Intelligent vibrating robot

Abstract

The intelligent vibrating robot has the advantages that a rhombic lifting support is adopted as a vibrating arm of the intelligent vibrating robot, a lifting driving device of the intelligent vibrating robot can push the rhombic lifting support to deform so as to drive a vibrating rod to ascend and descend and keep the vibrating rod in the vertical state, and in the lifting process of the vibrating rod, the vibrating rod is driven to ascend and descend. The controller can control the walking device to move so as to keep the vibrating rod to ascend and descend on the same vertical line, or control the pusher of the support to enable the support to move on the walking device so as to keep the vibrating rod to ascend and descend on the same vertical line, the construction quality consistency is good, the vibrating rod can be prevented from being bent, and the construction efficiency is improved. The vibration amplitude of the vibrating rod is always within the design range, and the service life is long.

Description

Technical Field

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

[0002] Intelligent vibrating robots can be used to realize all-terrain vibration intelligently, and are favored by relevant civil engineering personnel. One of the existing intelligent vibrating robots drives the vibrating rod to rise and fall by retracting and releasing the retracting device, which can keep the vibrating rod vertical, but the hose used to protect the wires will be inserted into the concrete during the descent of the vibrating rod, and will carry concrete slurry when it is retracted, accumulating at the reeling port. After the concrete slurry solidifies, it will cause serious wear on the hose, which needs to be cleaned in time, which is more troublesome; the other type drives the insertion and removal of the vibrating rod through a mechanized vibrating arm, without the need to set up a hose or timely cleaning, but the existing vibrating arm will tilt during the rise and fall of the vibrating rod, resulting in poor consistency in construction quality, and the vibrating rod will bend due to uneven resistance distribution or contact with the steel mesh, and the vibration amplitude of the vibrating rod exceeds the design, resulting in a reduced service life, which urgently needs to be improved. Summary of the invention

[0003] A technical problem to be solved by the present application is to overcome the defects of the above-mentioned related technologies and provide an intelligent vibrating robot with a long service life and a vibrating rod on its vibrating arm that can be vertically plugged in and out.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an intelligent vibrating robot, comprising a controller, a walking device and a vibrating arm, wherein the vibrating arm is installed on the walking device, the walking device and the vibrating arm are electrically connected to the controller respectively, and the vibrating arm comprises a support, a diamond-shaped lifting bracket, a lifting drive device and a vibrating rod; the vibrating rod is vertically fixed to the front end of the diamond-shaped lifting bracket, the rear end of the diamond-shaped lifting bracket is fixed to the support, and the two ends of the lifting drive device are respectively hinged to the support and the diamond-shaped lifting bracket; The lifting drive device is used to push the diamond-shaped lifting bracket to deform so as to drive the vibrating rod to lift and keep the vibrating rod in a vertical state, and the lifting drive device is electrically connected to the controller; The controller is used to control the movement of the walking device to keep the vibrating rod rising and falling on the same vertical line, or to control the pusher of the support to make the support move on the walking device to keep the vibrating rod rising and falling on the same vertical line.

[0005] Compared with the related art, the present invention has the following advantages: the vibrating arm of the intelligent vibrating robot of the present invention adopts a diamond-shaped lifting bracket, and its lifting drive device can be used to push the diamond-shaped lifting bracket to deform and drive the vibrating rod to lift and lower and keep the vibrating rod in a vertical state. During the lifting of the vibrating rod, its controller controls the movement of the walking device to keep the vibrating rod lifting and lowering on the same vertical line, or controls the pusher of the support to make the support move on the walking device to keep the vibrating rod lifting and lowering on the same vertical line. The construction quality consistency is good, and the vibrating rod can be prevented from bending. The vibration amplitude of the vibrating rod is always within its design range, and the service life is long.

[0006] Preferably, the diamond-shaped lifting bracket includes a first vertical connection member, a second vertical connection member, a lifting drive member and a diamond-shaped retaining member, the two ends of the lifting drive member and the diamond-shaped retaining member are respectively pivoted with the first vertical connection member and the second vertical connection member to form a deformable diamond-shaped structural component, the first vertical connection member is fixed to the support, and the vibrating rod is fixed to the bottom end of the second vertical connection member; the working end of the telescopic rod of the lifting drive device is hinged with the lifting drive member. The frame structure is more stable than the rod-shaped structure, has high stability, and has good consistency in construction quality.

[0007] Preferably, the lifting drive member includes shaft sleeves at both ends, two side panels between the shaft sleeves and a hinge seat, the shaft sleeves are respectively pivoted to the first vertical connecting member and the second vertical connecting member, the hinge seat is fixed to the two side panels and is arranged in the middle of the side panels; the working end of the telescopic rod of the lifting drive device is hinged to the hinge seat.

[0008] As an improvement, a portion of the side plate away from the vibrator is convex upward. The side plate is roughly triangular blunt structure, high strength, good force bearing when the vibrator is inserted downward.

[0009] As an improvement, a lining plate is connected between the upper ends of the two side plates to improve the strength of the lifting drive member.

[0010] Preferably, there are multiple vibrating rods arranged side by side. Multiple vibrating rods work simultaneously, which increases the construction efficiency exponentially.

[0011] As an improvement, the vibrating arm is connected to the walking device through a rotating mechanism, and the rotating mechanism is electrically connected to the controller. Vibration can be carried out at multiple angles, which is suitable for plane construction on complex terrain.

[0012] As an improvement, a camera and a remote control device are further provided, wherein the camera is electrically connected to the controller, and the remote control device is wirelessly connected to the controller; The controller is used to transmit the scene video captured by the camera to the remote control device; The remote control device is used to send control instructions to the controller. The intelligent vibrating robot can be controlled to work on the remote control device outside the construction site, and the operator does not need to enter the construction site, thereby reducing safety hazards.

[0013] As an improvement, distance sensors are arranged around the walking device, and the distance sensors are electrically connected to the controller. The distance sensors are used to monitor obstacles around the intelligent vibrating robot, and the controller controls the walking device according to feedback information from the distance sensors to avoid collision accidents between the intelligent vibrating robot and construction personnel, columns or pouring machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a side view of the present invention.

[0015] Figure 2 It is a left-side stereoscopic schematic diagram of the present invention.

[0016] Figure 3 It is a right-side stereoscopic schematic diagram of the present invention.

[0017] Figure 4 It is a top perspective schematic diagram of the vibrating arm of the present invention.

[0018] Figure 5 It is a bottom-up stereoscopic schematic diagram of the vibrating arm of the present invention. DETAILED DESCRIPTION

[0019] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The preferred embodiment is as follows Figures 1 to 3 The intelligent vibrating robot shown in the figure comprises a controller 1, a walking device 2 and a vibrating arm 3, wherein the vibrating arm 3 is mounted on the walking device 2 through a rotating mechanism 4, and the walking device 2, the rotating mechanism 4 and the vibrating arm 3 are electrically connected to the controller 1 respectively. Figure 4 and 5 The structure shown in the figure includes a support 3.1, a diamond-shaped lifting bracket 3.2, a lifting drive device 3.3 and a vibrating rod 3.4; the support 3.1 is composed of a bottom plate and a vertical support, the bottom plate of the support 3.1 is fixed on the turntable of the rotating mechanism 4, the vibrating rod 3.4 is vertically fixed to the bottom of the front end of the diamond-shaped lifting bracket 3.2, the rear end of the diamond-shaped lifting bracket 3.2 is fixed to the upper end of the vertical support of the support 3.1, and the two ends of the lifting drive device 3.3 are respectively hinged to the front side of the vertical support of the support 3.1 and the diamond-shaped lifting bracket 3.2; The lifting drive device 3.3 is an electric push rod, and the lifting drive device 3.3 is used to push the diamond lifting bracket 3.2 to deform so as to drive the vibrating rod 3.4 to lift and keep the vibrating rod 3.4 in a vertical state. The lifting drive device 3.3 is electrically connected to the controller 1; The controller 1 is used to control the movement of the walking device 2 to keep the vibrating rod 3.4 rising and falling on the same vertical line; the controller 1 can calculate the deformation of the diamond lifting bracket 3.2 according to the feedback of the lifting drive device 3.3, thereby deriving the displacement distance of the vibrating rod 3.4. The controller 1 controls the movement of the walking device 2 to eliminate the displacement distance of the vibrating rod 3.4, so as to keep the vibrating rod 3.4 rising and falling on the same vertical line, thereby ensuring good consistency in construction quality. Alternatively, a pushing guide mechanism can also be set between the support 3.1 and the turntable, and the pusher of the pushing guide mechanism is electrically connected to the controller 1. The controller 1 controls the pusher to make the support 3.1 move on the turntable (which can also be regarded as moving on the walking device 2) to keep the vibrating rod 3.4 rising and falling on the same vertical line.

[0022] The rotating mechanism 4 is driven by a servo motor, which is electrically connected to the controller 1 . The servo motor is connected to the turntable through a reduction gear assembly, and can control the vibration arm 3 to rotate freely and complete a 360° full-range rotation.

[0023] Preferably, the diamond-shaped lifting bracket 3.2 includes a first vertical connecting member, a second vertical connecting member, a lifting drive member and a diamond-shaped retaining member, and the two ends of the lifting drive member and the diamond-shaped retaining member are respectively pivoted to the first vertical connecting member and the second vertical connecting member to form a deformable diamond-shaped structural component, the first vertical connecting member is fixed to the upper end of the support 3.1, and the vibrating rod 3.4 is fixed to the bottom end of the second vertical connecting member; the working end of the telescopic rod of the lifting drive device 3.3 is hinged to the lifting drive member. The first vertical connection member is mainly composed of the first mullion and the first upper crossbar and the first lower crossbar inserted on the first mullion; the second vertical connection member is mainly composed of the second mullion, the second upper crossbar and the second lower crossbar inserted on the second mullion, and the vibrator carrier welded and fixed to the second mullion; the lifting drive member includes sleeves at both ends, two side plates and an articulated seat between the sleeves, the sleeves are respectively located in the first mullion and the second mullion, the sleeves are respectively sleeved on the first upper crossbar and the second upper crossbar, the articulated seat is fixed to the two side plates and arranged in the middle of the side plates; one end of the lifting drive device 3.3 is hinged to the articulated seat; the diamond-shaped retaining member includes pipe fittings at both ends, two connecting rods between the pipe fittings and a cross bar between the connecting rods, the pipe fittings are respectively located in the first mullion and the second mullion, and the pipe fittings are respectively sleeved on the first lower crossbar and the second lower crossbar. The pipe fittings and the sleeves are both hollow short tubes.

[0024] As an improvement, the middle of the side plate away from the vibrating rod 3.4 is convex upward. The side plate is generally in a triangular blunt structure, so that the overall strength of the lifting drive component is high and the vibrating rod 3.4 has good force resistance when inserted downward.

[0025] As an improvement, a lining plate is connected between the upper ends of the side plates at both ends to further improve the strength of the lifting drive member.

[0026] Preferably, there are multiple vibrating rods 3.4 arranged side by side. Multiple vibrating rods 3.4 work simultaneously, which increases the construction efficiency by multiples.

[0027] As an improvement, a camera (not shown in the figure) and a remote control device (not shown in the figure) are further provided. The camera can be installed at the front end of the second vertical connecting member of the vibrating arm 3. The camera is electrically connected to the controller 1, and the remote control device is wirelessly connected to the controller 1. The controller 1 is used to transmit the scene video captured by the camera to the remote control device; The remote control device is used to send control instructions to the controller 1. The intelligent vibrating robot can be remotely controlled on the remote control device outside the construction site, and the operator does not need to enter the construction site, reducing safety hazards.

[0028] As an improvement, the walking device 2 is provided with distance sensors around it, and the distance sensors are electrically connected to the controller 1. The distance sensors are used to monitor obstacles around the intelligent vibrating robot, and the controller 1 controls the walking device 2 according to the feedback information of the distance sensors to avoid collision accidents between the intelligent vibrating robot and construction personnel, columns or pouring machinery.

[0029] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An intelligent vibrating robot, comprising a controller, a walking device and a vibrating arm, wherein the vibrating arm is mounted on the walking device, and the walking device and the vibrating arm are electrically connected to the controller respectively, characterized in that: The vibrating arm comprises a support, a diamond-shaped lifting bracket, a lifting drive device and a vibrating rod; the vibrating rod is vertically fixed to the front end of the diamond-shaped lifting bracket, the rear end of the diamond-shaped lifting bracket is fixed to the support, and the two ends of the lifting drive device are respectively hinged to the support and the diamond-shaped lifting bracket; The lifting drive device is used to push the diamond-shaped lifting bracket to deform so as to drive the vibrating rod to lift and keep the vibrating rod in a vertical state, and the lifting drive device is electrically connected to the controller; The controller is used to control the movement of the walking device to keep the vibrating rod rising and falling on the same vertical line, or to control the pusher of the support to make the support move on the walking device to keep the vibrating rod rising and falling on the same vertical line.

2. The intelligent vibrating robot according to claim 1, characterized in that: The diamond-shaped lifting bracket includes a first vertical connecting member, a second vertical connecting member, a lifting drive member and a diamond-shaped retaining member. The two ends of the lifting drive member and the diamond-shaped retaining member are respectively pivotally connected to the first vertical connecting member and the second vertical connecting member to form a deformable diamond-shaped structural component. The first vertical connecting member is fixed to the support; the top of the vibrating rod is fixed to the bottom end of the second vertical connecting member, and the working end of the telescopic rod of the lifting drive device is hinged to the lifting drive member.

3. The intelligent vibrating robot according to claim 2, characterized in that: The lifting drive member includes shaft sleeves at both ends, two side plates between the shaft sleeves and an articulated seat. The shaft sleeves are pivotally connected to the first vertical connecting member and the second vertical connecting member respectively. The articulated seat is fixed to the two side plates and is arranged in the middle of the side plates. The working end of the telescopic rod of the lifting drive device is hinged to the articulated seat.

4. The intelligent vibrating robot according to claim 3, characterized in that: A point in the middle of the side plate away from the vibrating rod protrudes upward.

5. The intelligent vibrating robot according to claim 3, characterized in that: A lining plate is connected between the upper ends of the two side plates.

6. The intelligent vibrating robot according to any one of claims 1 to 5, characterized in that: There are multiple vibrating rods arranged side by side.

7. The intelligent vibrating robot according to any one of claims 1 to 5, characterized in that: The vibrating arm is connected to the walking device through a rotating mechanism, and the rotating mechanism is electrically connected to the controller.

8. The intelligent vibrating robot according to any one of claims 1 to 5, characterized in that: A camera and a remote control device are also provided, wherein the camera is electrically connected to the controller, and the remote control device is wirelessly connected to the controller; The controller is used to transmit the scene video captured by the camera to the remote control device; The remote control device is used to send control instructions to the controller.

9. The intelligent vibrating robot according to any one of claims 1 to 5, characterized in that: Distance measuring sensors are arranged around the walking device, and the distance measuring sensors are electrically connected to the controller.

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