two ends of the rack structure are welded to the mid-span of the crossbeam of the movable track. The receiving container is a funnel-shaped receiving container. The bottom of the receiving container is equipped with a concrete filter controller, which controls the concrete infiltration rate according to the electrical control command issued by the central control system based on the paving degree, and thus controls the concrete output rate. The unidirectional movement directions, namely the X and Y directions, are the directions in which the concrete pouring pipe moves during the paving of the prefabricated floor deck. The movable pipe is placed in a suitable position before the operation according to the required paving direction. The Z direction is the normal direction between the intelligent paver and the prefabricated floor deck. The X, Y and Z directions satisfy the right-hand screw rule.

2. The prefabricated intelligent concrete cast-in-place paver for floor decking as described in claim 1, characterized in that, The movable track has different length specifications. The track of different length can be replaced according to the required length of the prefabricated floor deck. All track length specifications are provided with screw holes at the midpoint for installing the stepper motor of the track drive system and the spiral conveying pipe.

3. The prefabricated intelligent concrete cast-in-place paver for floor decking as described in claim 1, characterized in that, The track drive system includes: A stepper motor and its spiral conveyor are installed in the middle of the track. The stepper motor receives electrical control commands from the main control system and drives the spiral conveyor to rotate, thereby moving the intelligent paver to a specific desired paving position. The moving trolley is driven by an internal drive motor, which generates driving force to move the entire trolley, thereby moving the movable track to the desired specific position. The moving trolley is equipped with a signal receiver to receive electrical control signals from the central control system, thereby controlling the operation of the moving trolley.

4. The prefabricated intelligent concrete cast-in-place paver for floor decking as described in claim 1, characterized in that, The support structure includes: Two rectangular frames, parallel to each other and perpendicular to the spiral conveying pipe, are welded together by two parallel crossbeams to form the outer rectangular main frame of the supporting structure. The movable trolley connects the first and second equipment holes via fasteners, allowing the movable trolley to directly contact the ground. This ensures that when the intelligent paver is paving between the movable track and the required prefabricated floor deck in the paving system, the supporting structure is parallel to the paving system's working surface and has a normal clearance, allowing the intelligent paver to directly contact the desired work target.

5. The prefabricated intelligent concrete cast-in-place paver for floor decking as described in claim 1, characterized in that, The central control system is an automatic control system based on an embedded hardware platform, mainly comprising: The main control module is used to analyze and process the real-time image signals collected by the binocular camera, and generate electrical control commands for the stepper motor, the spiral conveyor pipe, the moving trolley, and the intelligent paver. A general-purpose I / O structure serves as the communication port between the central control system, the intelligent paver, and the binocular camera.

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