Bridge pier concrete vibrating device and vibrating method

Abstract

The application discloses a bridge pier concrete vibrating device and a vibrating method, and relates to the technical field of concrete vibrating. The vibrating device comprises a guide rail, a device main body movably arranged on the guide rail through a moving assembly, a vibrator arranged on the device main body, the vibrator comprising a vibrating rod and a connecting frame, the vibrating rod being arranged at the bottom of the connecting frame, and a driving assembly for controlling the movement of the vibrator. The vibrating rod is moved to the top of different vibrating points in the same column through the driving assembly, the vibrating rod is used for vibrating the concrete, the device is moved to the position of the next column to be vibrated along the guide rail through the moving assembly after the vibrating work of the different vibrating points in the same column is completed, and the above operation is repeated until the vibrating work of all the vibrating points is completed. The concrete vibrating device no longer needs a construction worker to hold a concrete vibrator to perform the vibrating work, so that the manpower consumption is reduced, the work efficiency is improved, and the vibrating quality of the concrete is improved.

Description

Technical Field

[0001] This invention relates to the field of concrete vibration technology, and in particular to a concrete vibration device and method for bridge piers. Background Technology

[0002] When pouring concrete into components, air bubbles must be removed and the concrete must be compacted to ensure a dense bond, eliminate honeycomb and pitting defects, improve its strength, and guarantee the quality of the concrete components.

[0003] Currently, the concrete compaction work for bridge piers involves construction workers holding concrete vibrators, lowering themselves onto the top of the concrete, and inserting the vibrator to compact it. Because the concrete pouring area is large and the vibrator has a limited compaction area, construction workers need to use the vibrator to compact multiple design points, or multiple workers need to vibrate simultaneously. The existing compaction method consumes a lot of manpower and has low efficiency. Summary of the Invention

[0004] In view of the deficiencies in the existing technology, the technical problem solved by the present invention is: how to reduce the manpower consumed in concrete vibration work and improve work efficiency.

[0005] To achieve the above objectives, in a first aspect, the bridge pier concrete vibrating device provided by the present invention includes: guide; The main body of the device is movably mounted on a guide rail via a movable component; A vibrator, which is mounted on the main body of the device, includes a vibrating rod and a connecting frame, with the vibrating rod located at the bottom of the connecting frame; Drive components, which are used to control the movement of the vibrator.

[0006] In conjunction with the first aspect, in one embodiment, the drive assembly includes an electric push rod and a drum motor. A connecting frame is movably mounted on the main body of the device in the horizontal direction via the electric push rod. The drum motor is connected to one end of the vibrating rod via a cable. A fixed pulley is provided on the connecting frame. One end of the cable is fixedly connected to the vibrating rod, and the other end is wound around the inside of the drum motor. The cable is movably wound around the fixed pulley so that the vibrating rod can move in both horizontal and vertical directions.

[0007] In one embodiment, the moving component includes a walking wheel, a walking motor, and a photoelectric switch. The main body of the device is movably mounted on a guide rail via the walking wheel. The walking motor is connected to the walking wheel and is used to drive the walking wheel to rotate. The photoelectric switch is mounted on the walking wheel and is used to determine whether the walking wheel has moved to the end of the guide rail.

[0008] Secondly, in one embodiment, the method for vibrating concrete in bridge piers includes the following steps: Provide a concrete vibratory compactor for bridge piers as described in any one of the claims; Place the concrete vibrator on the bridge pier in its initial position; The main body of the device is moved along the guide rail by moving the components until the vibrator is moved to a row of designed vibration points; The vibrator rod is inserted into the concrete at the designed vibration point by the drive component and then vibrated. After the designed vibration point is completed, move to the next designed vibration point for vibration, until the concrete at all designed vibration points is completed.

[0009] In conjunction with the second aspect, in one embodiment, the vibrator rod of the vibrator is inserted into the concrete at the designed vibration point by a drive assembly, and vibration is performed, specifically including: The connecting frame is moved horizontally away from the main body of the device by an electric push rod, while the drum motor releases the wire so that the vibrator moves only horizontally until the vibrator rod is directly above the designed vibration point. The second camera determines whether the vibrator rod is directly above the designed vibration point. The vibrator is re-laid using a drum motor, causing the vibrator to move vertically downwards at a first displacement speed until the distance between the tip of the vibrator and the concrete surface is less than a first threshold. The vibrator is then activated and moves vertically downwards at a second displacement speed until it penetrates the designed depth into the concrete. At this point, the drum motor stops re-laying the vibrator.

[0010] In one embodiment, the extension / retraction speed v of the electric actuator and the rotational speed V of the drum motor must satisfy a first formula, the first formula being: vt=ΠrVt Where r is the radius of the drum of the drum motor, t is time, vt is the distance the electric push rod moves, and ΠrVt is the length of the wire unwound by the drum motor.

[0011] In one embodiment, the method further includes: The tilt angle data of the vibratory rod is collected by an attitude sensor; The tilt angle data is compared with the second threshold. If the tilt angle data is greater than the second threshold, the vibrator tilts; otherwise, the vibrator does not tilt.

[0012] In one embodiment, the method further includes: The vibratory rod moves vertically upward by winding up the wire using a drum motor. The pressure data of the cable on the fixed pulley is collected by a pressure sensor; Compare the pressure data values ​​with the third threshold; If the pressure data value is greater than the third threshold, then there is a problem with the retraction of the vibrator; otherwise, there is no problem with the retraction of the vibrator.

[0013] In one embodiment, after the device body is moved along the guide rail by the moving component, and before the vibrator is moved onto a row of designed vibration points, the following steps are further included: The spacing data between the concrete vibrating device and the two adjacent vertical reinforcing bars of the bridge pier are obtained by the first camera. If the spacing data value is greater than the fourth threshold, then a column between the two adjacent vertical bars can be selected as the design vibration point; otherwise, continue to move the main body of the device and collect the spacing data of the next set of vertical bars, wherein a set of vertical bars consists of two adjacent vertical bars.

[0014] In one embodiment, after the vibrator has been moved to a row of designed vibration points and before the vibrator rod is inserted into the concrete at the designed vibration points by a drive assembly, the following steps are further included: By identifying the marker on the electric actuator, the position of the marker between two adjacent vertical reinforcing bars can be determined; If the calibrator is positioned in the middle between two adjacent vertical reinforcing bars, activate the electric push rod; otherwise, continue moving the main body of the device until the calibrator is positioned in the middle between two adjacent vertical reinforcing bars.

[0015] Compared with the prior art, the advantages of the present invention are as follows: The present invention sets its guide rail on the top of the bridge pier, and sets a movable device body on the guide rail. A vibrator is set on the device body through a connecting component. The vibrator can change its position through a driving component. Compared with existing vibration methods, this concrete vibration device can move the vibrator to a column of vibration points by moving the main body of the device on the guide rail. First, the vibrator rod of the vibrator is moved directly above the point to be vibrated by the drive component. Then, the vibrator rod is moved downward by the drive component until it is inserted into the concrete to a depth exceeding the threshold. The concrete is then vibrated by the vibrator rod. After the vibration work of the vibration point is completed, the vibrator rod can be pulled out of the concrete by the drive component and moved directly above a different vibration point in the same column to vibrate the next vibration point. Alternatively, the vibrator rod can be retracted and moved to another column of vibration points by the moving component. The above operation is repeated until the vibration work of all vibration points is completed. This concrete vibration device eliminates the need for construction personnel to hold the concrete vibrator for vibration work, thereby reducing the manpower consumed in concrete vibration work and improving work efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the concrete vibration device and vibration method for bridge piers according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the vibrator according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the bridge pier according to an embodiment of the present invention; Figure 4 This is a structural block diagram of the control system for the concrete vibration device of the bridge pier according to an embodiment of the present invention.

[0017] In the diagram: 1-First camera, 2-Calibration object, 3-Wire displacement sensor, 4-Laser sensor, 5-Second camera, 6-Attitude sensor, 7-Roller motor, 8-Vibrator, 9-Photoelectric switch, 10-Electric push rod, 11-Pressure sensor, 12-Audible and visual alarm device, 13-Human-machine interface display, 14-Walking wheel, 15-Walking motor, 16-Guide rail, 17-Cable, 18-Fixed pulley, 19-Pier, 20-Vertical reinforcing bar, 21-Operating table. Detailed Implementation

[0018] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] The concrete vibrating device for bridge piers in this embodiment of the invention is described in [reference needed]. Figure 1-3As shown, the device includes a guide rail 16, which is laid on the operating platform 21 set on the top of the pier 19. The main body of the device is movably mounted on the guide rail 16 via a moving component. The main body of the device is equipped with a vibrator, which includes a vibrating rod 8 and a connecting frame. During use, the vibrating rod 8 is positioned at the bottom of the connecting frame. The vibrating device also includes a driving component, which is used to control the movement of the vibrator, including horizontal movement and vertical movement.

[0020] Therefore, it can be seen that the present invention sets its guide rail 16 on the top of the bridge pier, and sets a movable device body on the guide rail 16. The device body is equipped with a vibrator through a connecting component, and the vibrator can change its position through a driving component. Compared with existing vibration methods, this concrete vibration device can move the vibrator to a column of vibration points by moving the main body of the device on the guide rail 16. First, the vibrating rod 8 of the vibrator is moved to the top of the vibration point by the drive component. Then, the vibrating rod 8 is moved downward by the drive component until it is inserted into the concrete and the insertion depth exceeds the threshold. The concrete is then vibrated by the vibrating rod 8. After the vibration work of the vibration point is completed, the vibrating rod 8 can be pulled out of the concrete by the drive component and moved to the top of a different vibration point in the same column to carry out the vibration work of the next vibration point. Alternatively, the vibrating rod 8 can be retracted and the vibrator can be moved to another column of vibration points by the moving component. The above operation is repeated until the vibration work of all vibration points is completed. This concrete vibration device eliminates the need for construction personnel to hold the concrete vibrator for vibration work, thereby reducing the manpower consumed in concrete vibration work and improving work efficiency.

[0021] Preferably, a specific structure for the driving component is provided: The drive assembly includes an electric push rod 10 and a drum motor 7. The connecting frame is movably mounted on the main body of the device in the horizontal direction via the electric push rod 10. The drum motor 7 is connected to one end of the vibrating rod 8 via a cable 17.

[0022] Furthermore, a fixed pulley 18 is provided on the connecting frame, one end of the cable 17 is fixedly connected to the vibrating rod 8, and the other end is wound around the inside of the drum motor 7. The cable 17 is movably wound on the fixed pulley 18 so that the vibrating rod 8 can move in both horizontal and vertical directions. The electric push rod 10 moves the vibrating rod 8 in the horizontal direction, and the drum motor 7 moves the vibrating rod 8 in the vertical direction through the cable 17.

[0023] It should be noted that when the electric push rod 10 pushes the vibrator away from the main body of the device, it will also drive the vibrating rod 8 away from the main body of the device. Therefore, when the electric push rod 10 is working, the drum motor 7 also needs to slowly release the line so that the vibrating rod 8 can move horizontally away from the main body of the device and not move vertically. When the vibrating rod 8 needs to move vertically, only the drum motor 7 releases the line, and the vibrating rod 8 moves downward by its own weight.

[0024] Preferably, a specific structure for the moving component is provided: The moving components include a walking wheel 14, a walking motor 15, and a photoelectric switch 9. The main body of the device is movably mounted on the guide rail 16 via the walking wheel 14. The walking motor 15 is connected to the walking wheel 14 and is used to drive the walking wheel 14 to rotate. The photoelectric switch 9 is mounted on the walking wheel 14 and is used to determine whether the walking wheel 14 has moved to the end of the guide rail 16 to prevent the main body of the device from slipping off the guide rail 16.

[0025] The method for vibrating concrete in bridge piers according to embodiments of the present invention includes the following steps: Provide concrete vibrating equipment for bridge piers; Place the concrete vibrator for the bridge pier in the initial position. The initial position can be the leftmost or rightmost position of the guide rail 16, or the middle position of the guide rail 16, which can be designed according to the construction requirements. The main body of the device is moved along guide rail 16 by moving components until the vibrator is moved to a row of designed vibration points; The vibrator rod 8 of the vibrator is inserted into the concrete at the designed vibration point by the drive component and then vibrated. After the designed vibration point is completed, move to the next designed vibration point for vibration, until the concrete at all the designed vibration points is completed. The next designed vibration point can be in the same column or in a different column.

[0026] Preferably, the vibrator rod 8 of the vibrator is inserted into the concrete at the designed vibration point via the drive assembly, and vibration is performed, specifically including: The connecting frame is moved horizontally away from the main body of the device by the electric push rod 10, while the drum motor 7 releases the line so that the vibrator moves only horizontally until the vibrating rod 8 of the vibrator is directly above the designed vibration point. The second camera 5 is used to determine whether the vibrating rod 8 is directly above the designed vibration point. The winding motor 7 is used to release the line again, so that the vibrator 8 moves vertically downward at the first displacement speed v1 until the distance between the front end of the vibrator 8 and the concrete surface is less than the first threshold. Then the vibrator 8 is turned on and moves vertically downward at the second displacement speed v2 until the vibrator 8 is inserted into the designed depth of the concrete. The winding motor 7 then stops releasing the line.

[0027] It should be noted that, due to the viscosity of concrete, excessively fast lowering speed can cause the vibrator 8 to tilt after contacting the concrete, resulting in errors in the calculation of the depth of the vibrator immersion in the concrete. Therefore, the vibrator 8 is controlled by a multi-speed mode during the lowering process. The second camera 5 can determine whether there is reinforcing steel in the vertical concrete. This reinforcing steel will affect the vibration of the vibrator 8. Therefore, the second camera 5 can be used to select a suitable design vibration point to improve the quality of concrete vibration.

[0028] Preferably, the extension / retraction speed v of the electric actuator 10 and the rotational speed V of the drum motor 7 must satisfy the first formula, which is: vt=2ΠrVt Where r is the radius of the drum of the drum motor 7, t is time, vt is the moving distance of the electric push rod 10, and 2ΠrVt is the length of the wire unwound by the drum motor 7.

[0029] It should be noted that when the electric push rod 10 pushes the vibrator away from the main body of the device, it will also cause the vibrating rod 8 to move away from the main body of the device. Therefore, when the electric push rod 10 is working, the drum motor 7 also needs to slowly release the cable so that the vibrating rod 8 can move horizontally away from the main body of the device and not move vertically. If the speed of releasing the cable by the drum motor 7 is too fast, the vibrating rod 8 will move downward. If the speed of releasing the cable by the drum motor 7 is too slow, the cable 17 will pull the vibrating rod 8 back, which may cause a serious safety accident.

[0030] Preferably, the method for vibrating concrete in bridge piers also includes: The tilt angle data of the vibratory rod 8 is collected by the attitude sensor 6; The tilt angle data is compared with the second threshold. If the tilt angle data is greater than the second threshold, the vibrator 8 tilts; otherwise, the vibrator 8 does not tilt.

[0031] Furthermore, the cause of the tilt can be determined by combining the pier depth and the data from the guy wire displacement sensor, whether it is due to touching the bottom or hitting the transverse reinforcement. The cause analysis is handled by the vibratory device controller, and the audible and visual alarm device will issue corresponding prompts based on the results.

[0032] Preferably, the method for vibrating concrete in bridge piers also includes: The vibrating rod 8 moves vertically upward by winding the wire through the drum motor 7; Pressure data of cable 17 to fixed pulley 18 is collected by pressure sensor 11; Compare the pressure data values ​​with the third threshold; If the pressure data value is greater than the third threshold, then there is a problem with the retraction of the vibrator 8; otherwise, there is no problem with the retraction of the vibrator 8.

[0033] Specifically, due to the presence of numerous transverse reinforcing bars within the pier body, there is a possibility that the vibrator 8 may become entangled in the reinforcing bars during the retraction process. The pressure sensor 11 detects the pressure value of the cable on the fixed pulley 18 when the vibrator 8 is retracted, thereby determining whether it is entangled. When the pressure value exceeds a third threshold, the vibrator 8 stops retracting, and simultaneously, an audible and visual alarm device issues a corresponding alarm signal, prompting the user to take appropriate action. Preferably, a method for selecting vibration points is provided, specifically including the following steps: The spacing data of two adjacent vertical reinforcing bars 20 between the concrete vibrating device of the bridge pier and the pier 19 is obtained by the third camera. If the value of the spacing data is greater than the fourth threshold, the position of the main body of the device at this time is taken as the marked position, and the design vibration point is selected on the column that passes through the marked position according to the requirements.

[0034] Furthermore, after the vibration work begins, the main body of the device is moved to the marked position via the moving component, and subsequent vibration work is carried out.

[0035] Preferably, another method for selecting the design vibration points is provided, which, after the main body of the device is moved along the guide rail 16 by the moving component, and before the vibrator moves to a row of design vibration points, further includes the following steps: The spacing data of two adjacent vertical reinforcing bars 20 between the concrete vibrating device of the bridge pier and the bridge pier 19 is obtained by the first camera 1. If the spacing data value is greater than the fourth threshold, then a column between the two adjacent vertical steel bars 20 can be selected as the design vibration point; otherwise, continue to move the main body of the device and collect the spacing data of the next set of vertical steel bars, wherein a set of vertical steel bars consists of two adjacent vertical steel bars 20.

[0036] Furthermore, after the vibrator has moved to a row of designed vibration points, and before the vibrator rod 8 is inserted into the concrete at the designed vibration points by the drive assembly, the following steps are also included: By identifying the marker 2 on the electric push rod 10, the position of the marker 2 between two adjacent vertical reinforcing bars 20 can be determined; If the calibrator 2 is in the middle position between two adjacent vertical reinforcing bars 20, activate the electric push rod 10; otherwise, continue moving the main body of the device until the calibrator 2 is in the middle position between two adjacent vertical reinforcing bars 20.

[0037] Preferably, a method for lowering the vibrator 8 to the specified height is provided: The distance H between the end of the push rod and the concrete surface is obtained by the laser sensor 4. At this time, the length of the wire displacement sensor 3 is detected as L, and the distance between the second camera 5 and the wire displacement sensor 3 is as h. Since the wire end of the wire displacement sensor 3 is fixed to the head of the vibrating rod 8, the distance between the two is u; The required lowering height for obtaining the vibratory rod 8 is HL-h+u.

[0038] Preferably, another method is provided for the height below the vibrator 8: The distance H between the end of the push rod and the concrete surface is obtained by laser sensor 4; Obtain the length data A of the vibratory rod 8 from head to tail; Obtain the distance data B of the vibratory rod 8 after it has been lowered; The required lowering height for obtaining vibratory rod 8 is HAB.

[0039] Furthermore, the depth to which the vibrator penetrates the concrete can also be calculated using the two methods described above.

[0040] Preferably, after the vibrating device completes all planned vibration points at the current location, the drum motor 7 quickly retracts the vibrating rod at a speed of v3. The drum motor 7 stops when the distance between the end of the vibrating rod 8 and the end of the electric push rod 10 is x. The minimum safe distance between the end of the vibrating rod 8 and the end of the electric push rod 10 is y (x>y). At this time, the electric push rod 10 and the drum motor 7 are activated. The retraction speed of the electric push rod 10 is v, and the rotational speed of the drum motor 7 is v4. Both satisfy the second formula, which is: 2Πr v4t+xy=vt This ensures construction safety during the recovery of the vibrator rod 8.

[0041] The concrete vibration system for bridge piers in this embodiment of the invention is described in [reference needed]. Figure 4 As shown, it includes: The display output module includes a human-machine interface display 13 and an audible and visual alarm device 12. The human-machine interface display 13 is used to display various values ​​of the sensor and various function buttons for controlling the vibrating robot. The audible and visual alarm device 12 is used to output alarm information. The signal acquisition module includes a laser sensor 4, an attitude sensor 6, a pressure sensor 11, a walking motor encoder, a photoelectric switch, and a wire displacement sensor. The laser sensor 4 is used to detect the distance between the concrete surface and the equipment; the attitude sensor 6 is used to detect the attitude of the vibrator; the pressure sensor 11 is used to detect the pressure value of the cable 17 connecting the vibrator 8 to the fixed pulley 18, and the pressure value is used to determine whether the vibrator 8 is entangled in the steel bars in the bridge pier when it is retracted after being submerged in the concrete, or whether the retraction speed is too fast, causing too much resistance from the concrete to the vibrator 8; the walking motor encoder is used to detect the number of rotations of the walking motor 15 and control the amount of travel of the robot along the guide rail 16; the photoelectric switch is used to determine whether the robot has reached the end of the guide rail; and the wire displacement sensor is used to detect the lowering distance of the vibrator 8. The image acquisition module includes a first camera 1 and a second camera 5. The first camera 1 is used to detect the spacing between two adjacent steel bars 20 in the vertical direction, and the second camera 5 is used to determine whether the vibrator 8 is located above the concrete surface to be vibrated, and to plan the vibration points of the vibrator 8 on the concrete surface. The drive module includes an electric push rod 10, a drum motor 7, a vibrating rod 8, and a travel motor 15. The electric push rod is used to push the vibrating rod 8 forward so that it passes through the vertical reinforcing bar 20 and is located directly above the concrete surface. The drum motor is used to retract and extend the vibrating rod 8 and control the lowering distance of the vibrating rod 8. The vibrating rod 8 is used to vibrate the concrete. The travel motor 15 is used to drive the vibrating device to move along the guide rail 16. The vibratory compaction device controller is used to control and coordinate the operation of the various modules.

[0042] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0043] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for vibrating concrete in bridge piers, characterized in that, The method includes the following steps: A concrete vibratory compaction device for bridge piers is provided; The vibrating device includes: Guide rail (16); The main body of the device is movably mounted on the guide rail (16) via a movable component; A vibrator is mounted on the main body of the device and includes a vibrating rod (8) and a connecting frame. The vibrating rod (8) is mounted at the bottom of the connecting frame. Drive components, which are used to control the movement of the vibrator; Place the concrete vibrator on the bridge pier in its initial position; The main body of the device is moved along the guide rail (16) by moving the components until the vibrator is moved to a row of designed vibration points; The vibrating rod (8) of the vibrator is inserted into the concrete at the designed vibration point by the drive component and then vibrated. After the designed vibration point is completed, move to the next designed vibration point for vibration, until the concrete at all designed vibration points is completed; The vibrator rod (8) of the vibrator is inserted into the concrete at the designed vibration point by the drive component, and vibration is performed, specifically including: The connecting frame is moved horizontally away from the main body of the device by the electric push rod (10), and the drum motor (7) releases the line so that the vibrator moves only horizontally until the vibrating rod (8) of the vibrator is directly above the designed vibration point. The second camera (5) determines whether the vibrating rod (8) is directly above the designed vibration point. The line is laid out again by the drum motor (7) so that the vibrator (8) moves vertically downward at the first displacement speed until the distance between the front end of the vibrator (8) and the concrete surface is less than the first threshold. The vibrator (8) is then turned on and moves vertically downward at the second displacement speed until the vibrator (8) is inserted into the designed depth of the concrete. The drum motor (7) then stops laying out the line. After the main body of the device is moved along the guide rail (16) by moving the moving component, the following steps are also included before the vibrator is moved to a row of designed vibration points: The spacing data of two adjacent vertical steel bars (20) between the concrete vibrating device of the bridge pier and the bridge pier (19) is obtained by the first camera (1); If the value of the spacing data is greater than the fourth threshold, then the column between the two adjacent vertical bars (20) is selected as the design vibration point; otherwise, the main body of the device continues to move and the spacing data of the next set of vertical bars is collected, wherein a set of vertical bars consists of two adjacent vertical bars (20). After the vibrator is moved to a row of designed vibration points, and before the vibrator rod (8) is inserted into the concrete at the designed vibration points by the drive assembly, the following steps are also included: By identifying the marker (2) on the electric push rod (10), the position of the marker (2) between two adjacent vertical bars (20) can be determined; If the calibrator (2) is in the middle position between two adjacent vertical bars (20), start the electric push rod (10); otherwise, continue to move the main body of the device until the calibrator (2) is in the middle position between two adjacent vertical bars (20); The method further includes: The distance H between the end of the push rod and the concrete surface is obtained by the laser sensor (4). At this time, the length of the wire displacement sensor (3) is detected to be L, and the distance between the second camera (5) and the wire displacement sensor (3) is h. Since the wire end of the wire displacement sensor (3) is fixed to the head of the vibrating rod (8), the distance between the two is u; The required lowering height for obtaining the vibratory rod (8) is HL-h+u.

2. The method for vibrating concrete in bridge piers as described in claim 1, characterized in that: The drive assembly includes an electric push rod (10) and a drum motor (7). The connecting frame is movably mounted on the main body of the device in the horizontal direction via the electric push rod (10). The drum motor (7) is connected to one end of the vibrating rod (8) via a cable (17). A fixed pulley (18) is provided on the connecting frame. One end of the cable (17) is fixedly connected to the vibrating rod (8), and the other end is wound around the inside of the drum motor (7). The cable (17) is movably wound around the fixed pulley (18) so that the vibrating rod (8) can move in the horizontal and vertical directions.

3. The method for vibrating concrete in bridge piers as described in claim 1, characterized in that: The moving component includes a walking wheel (14), a walking motor (15), and a photoelectric switch (9). The main body of the device is movably mounted on the guide rail (16) via the walking wheel (14). The walking motor (15) is connected to the walking wheel (14) and is used to drive the walking wheel (14) to rotate. The photoelectric switch (9) is mounted on the walking wheel (14) and is used to determine whether the walking wheel (14) has moved to the end of the guide rail (16).

4. The method for vibrating concrete in bridge piers as described in claim 1, characterized in that, The vibrator rod (8) of the vibrator is inserted into the concrete at the designed vibration point by the drive component, and vibration is performed, specifically including: The connecting frame is moved horizontally away from the main body of the device by the electric push rod (10), and the drum motor (7) releases the line so that the vibrator moves only horizontally until the vibrating rod (8) of the vibrator is directly above the designed vibration point. The second camera (5) determines whether the vibrating rod (8) is directly above the designed vibration point. The line is laid out again by the drum motor (7) so that the vibrator (8) moves vertically downward at the first displacement speed until the distance between the front end of the vibrator (8) and the concrete surface is less than the first threshold. The vibrator (8) is then turned on and moves vertically downward at the second displacement speed until the vibrator (8) is inserted into the designed depth of the concrete. The drum motor (7) then stops laying out the line.

5. The method for vibrating concrete in bridge piers as described in claim 4, characterized in that: The extension / retraction speed v of the electric push rod (10) and the rotational speed V of the drum motor (7) must satisfy the first formula, which is: vt=2ΠrVt Where r is the radius of the drum of the drum motor (7), t is time, vt is the moving distance of the electric push rod (10), and 2ΠrVt is the length of the wire laid out by the drum motor (7).

6. The method for vibrating concrete in bridge piers as described in claim 1, characterized in that, The method further includes: The tilt angle data of the vibratory rod (8) is collected by the attitude sensor (6); The tilt angle data is compared with the second threshold. If the value of the tilt angle data is greater than the second threshold, the vibrator (8) tilts; otherwise, the vibrator (8) does not tilt.

7. The method for vibrating concrete in bridge piers as described in claim 1, characterized in that, The method further includes: The vibrating rod (8) moves vertically upward by winding the wire through the drum motor (7); Pressure data of cable (17) on fixed pulley (18) is collected by pressure sensor (11); Compare the pressure data values ​​with the third threshold; If the pressure data value is greater than the third threshold, then there is a problem with the retraction of the vibrator (8); otherwise, there is no problem with the retraction of the vibrator (8).

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