Box girder sealing, anchoring and vibrating integrated robot and use method thereof

Abstract

The present invention relates to the technical field of vibration equipment. The application discloses a box girder anchor sealing and vibration integrated robot and a use method, including a robot base and a robot arm, wherein the robot arm is provided with a connecting head at one end away from the robot base, a connecting bracket is fixed to the end of the connecting head away from the robot arm, and an assembly plate is fixed to the end of the connecting bracket away from the connecting head. The present invention adopts an integrated design on the assembly plate. When sealing the box girder, an anchor pad coated with glue is first fixed to the anchor hole, and then concrete is injected into the interior through the casting holes on the anchor pad and vibrated. This solves the problem that the existing box girder anchor sealing and vibration integrated robot cannot meet the requirements of fixing the anchor pad, casting and vibrating, and can realize the connection operation procedures of installing the anchor pad, casting and vibrating when sealing the anchor, avoiding too long interval time between fixing the anchor pad, casting and vibrating, and also conveniently controlling the construction time.

Description

Technical Field

[0001] The invention relates to the technical field of vibration equipment, and in particular to a box girder anchor sealing and vibration integrated robot and a use method thereof. Background Art

[0002] A box girder is a type of beam used in bridge engineering. It is hollow inside and has flanges on both sides of the upper part. Box girders with reinforced concrete structures are divided into prefabricated box girders and cast-in-place box girders. Box girders prefabricated in an independent site can be erected in conjunction with a bridge-erecting machine after the lower project is completed, which can speed up the progress of the project and save construction time. When constructing the anchor hole of the prefabricated box girder, first install the reinforcement grid in the anchor hole, then install the connecting reinforcement, fit the anchor plate on the anchor hole mouth, and then fill the anchor hole with concrete to make a concrete layer to seal the anchor hole.

[0003] Before filling the anchor hole with concrete, it is necessary to put the anchor plate on the connecting reinforcement to preliminarily seal the anchor hole, and then pour through the pouring hole of the anchor plate. After pouring, it is vibrated to ensure that the concrete in the anchor hole is dense. After the vibration is completed, the vibrating steel bars need to be pulled out. The traditional anchor sealing robot cannot meet the above operations during pouring and vibration. Therefore, a box girder anchor hole chiseling, cutting and waterproofing integrated processing robot and a use method are proposed. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the present invention provides a box girder sealing, anchoring and vibrating integrated robot and a use method thereof.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a box girder anchoring and vibrating integrated robot, comprising a robot base and a robot arm, wherein the end of the robot arm away from the robot base is provided with a connecting head, the end of the connecting head away from the robot arm is fixed with a connecting bracket, the end of the connecting bracket away from the connecting head is fixed with an assembly plate, and the top surface of the assembly plate is sequentially installed with a clamping component, a fixing component and a pulling component;

[0006] The clamping assembly includes a fixed clamping block, a movable clamping block and a servo cylinder, a fixed clamping block and a movable clamping block are symmetrically arranged at one end of the top surface of the assembly plate, a servo cylinder is arranged on the bottom surface of the assembly plate between the fixed clamping block and the movable clamping block, the bottom surface of the fixed clamping block is fixed to the top surface of the assembly plate, the bottom surface of the movable clamping block is fixed to a connecting slider, the connecting slider is slidably sleeved inside a slide groove provided on the assembly plate, and one end of the slide groove extending below the assembly plate is fixed to the output end of the slide groove;

[0007] A guide component is arranged on the top surface of one side of the robot base.

[0008] Preferably, the opposite sides of the fixed clamp block and the movable clamp block are configured as arcs that cooperate with the anchor plate, the connecting slider is configured as an inverted T-shape that cooperates with the slide groove, and the width of the bottom of the movable clamp block and the connecting slider is greater than the width of the slide groove.

[0009] Preferably, the fixing assembly includes a lower clamping plate and an upper clamping plate, the lower clamping plate is fixed to the middle part of the top surface of the assembly plate, the upper clamping plate for clamping the end of the concrete pouring pipe is arranged facing the top surface of the lower clamping plate, one side of the lower clamping plate is rotatably connected to the upper clamping plate by a hinge, and the other sides of the lower clamping plate and the upper clamping plate are both fixed with fixed side plates, and the top surface of the upper clamping plate on the side of the lower clamping plate is symmetrically fixed with fixing screws, and one end of the two fixing screws passing through the top surface of the upper fixed side plate is sleeved with nuts.

[0010] Preferably, the opposite sides of the lower and upper splints are arranged in an arc shape to cooperate with the concrete pouring pipe, the opposite sides of the lower and upper splints are glued with shock-absorbing rubber pads, and the upper fixed side plates are symmetrically provided with runway-shaped slots to cooperate with the fixing screws.

[0011] Preferably, the pulling and pulling assembly includes a support frame, a servo motor, a driving roller and a vibration generator, the support frame is fixed to the top surface of the assembly plate on the side of the fixing assembly away from the clamping assembly, the driving roller is symmetrically rotatably connected between the bottom surface of the support frame and the top surface of the assembly plate through bearings, a servo motor is provided on the top surface of the support frame above one of the driving rollers, a vibration generator is provided on the top surface of the support frame between the two driving rollers, the output end of the vibration generator passes through the bottom surface of the top of the support frame, and a conduction block is fixed to the output end of the vibration generator.

[0012] Preferably, the pulling assembly also includes a supporting ring and a cleaning rubber ring, a fixed support plate is fixed to the top surface of the supporting frame between the two driving rollers by bolts, a fixed plug is inserted into one side of the fixed support plate, the top surface of the fixed plug is fixed to the inside of the fixed support plate by bolts, the fixed plug extends to the end below the fixed support plate and is fixed with a supporting ring, a cleaning rubber ring is fixed inside the supporting ring, a fixed sleeve is fixed to the side of the fixed support plate away from the driving roller, a fixed splint is slidably sleeved inside the fixed sleeve, a clamping screw is rotatably connected to the side of the fixed splint away from the driving roller through a bearing, and the clamping screw is threadedly connected to the inside of the fixed sleeve.

[0013] Preferably, the outer side surfaces of the two driving rollers and the bottom surface of the conduction block are both arranged to be arc-shaped to match the vibrating steel bars, and the centers of the arc-shaped portions of the driving rollers and the conduction block are concentric, the distance between the diameters of the two driving rollers is equal to the diameter of the vibrating steel bars, and the outer surfaces of the two driving rollers are glued and fixed with anti-slip rubber sleeves.

[0014] Preferably, the guide assembly includes an outer box, a connecting slide rod, a connecting plate and a guide ring. The outer box is fixed to the top surface of one end of the robot base. The outer box is symmetrically slidably connected with a connecting slide rod inside. The ends of the two connecting slide rods extending to the outside of the outer box are fixed to the bottom surface of the connecting plate, and the top surface of the connecting plate is fixed with a guide ring.

[0015] Preferably, a fixed bottom plate is fixed to the bottom surface of the outer box, and the four corners of the fixed bottom plate are fixed to the top surface of the robot base by bolts, and one end of the two connecting slide rods extending to the inside of the outer box is fixed to the movable plate, and the movable plate is slidably sleeved inside the outer box, and springs are sleeved on the two connecting slide rods inside the outer box, and the upper and lower ends of each spring are respectively fixed to the inside of the outer box and the top surface of the movable plate.

[0016] A method for using a box girder anchor sealing and vibrating integrated robot, the method comprising the following steps:

[0017] Step A, assembling concrete pouring pipes and vibrating steel bars;

[0018] Step A1, pass the concrete pouring pipe and the vibrating steel bar through the guide rings corresponding to the fixing component and the pulling component respectively, and pull the concrete pouring pipe and the vibrating steel bar to the fixing component and the pulling component, insert the water pipe nozzle into the fixing sleeve, rotate the clamping screw, drive the fixing clamp plate to clamp the nozzle, and install and fix the nozzle inside the fixing sleeve;

[0019] Step A2, rotate the upper clamping plate to place the concrete pouring pipe inside the lower clamping plate, then rotate the upper clamping plate to cover the concrete pouring pipe, and drive the upper fixed side plate to cover the fixed screw, and turn the nut to drive the upper clamping plate and the lower clamping plate to clamp and fix the concrete pouring pipe. When fixing, the concrete pouring pipe passes through the lower clamping plate and the upper clamping plate and is 5-10 cm away from the end of the machine arm;

[0020] Step A3, pull the vibrating steel bar, place the vibrating steel bar between the two driving rollers, and make the conductive block abut against the top surface of the vibrating steel bar, turn on the servo motor, so that the servo motor drives the driving roller to rotate, and when the driving roller rotates, the steel bar is pushed into between the two driving rollers, and the vibrating steel bar passes through the two driving rollers under the drive of the rotating driving roller, and the vibrating steel bar passes through the two driving rollers 5-10 cm away from the end of the machine arm;

[0021] Step B, installing the anchor plate;

[0022] Step B1, align and stack the cleaned anchor pads into the bracket and place them on the top or side of the robot base, and install a glue roller on the side of the bracket, with half of the bottom of the glue roller immersed in glue.

[0023] Step B2, first clean the edge of the anchor hole, and after cleaning and air drying, the robot arm drives the connection head to move, thereby driving the assembly plate to move through the connection bracket, and when the assembly plate drives the fixed clamp block and the movable clamp block to move to both sides of the anchor plate, the servo cylinder runs to drive the connection slider to move toward the fixed clamp block, and at the same time drives the movable clamp block to move toward the fixed clamp block, so that the fixed clamp block and the movable clamp block cooperate to clamp the anchor plate;

[0024] Step B3, after the anchor plate is taken out, the robot arm drives the assembly plate to rotate, drives the anchor plate to fit on the surface of the glue roller, and moves horizontally to drive the glue roller to rotate, so that the glue roller with glue is rotated to contact the anchor plate to apply glue;

[0025] Step B4, when applying glue, the robot arm drives the anchor plate to repeatedly slide on the surface of the glue roller, and slides repeatedly in the same direction each time to completely apply the glue;

[0026] Step B5: After the coating is completed, the anchor plate is put on the steel bar in the anchor hole, and is pressed against the edge of the anchor hole by the robot base to seal the anchor hole.

[0027] Step C, pouring concrete into the anchor hole to seal the anchor and vibrating it;

[0028] Step C1, the robot base moves to drive the end of the concrete pouring pipe to be inserted into the pouring hole of the anchor plate, and the concrete pump is turned on to pump the concrete into the anchor hole;

[0029] Step C2, when the concrete pouring pipe is inserted into the pouring port, the vibrating steel bar on the side is aligned with the vibrating socket on the anchor pad. After alignment, the servo motor drives the driving roller to rotate. When the driving roller rotates, it drives the vibrating steel bar to move into the anchor hole;

[0030] Step C3, when moving to the deep end of the anchor hole, turning on the vibration generator, the vibration force of the vibration generator is transmitted to the vibrating steel bars through the conduction block, thereby vibrating the poured concrete through the vibrating steel bars;

[0031] Step C4, during pouring, as the pouring amount increases, the anchor hole is gradually filled, and the vibrating steel bars are gradually pulled out. When pulling out, the servo motor drives the driving roller to rotate in the opposite direction, thereby driving the vibrating steel bars to move outward;

[0032] Step C5, during the movement, the vibration generator is operated to make the steel bar in a vibrating state, so that when the steel bar is pulled out, the surrounding concrete can quickly fill the gap caused by the pulling out under the action of the vibration force. After the pouring is completed, the concrete and the anchor plate are cured;

[0033] Step C6, during the process of pulling out the vibrating steel bar, the nozzle is turned on to spray water to clean the vibrating steel bar. During the cleaning, the cleaning rubber ring can scrape out the water stains on the surface of the vibrating steel bar. When the cleaning rubber ring is severely worn due to repeated use, the bolt on the top of the fixed plug block is screwed to pull out the fixed plug block. After pulling out, the fixed plug block on the new cleaning rubber ring is inserted into the fixed support plate and fixed to the fixed support plate by bolts;

[0034] Step C7, when pulling the concrete pouring pipe and the vibrating steel bars, the concrete pouring pipe and the vibrating steel bars slide inside the guide ring. When the concrete pouring pipe and the vibrating steel bars move with the end of the machine arm, the connecting slide rod is driven to slide inside the outer box through the connecting plate, and at the same time, the movable plate is driven to stretch the spring. The concrete pouring pipe and the vibrating steel bars are supported by the restoring force of the spring, and the ends of the concrete pouring pipe and the vibrating steel bars move up and down.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] 1. The present invention adopts an integrated design on the assembly plate. When the box girder is anchored, the anchor plate coated with glue is first fixed in the anchor hole, and then concrete is injected into the interior through the casting holes on the anchor plate and vibrated. This solves the problem that the existing box girder anchoring and vibrating integrated robot cannot meet the requirements of fixing the anchor plate, casting and vibrating. The connection operation procedures of installing the anchor plate, casting and vibrating during anchoring can be realized, which avoids the interval time of fixing the anchor plate, casting and vibrating being too long, and is also convenient for controlling the construction time.

[0037] 2. The present invention adopts a pull-out design of vibrating steel bars. During pouring, the steel bars can be pulled into the anchor hole to vibrate the internal concrete slurry to ensure that the concrete in the anchor hole is dense. After the vibration is completed, the steel bars can be pulled out in time to avoid affecting the density of the internal concrete.

[0038] 3. When the vibrating steel bar is pulled out, the present invention can quickly remove the cement on the surface of the vibrating steel bar by spraying water and squeezing and scraping it out, avoiding the surface of the vibrating steel bar from repeatedly adhering to the steel bar and then solidifying to cause the diameter to become larger and harder, thereby ensuring the vibration effect of the vibrating steel bar.

[0039] 4. The present invention uses the guide assembly on the rear side to align and support when pulling out the steel bars and the concrete pouring pipe. When the mechanical arm operates to pull the steel bars and the concrete pouring pipe, the concrete pouring pipe and the vibrating steel bars move to both sides. At the same time, the elastic design inside it facilitates the movement of the guide ring when the steel bars are pulled, which can meet the support and guiding performance while facilitating the movement of the vibration and concrete pouring pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a front view structural schematic diagram of a sealing, anchoring and vibrating integrated robot according to an embodiment of the present invention;

[0041] Figure 2 yes Figure 1 A schematic diagram of the structure of the anchor sealing and vibrating integrated robot in the illustrated embodiment when viewed from above;

[0042] Figure 3 yes Figure 1 A schematic diagram of the partial structure of the anchor sealing and vibrating integrated robot in the illustrated embodiment;

[0043] Figure 4 yes Figure 1 A schematic diagram of the structure of the pouring nozzle fixing assembly in the illustrated embodiment;

[0044] Figure 5 yes Figure 1 A schematic diagram of the structure of the pulling and vibrating assembly in the embodiment shown;

[0045] Figure 6 yes Figure 1 A schematic cross-sectional view of the guide assembly structure in the illustrated embodiment;

[0046] Figure 7 yes Figure 1 A schematic front view of the support frame structure in the illustrated embodiment.

[0047] The numbers in the figure represent: 1. robot base; 2. robot arm; 3. connector; 4. connecting bracket; 5. assembly plate; 6. clamping assembly; 61. fixed clamping block; 62. movable clamping block; 63. connecting slide block; 64. slide groove; 65. servo cylinder; 7. fixing assembly; 71. lower clamping plate; 72. upper clamping plate; 73. fixed side plate; 74. fixing screw; 75. shock-absorbing rubber pad; 8. pulling assembly; 81. support frame; 82. servo motor; 83. driving roller; 84. vibration generator; 85. conduction block; 86. fixed support plate; 87. support ring; 88. fixed plug block; 89. cleaning rubber ring; 810. fixed sleeve; 811. fixed clamping plate; 812. clamping screw; 9. guide assembly; 91. outer box; 92. fixed bottom plate; 93. movable plate; 94. connecting slide bar; 95. connecting plate; 96. guide ring; 97. spring. DETAILED DESCRIPTION

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments, but the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0049] Example:

[0050] like Figure 1-Figure 7As shown, a box girder sealing, anchoring and vibrating integrated robot and a method of using the same include a robot base 1 and a robot arm 2, wherein the end of the robot arm 2 away from the robot base 1 is provided with a connector 3, the end of the connector 3 away from the robot arm 2 is fixed with a connector bracket 4, the end of the connector bracket 4 away from the connector 3 is fixed with an assembly plate 5, and the top surface of the assembly plate 5 is sequentially mounted with a clamping component 6, a fixing component 7 and a pulling component 8;

[0051] The clamping assembly 6 includes a fixed clamping block 61, a movable clamping block 62 and a servo cylinder 65. The fixed clamping block 61 and the movable clamping block 62 are symmetrically arranged at one end of the top surface of the assembly plate 5. The opposite sides of the fixed clamping block 61 and the movable clamping block 62 are arranged in an arc shape that matches the anchor pad, so as to facilitate clamping the anchor pad. The connecting slide block 63 is arranged in an inverted T shape that matches the slide groove 64. The width of the bottom of the movable clamping block 62 and the connecting slide block 63 is greater than the width of the slide groove 64. The bottom surface of the assembly plate 5 between the fixed clamping block 61 and the movable clamping block 62 is arranged with a servo cylinder 65. The bottom surface of the fixed clamping block 61 is fixed to the top surface of the assembly plate 5. The bottom surface of the movable clamping block 62 is fixed with a connecting slide block 63. The connecting slide block 63 is slidably sleeved inside the slide groove 64 opened on the assembly plate 5. The end of the slide groove 64 extending to the bottom of the assembly plate 5 is fixed to the output end of the slide groove 64.

[0052] A guide assembly 9 is provided on the top surface of one side of the robot base 1 .

[0053] The fixing assembly 7 includes a lower clamping plate 71 and an upper clamping plate 72. The lower clamping plate 71 is fixed in the middle of the top surface of the assembly plate 5. The upper clamping plate 72 is arranged on the top surface of the lower clamping plate 71 to clamp the end of the concrete pouring pipe. The lower clamping plate 71 and the upper clamping plate 72 are rotatably connected on one side by a hinge, and the other side is fixed with a fixed side plate 73. The upper clamping plate 72 on the side of the lower clamping plate 71 is symmetrically fixed with fixing screws 74. The two fixing screws 74 penetrate the upper fixed side plate 73. A nut is threadedly sleeved on one end of the top surface, and the opposite sides of the lower clamping plate 71 and the upper clamping plate 72 are arranged in an arc shape that cooperates with the concrete pouring pipe. Shock-absorbing rubber pads 75 are glued and fixed to the opposite sides of the lower clamping plate 71 and the upper clamping plate 72. A runway-shaped slot that cooperates with the fixing screw 74 is symmetrically opened inside the upper fixed side plate 73 to ensure that the fixed side plate 73 on the upper clamping plate 72 can be sleeved on the fixing screw 74, thereby facilitating the clamping and fixing of the lower clamping plate 71 and the upper clamping plate 72.

[0054] The pulling component 8 includes a support frame 81, a servo motor 82, a driving roller 83 and a vibration generator 84. The support frame 81 is fixed to the top surface of the assembly plate 5 on the side of the fixing component 7 away from the clamping component 6. The driving roller 83 is symmetrically connected to the bottom surface of the support frame 81 and the top surface of the assembly plate 5 through bearings. A servo motor 82 is arranged on the top surface of the support frame 81 above one of the driving rollers 83. A vibration generator 84 is arranged on the top surface of the support frame 81 at the diameter of the two driving rollers 83. The output end of the vibration generator 84 passes through the bottom surface of the top of the support frame 81 and is fixed with a conduction block 85. The outer side surfaces of the two driving rollers 83 and the bottom surface of the conduction block 85 are both arranged in an arc shape that matches the vibrating steel bars, and the centers of the two arcs are on the same straight line. The distance between the middle diameters of the two driving rollers 83 is equal to the diameter of the vibrating steel bars. The outer surfaces of the two driving rollers 83 are glued and fixed with anti-slip rubber sleeves. The vibrating steel bars are driven to move by the two driving rollers 83, which facilitates the vibrating steel bars to enter and pull out of the anchor holes, and there is no need to equip each anchor hole with a corresponding vibrating steel bar.

[0055] The pulling assembly 8 also includes a support ring 87 and a cleaning rubber ring 89. A fixed support plate 86 is fixed to the top surface of the support frame 81 between the two driving rollers 83 by bolts. A fixed plug block 88 is inserted on one side of the fixed support plate 86. The top surface of the fixed plug block 88 is fixed to the inside of the fixed support plate 86 by bolts. The fixed plug block 88 extends to one end below the fixed support plate 86 and is fixed with a support ring 87. A cleaning rubber ring 89 is fixed inside the support ring 87. A fixed sleeve 810 is fixed to the side of the fixed support plate 86 away from the driving roller 83. A fixed splint 811 is slidably sleeved inside the fixed sleeve 810. The side of the fixed splint 811 away from the driving roller 83 is rotatably connected to a clamping screw 812 through a bearing. The clamping screw 812 is threadedly connected to the inside of the fixed sleeve 810.

[0056] The guide assembly 9 includes an outer box 91, a connecting slide 94, a connecting plate 95 and a guide ring 96. The outer box 91 is fixed to the top surface of one end of the robot base 1, and the connecting slide 94 is symmetrically slidably connected inside the outer box 91. The two connecting slides 94 extend to the outside of the outer box 91 at one end and are fixed to the bottom surface of the connecting plate 95. The guide ring 96 is symmetrically fixed to the top surface of the connecting plate 95. A fixed bottom plate 92 is fixed to the bottom surface of the outer box 91. The four corners of the fixed bottom plate 92 are fixed to the top surface of the robot base 1 by bolts. The two connecting slides 94 extend to the inside of the outer box 91 at one end and are fixed on the moving plate 93. The moving plate 93 is slidably sleeved inside the outer box 91. The two connecting slides 94 inside the outer box 91 are sleeved with springs 97, and the upper and lower ends of each spring 97 are respectively fixed to the inside of the outer box 91 and the top surface of the moving plate 93.

[0057] Method of use: Assemble the concrete pouring pipe and the vibrating steel bar. During assembly, pass the concrete pouring pipe and the vibrating steel bar through the guide rings 96 corresponding to the fixing component 7 and the pulling component 8 respectively, and pull the concrete pouring pipe and the vibrating steel bar to the fixing component 7 and the pulling component 8, insert the water pipe nozzle into the fixing sleeve 810, rotate the clamping screw 812, drive the fixed clamping plate 811 to clamp the nozzle, install and fix the nozzle inside the fixing sleeve 810, rotate the upper clamping plate 72, place the concrete pouring pipe inside the lower clamping plate 71, and then rotate the upper clamping plate 72 to cover the concrete pouring pipe, and drive the upper fixed side plate 73 to be sleeved on the fixing screw 74, and screw the nut to fix the screw. 74, driving the upper clamping plate 72 and the lower clamping plate 71 to clamp and fix the concrete pouring pipe. When fixing, the concrete pouring pipe passes through the lower clamping plate 71 and the upper clamping plate 72 and is 10-15 cm away from the two ends of the machine arm. Pull the vibrating steel bar and place it between the two driving rollers 83, and make the conductive block 85 abut against the top surface of the vibrating steel bar. Turn on the servo motor 82, so that the servo motor 82 drives the driving roller 83 to rotate. When the driving roller 83 rotates, the steel bar is pushed into between the two driving rollers 83. Driven by the rotating driving roller 83, the vibrating steel bar is driven to pass through between the two driving rollers 83. The vibrating steel bar passes through the two driving rollers 83 and is 5-10 cm away from the two ends of the machine arm.

[0058] Then install the anchor pad. Before installation, align the cleaned anchor pads and stack them into the bracket and place them on the top or side of the robot base 1, and install a glue roller on the side of the bracket. Half of the bottom of the glue roller is immersed in glue. First clean the edge of the anchor hole and air dry it after cleaning. Then the robot arm 2 drives the connecting head 3 to move, thereby driving the assembly plate 5 to move through the connecting bracket 4. When the assembly plate 5 drives the fixed clamping block 61 and the movable clamping block 62 to move to both sides of the anchor pad, the servo cylinder 65 runs to drive the connecting slider 63 to move toward the fixed clamping block 61, and at the same time drives the movable clamping block 62 to move toward the fixed clamping block 61, so that The fixed clamp block 61 and the movable clamp block 62 cooperate to clamp the anchor plate. After the anchor plate is taken out, the robot arm 2 drives the assembly plate 5 to rotate, drives the anchor plate to fit on the surface of the glue roller, and moves horizontally to drive the glue roller to rotate, so that the glue roller soaked with glue rotates to contact the anchor plate to apply glue. When applying glue, the robot arm 2 drives the anchor plate to repeatedly fit on the surface of the glue roller and slide, and slides repeatedly in the same direction each time to completely apply. After the application is completed, the anchor plate is put on the steel bar in the anchor hole, and is pressed against the edge of the anchor hole by the robot base 1 to achieve the sealing of the anchor hole.

[0059] Finally, concrete is poured into the anchor hole to seal the anchor and vibrate. During pouring, the robot base 1 moves to drive the end of the concrete pouring pipe to be inserted into the pouring hole of the anchor pad, and the concrete pump is turned on to pump the concrete into the anchor hole. When the concrete pouring pipe is inserted into the pouring port, the vibrating steel bars on the side are aligned with the vibrating sockets on the anchor pad. After alignment, the servo motor 82 runs to drive the driving roller 83 to rotate. When the driving roller 83 rotates, it drives the vibrating steel bars to move into the anchor hole. When it moves to the deep end of the anchor hole, the vibration generator 84 is turned on. The vibration force of the vibration generator 84 is transmitted to the vibrating steel bars through the conduction block 85, so that the poured concrete is vibrated by the vibrating steel bars. During pouring, as the pouring amount increases, the anchor hole is gradually filled, and the vibrating steel bars are gradually pulled out. When pulling out, the servo motor 82 runs to drive the driving roller 83 to rotate in the opposite direction, which can drive the vibrating steel bars to move outward. During the movement, the vibration generator 84 runs, so that the steel bars are in a vibrating state, so that when the steel bars are pulled out, the surrounding concrete can be vibrated. Under the action of power, the gap caused by its extraction is quickly filled. After the pouring is completed, the concrete and the anchor plate are maintained. When the vibrating steel bar is pulled out, the nozzle is turned on to spray water to clean the vibrating steel bar. During the cleaning, the cleaning rubber ring 89 can scrape out the water stains on the surface of the vibrating steel bar. When the cleaning rubber ring 89 is repeatedly used and severely worn, the bolt on the top of the fixed plug block 88 is screwed to pull out the fixed plug block 88. After pulling it out, the fixed plug block 88 on the new cleaning rubber ring 89 is inserted into the fixed support plate 86. , and is fixed to the fixed support plate 86 by bolts. When the concrete pouring pipe and the vibrating steel bar are pulled, the concrete pouring pipe and the vibrating steel bar slide inside the guide ring 96. When the concrete pouring pipe and the vibrating steel bar move with the end of the machine arm 2, the connecting slide rod 94 is driven to slide inside the outer box 91 through the connecting plate 95, and at the same time, the moving plate 93 is driven to stretch the spring 97. The concrete pouring pipe and the vibrating steel bar are supported by the restoring force of the spring 97, and the ends of the concrete pouring pipe and the vibrating steel bar move up and down along with it.

[0060] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0061] The above description is only a preferred embodiment of the present invention, which is only illustrative and not restrictive of the present invention. Those skilled in the art understand that many changes, modifications, and even equivalences may be made to the present invention within the spirit and scope defined by the claims of the present invention, but all of them will fall within the scope of protection of the present invention.

Claims

1. A box girder anchor sealing and vibrating integrated robot, characterized in that: It comprises a robot base and a robot arm, wherein a connecting head is arranged at one end of the robot arm away from the robot base, a connecting bracket is fixed at one end of the connecting head away from the robot arm, an assembly plate is fixed at one end of the connecting bracket away from the connecting head, and a clamping component, a fixing component and a pulling component are sequentially installed on the top surface of the assembly plate; The clamping assembly includes a fixed clamping block, a movable clamping block and a servo cylinder, a fixed clamping block and a movable clamping block are symmetrically arranged at one end of the top surface of the assembly plate, a servo cylinder is arranged on the bottom surface of the assembly plate between the fixed clamping block and the movable clamping block, the bottom surface of the fixed clamping block is fixed to the top surface of the assembly plate, the bottom surface of the movable clamping block is fixed to a connecting slider, the connecting slider is slidably sleeved inside a slide groove provided on the assembly plate, and one end of the slide groove extending below the assembly plate is fixed to the output end of the slide groove; A guide component is arranged on the top surface of one side of the robot base.

2. The box girder anchor sealing and vibrating integrated robot according to claim 1, characterized in that: The opposite sides of the fixed clamp block and the movable clamp block are both arranged in an arc shape to cooperate with the anchor plate, the connecting slider is arranged in an inverted T shape to cooperate with the slide groove, and the width of the bottom of the movable clamp block and the connecting slider is greater than the width of the slide groove.

3. The box girder anchor sealing and vibrating integrated robot according to claim 2, characterized in that: The fixing assembly comprises a lower clamping plate and an upper clamping plate, the lower clamping plate is fixed to the middle part of the top surface of the assembly plate, the upper clamping plate for clamping the end of the concrete pouring pipe is arranged opposite to the top surface of the lower clamping plate, one side of the lower clamping plate is rotatably connected to the upper clamping plate by a hinge, and the other sides of the lower clamping plate and the upper clamping plate are fixed with fixed side plates, and the top surface of the upper clamping plate on the side of the lower clamping plate is symmetrically fixed with fixing screws, and one end of the two fixing screws passing through the top surface of the upper fixed side plate is sleeved with nuts.

4. The box girder anchor sealing and vibrating integrated robot according to claim 3 is characterized in that: The opposite sides of the lower and upper clamping plates are both arranged in arc shapes to match the concrete pouring pipes, and the opposite sides of the lower and upper clamping plates are both glued with shock-absorbing rubber pads, and the upper fixed side plates are symmetrically provided with runway-shaped slots to match the fixed screws.

5. The box girder anchor sealing and vibrating integrated robot according to claim 4, characterized in that: The pulling and pulling assembly includes a support frame, a servo motor, a driving roller and a vibration generator. The support frame is fixed to the top surface of the assembly plate on the side of the fixing assembly away from the clamping assembly. The driving roller is symmetrically rotatably connected between the bottom surface of the support frame and the top surface of the assembly plate through bearings. A servo motor is arranged on the top surface of the support frame above one of the driving rollers. A vibration generator is arranged on the top surface of the support frame between the two driving rollers. The output end of the vibration generator passes through the bottom surface of the top of the support frame, and a conduction block is fixed to the output end of the vibration generator.

6. The box girder anchor sealing and vibrating integrated robot according to claim 5, characterized in that: The pulling assembly also includes a supporting ring and a cleaning rubber ring. A fixed support plate is fixed to the top surface of the supporting frame between the two driving rollers by bolts. A fixed plug is inserted into one side of the fixed support plate. The top surface of the fixed plug is fixed to the inside of the fixed support plate by bolts. A supporting ring is fixed to one end of the fixed plug extending below the fixed support plate. A cleaning rubber ring is fixed inside the supporting ring. A fixed sleeve is fixed to the side of the fixed support plate away from the driving roller. A fixed splint is slidably sleeved inside the fixed sleeve. A clamping screw is rotatably connected to the side of the fixed splint away from the driving roller through a bearing. The clamping screw is threadedly connected to the inside of the fixed sleeve.

7. The box girder anchor sealing and vibrating integrated robot according to claim 6, characterized in that: The outer side surfaces of the two driving rollers and the bottom surface of the conduction block are both arranged to be arc-shaped to match the vibrating steel bars, and the centers of the arc-shaped parts of the driving rollers and the conduction block are concentric. The distance between the diameters of the two driving rollers is equal to the diameter of the vibrating steel bars, and the outer surfaces of the two driving rollers are glued and fixed with anti-slip rubber sleeves.

8. The box girder anchor sealing and vibrating integrated robot according to claim 7, characterized in that: The guide assembly includes an outer box, a connecting slide rod, a connecting plate and a guide ring. The outer box is fixed to the top surface of one end of the robot base. The outer box is symmetrically slidably connected with a connecting slide rod inside. The ends of the two connecting slide rods extending to the outside of the outer box are fixed to the bottom surface of the connecting plate, and the top surface of the connecting plate is fixed with a guide ring.

9. The box girder anchor sealing and vibrating integrated robot according to claim 8, characterized in that: A fixed bottom plate is fixed to the bottom surface of the outer box, and the four corners of the fixed bottom plate are fixed to the top surface of the robot base by bolts. The two connecting slide rods extending to the inside of the outer box are fixed to the movable plate at one end, and the movable plate is slidably sleeved inside the outer box. Springs are sleeved on the two connecting slide rods inside the outer box, and the upper and lower ends of each spring are respectively fixed to the inside of the outer box and the top surface of the movable plate.

10. The method for using the box girder anchoring and vibrating integrated robot according to claim 9, characterized in that: The method for using the box girder anchor sealing and vibrating integrated robot comprises the following steps: Step A, assembling concrete pouring pipes and vibrating steel bars; Step A1, pass the concrete pouring pipe and the vibrating steel bar through the guide rings corresponding to the fixing component and the pulling component respectively, and pull the concrete pouring pipe and the vibrating steel bar to the fixing component and the pulling component, insert the water pipe nozzle into the fixing sleeve, rotate the clamping screw, drive the fixing clamp plate to clamp the nozzle, and install and fix the nozzle inside the fixing sleeve; Step A2, rotate the upper clamping plate to place the concrete pouring pipe inside the lower clamping plate, then rotate the upper clamping plate to cover the concrete pouring pipe, and drive the upper fixed side plate to cover the fixed screw, and turn the nut to drive the upper clamping plate and the lower clamping plate to clamp and fix the concrete pouring pipe. When fixing, the concrete pouring pipe passes through the lower clamping plate and the upper clamping plate and is 5-10 cm away from the end of the machine arm; Step A3, pull the vibrating steel bar, place the vibrating steel bar between the two driving rollers, and make the conductive block abut against the top surface of the vibrating steel bar, turn on the servo motor, so that the servo motor drives the driving roller to rotate, and when the driving roller rotates, the steel bar is pushed into between the two driving rollers, and the vibrating steel bar passes through the two driving rollers under the drive of the rotating driving roller, and the vibrating steel bar passes through the two driving rollers 5-10 cm away from the end of the machine arm; Step B, installing the anchor plate; Step B1, align and stack the cleaned anchor pads into the bracket and place them on the top or side of the robot base, and install a glue roller on the side of the bracket, with half of the bottom of the glue roller immersed in glue; Step B2, first clean the edge of the anchor hole, and after cleaning and air drying, the robot arm drives the connection head to move, thereby driving the assembly plate to move through the connection bracket, and when the assembly plate drives the fixed clamp block and the movable clamp block to move to both sides of the anchor plate, the servo cylinder runs to drive the connection slider to move toward the fixed clamp block, and at the same time drives the movable clamp block to move toward the fixed clamp block, so that the fixed clamp block and the movable clamp block cooperate to clamp the anchor plate; Step B3, after the anchor plate is taken out, the robot arm drives the assembly plate to rotate, drives the anchor plate to fit on the surface of the glue roller, and moves horizontally to drive the glue roller to rotate, so that the glue roller with glue is rotated to contact the anchor plate to apply glue; Step B4, when applying glue, the robot arm drives the anchor plate to slide repeatedly on the surface of the glue roller, and slides repeatedly in the same direction each time to completely apply the glue; Step B5: After the coating is completed, the anchor plate is put on the steel bar in the anchor hole, and is pressed against the edge of the anchor hole by the robot base to seal the anchor hole. Step C, pouring concrete into the anchor hole to seal the anchor and vibrating it; Step C1, the robot base moves to drive the end of the concrete pouring pipe to be inserted into the pouring hole of the anchor plate, and the concrete pump is turned on to pump the concrete into the anchor hole; Step C2, when the concrete pouring pipe is inserted into the pouring port, the vibrating steel bar on the side is aligned with the vibrating socket on the anchor pad. After alignment, the servo motor drives the driving roller to rotate. When the driving roller rotates, it drives the vibrating steel bar to move into the anchor hole; Step C3, when moving to the deep end of the anchor hole, turning on the vibration generator, the vibration force of the vibration generator is transmitted to the vibrating steel bars through the conduction block, thereby vibrating the poured concrete through the vibrating steel bars; Step C4, during pouring, as the pouring amount increases, the anchor hole is gradually filled, and the vibrating steel bars are gradually pulled out. When pulling out, the servo motor drives the driving roller to rotate in the opposite direction, thereby driving the vibrating steel bars to move outward; Step C5, during the movement, the vibration generator is operated to make the steel bar in a vibrating state, so that when the steel bar is pulled out, the surrounding concrete can quickly fill the gap caused by the pulling out under the action of the vibration force. After the pouring is completed, the concrete and the anchor plate are cured; Step C6, during the process of pulling out the vibrating steel bar, the nozzle is turned on to spray water to clean the vibrating steel bar. During the cleaning, the cleaning rubber ring can scrape out the water stains on the surface of the vibrating steel bar. When the cleaning rubber ring is severely worn due to repeated use, the bolt on the top of the fixed plug block is screwed to pull out the fixed plug block. After pulling out, the fixed plug block on the new cleaning rubber ring is inserted into the fixed support plate and fixed to the fixed support plate by bolts; Step C7, when pulling the concrete pouring pipe and the vibrating steel bars, the concrete pouring pipe and the vibrating steel bars slide inside the guide ring. When the concrete pouring pipe and the vibrating steel bars move with the end of the machine arm, the connecting slide rod is driven to slide inside the outer box through the connecting plate, and at the same time, the movable plate is driven to stretch the spring. The concrete pouring pipe and the vibrating steel bars are supported by the restoring force of the spring, and the ends of the concrete pouring pipe and the vibrating steel bars move up and down.

Images