Intelligent vibration compaction robot

Abstract

The present invention discloses an intelligent vibrating robot. The advantages are that the vibrating arm of the intelligent vibrating robot of the present invention adopts a diamond-shaped lifting bracket, and its lifting drive device can push the diamond-shaped lifting bracket to deform, drive the vibrating rod to lift and keep the vibrating rod in a vertical state. During the lifting and lowering process of the vibrating rod, its controller can control the moving device to move to keep the vibrating rod lifting and lowering on the same vertical line, or control the pusher of the support to move the support on the moving device to keep the vibrating rod lifting and lowering on the same vertical line. The construction quality is consistent, and the bending of the vibrating rod can be avoided. The vibration amplitude of the vibrating rod is always within its design range, and the service life is long.

Description

Technical Field

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

[0002] Intelligent vibrating robots can be used to achieve all-terrain vibration intelligently and are favored by relevant civil engineering personnel. One of the existing intelligent vibrating robots drives the up and down movement of the vibrating rod by the winding and unwinding of a retracting device, which can keep the vibrating rod vertical. However, the hose used to protect the electric wire will be inserted into the concrete during the downward movement of the vibrating rod and will carry concrete slurry when retracted, which will accumulate at the wire take-up port. After the concrete slurry solidifies, it will seriously wear the hose and needs to be cleaned in time, which is rather troublesome. Another type drives the insertion and extraction of the vibrating rod through a mechanical vibrating arm, without the need to set a hose and without the need for timely cleaning. However, the existing vibrating arm will tilt during the up and down movement of the vibrating rod, resulting in good consistency of construction quality. Moreover, if the resistance distribution on the vibrating rod is uneven or it touches the steel mesh, it will cause bending, 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] One technical problem to be solved by this application is to overcome the defects of the above-related technologies and provide an intelligent vibrating robot with a long service life, and the vibrating rod on its vibrating arm can be inserted and extracted vertically.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an intelligent vibrating robot, including a controller, a traveling device, and a vibrating arm. The vibrating arm is installed on the traveling device. The traveling device and the vibrating arm are respectively electrically connected to the controller. The vibrating arm includes a support, a diamond-shaped lifting bracket, a lifting drive device, and a vibrating rod. The vibrating rod is vertically fixed at the front end of the diamond-shaped lifting bracket. The rear end of the diamond-shaped lifting bracket is fixed to the support. Both ends of the lifting drive device are respectively hinged to the support and the diamond-shaped lifting bracket.

[0005] The lifting drive device is used to push the diamond-shaped lifting bracket to deform, drive the vibrating rod to lift and lower, and keep the vibrating rod in a vertical state. The lifting drive device is electrically connected to the controller.

[0006] The controller is used to control the movement of the traveling device to keep the vibrating rod lifting and lowering on the same vertical line, or control the pusher of the support to move the support on the traveling device to keep the vibrating rod lifting and lowering on the same vertical line.

[0007] Compared with the related technologies, 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, drive the vibrating rod to lift, and keep the vibrating rod in a vertical state. During the lifting of the vibrating rod, its controller controls the moving device to move to keep the vibrating rod lifting along the same vertical line, or controls the pusher of the support to move the support on the moving device to keep the vibrating rod lifting along the same vertical line. The construction quality is consistent, and the bending of the vibrating rod can be avoided. The vibration amplitude of the vibrating rod is always within its designed range, and the service life is long.

[0008] Preferably, the diamond-shaped lifting bracket includes a first vertical connecting member, a second vertical connecting member, a lifting driving member, and a diamond-shaped retaining member. The two ends of the lifting driving 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 assembly. The first vertical connecting member is fixed to the support, and the vibrating rod is fixed to the bottom end of the second vertical connecting member; the working end of the telescopic rod of the lifting drive device is pivotally connected to the lifting driving member. The stability of the frame structure is greater than that of the rod-shaped structure, the stability is high, and the construction quality is consistent.

[0009] Preferably, the lifting driving member includes bushings at both ends, two side plates between the bushings, and a hinge seat. The bushings are respectively pivotally connected to the first vertical connecting member and the second vertical connecting member, and the hinge 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 pivotally connected to the hinge seat.

[0010] As an improvement, one side of the middle of the side plate away from the vibrating rod bulges upward. The side plate is generally in a triangular blunt structure, with high strength and good stress resistance when the vibrating rod is inserted downward.

[0011] As an improvement, a lining plate is connected between the upper ends of the two side plates. It is used to improve the strength of the lifting driving member.

[0012] Preferably, there are multiple vibrating rods arranged side by side. Multiple vibrating rods work simultaneously, doubling the construction efficiency.

[0013] As an improvement, the vibrating arm is connected to the moving device through a rotating mechanism, and the rotating mechanism is electrically connected to the controller. It can vibrate at multiple angles and is suitable for construction on complex terrain planes.

[0014] As an improvement, a camera and a remote control device are further provided. The camera is electrically connected to the controller, and the remote control device is wirelessly communicatively connected to the controller;

[0015] The controller is used to transmit the scene video captured by the camera to the remote control device;

[0016] The remote control device is used to send control instructions to the controller. The intelligent vibrating robot can be controlled on the remote control device outside the construction site, eliminating the need for operators to enter the construction site and reducing potential safety hazards.

[0017] As an improvement, distance sensors are provided around the traveling 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 traveling device according to the feedback information from the distance sensors to prevent the intelligent vibrating robot from colliding with construction workers, columns or pouring machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a side view of the present invention.

[0019] Figure 2 is a left perspective schematic view of the present invention.

[0020] Figure 3 is a right perspective schematic view of the present invention.

[0021] Figure 4 is a top perspective schematic view of the vibrating arm of the present invention.

[0022] Figure 5 is a bottom perspective schematic view of the vibrating arm of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] First, those skilled in the art should understand that these embodiments 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 according to needs to adapt to specific application scenarios.

[0024] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0025] This preferred embodiment is an intelligent vibrating robot as Figures 1 to 3 shown, including a controller 1, a traveling device 2 and a vibrating arm 3. The vibrating arm 3 is installed on the traveling device 2 through a rotating mechanism 4. The traveling device 2, the rotating mechanism 4 and the vibrating arm 3 are respectively electrically connected to the controller 1. The vibrating arm 3 is as Figure 4 and 5 shown and 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 at the front bottom 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. Both 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.

[0026] 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;

[0027] 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.

[0028] 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.

[0029] 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.

[0030] As an improvement, a portion of the middle of the side plate away from the vibrating rod 3.4 bulges upward. The side plate is generally in a triangular obtuse structure, so that the overall strength of the lifting drive member is high and the force-bearing property is good when the vibrating rod 3.4 is inserted downward.

[0031] As an improvement, a lining plate is connected between the upper ends of the two end side plates. It is used to further improve the strength of the lifting drive member.

[0032] Preferably, there are multiple vibrating rods 3.4 arranged side by side. Multiple vibrating rods 3.4 work simultaneously, doubling the construction efficiency.

[0033] As an improvement, a camera (not shown in the figure) and a remote control device (not shown in the figure) are also 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 communicatively connected to the controller 1;

[0034] The controller 1 is used to transmit the scene video captured by the camera to the remote control device;

[0035] 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 potential safety hazards.

[0036] As an improvement, distance sensors are arranged around the traveling device 2. 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 traveling device 2 according to the feedback information of the distance sensors to avoid collision accidents between the intelligent vibrating robot and construction workers, columns or pouring machinery.

[0037] The above is only the specific implementation manner 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 those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An intelligent vibrating robot, comprising a controller, a traveling device and a vibrating arm, wherein the vibrating arm is installed on the traveling device, and the traveling device and the vibrating arm are respectively electrically connected to the controller, characterized in that, The vibrating arm includes a support, a diamond-shaped lifting bracket, a lifting drive device, and a vibrating rod; the vibrating rod is vertically fixed at the front end of the diamond-shaped lifting bracket, the rear end of the diamond-shaped lifting bracket is fixed to the support, and both ends of the lifting drive device are hinged to the support and the diamond-shaped lifting bracket respectively; The lifting drive device is used to push the diamond-shaped lifting bracket to deform, drive the vibrating rod to lift, and keep the vibrating rod in a vertical state. The lifting drive device is electrically connected to the controller; The controller calculates the deformation of the diamond-shaped lifting bracket based on the feedback of the lifting drive device, and derives the displacement distance of the vibrating rod; The controller is used to control the movement of the traveling device to eliminate the displacement distance of the vibrating rod so as to keep the vibrating rod lifting on the same vertical line, or control the pusher of the support to move the support on the traveling device to eliminate the displacement distance of the vibrating rod so as to keep the vibrating rod lifting on the same vertical line.

2. The intelligent vibration compaction 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. Both ends of the lifting drive member and the diamond-shaped retaining member are pivotally connected to the first vertical connecting member and the second vertical connecting member respectively to form a deformable diamond-shaped structural assembly. 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 vibration compaction robot according to claim 2, characterized in that, The lifting drive member includes bushings at both ends, two side plates between the bushings, and a hinge seat. The bushings are respectively pivotally connected to the first vertical connecting member and the second vertical connecting member. The hinge 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 hinge seat.

4. The intelligent vibrating robot according to claim 3, wherein One place on the middle of the side plate away from the vibrating rod bulges 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 vibration compaction 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 traveling 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. The camera is electrically connected to the controller, and the remote control device is wirelessly communicatively 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 traveling device, and the distance measuring sensors are electrically connected to the controller.

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