Avoidance steel bar insertion type vibrator and automatic avoidance method

Abstract

The embodiment of the invention discloses an avoiding reinforcing steel bar insertion type vibrator and an automatic avoiding method, and relates to the technical field of building construction, a linear driving mechanism in the avoiding reinforcing steel bar insertion type vibrator is arranged in a shell, a connecting plate is arranged at the output end of the linear driving mechanism, and the connecting plate moves through the linear driving mechanism; the vibrator is located on the side, opposite to the linear driving mechanism, of the connecting plate. The rotation adjusting mechanism is connected with the linear driving mechanism, a rotation motor on the rotation adjusting mechanism drives the linear driving mechanism and the vibrator to rotate, a through hole is formed in the position, corresponding to the vibrator, of the rotation adjusting mechanism, and the through hole is used for allowing the vibrator to pass through; the sensor is electrically connected to the controller so that the sensor can transmit sensing signals to the controller, the controller can control the linear driving mechanism to drive, accurate pouring is conducted on the vault of the tunnel through cooperation of the rotation adjusting mechanism and the sensor, and interference of reinforcing steel bars is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and is applicable to lining construction projects of roads, railways and water conservancy tunnels, and in particular to an avoidance steel bar insertion vibrator and an automatic avoidance method. Background Art

[0002] Pouring of vault concrete is a complex and technically demanding construction process. This process mainly involves pouring concrete at the top of the tunnel to reinforce the tunnel vault and form a tunnel. Currently, the vault concrete pouring construction of the tunnel second lining trolley has been in a state of blind injection and blind drying, relying on experience and manual observation, and it is impossible to control the vault concrete pouring status in real time and accurately.

[0003] The current state of the trolley-type arch insertion vibrator is direct insertion or manual rotation, which requires manual intervention. Operational errors can easily impact the arch steel bars, causing steel bar bending and node damage.

[0004] The above construction methods and quality problems have existed for a long time. The quality problems need to be solved and the construction methods need to be iteratively upgraded. To this end, it is necessary to innovate an automatic steel bar avoidance insertion vibrator and its working method to accurately cast the tunnel vault and avoid interference from steel bars. Summary of the invention

[0005] The technical solutions adopted to solve the above technical problems are as follows:

[0006] The present application provides a steel bar avoidance insertion vibrator, comprising:

[0007] A linear drive mechanism, wherein the linear drive mechanism is disposed in a housing, and an output end of the linear drive mechanism is provided with a connecting plate, and the connecting plate is moved by the linear drive mechanism;

[0008] A vibrator is arranged on the connecting plate, and the vibrator is located on one side of the connecting plate relative to the linear drive mechanism;

[0009] A rotation adjustment mechanism is connected to the linear drive mechanism. A rotation motor is provided on the rotation adjustment mechanism to drive the rotation motor. The rotation motor drives the linear drive mechanism and the vibrator to rotate. A through hole is provided on the rotation adjustment mechanism at a position corresponding to the vibrator. The through hole is used for the vibrator to pass through.

[0010] A controller and a plurality of sensors, wherein the plurality of sensors are arranged on the vibrator or on the connecting plate, and the plurality of sensors are electrically connected to the controller so that the sensors transmit sensing signals to the controller, so that the controller controls the driving of the linear drive mechanism.

[0011] Optionally, in some embodiments of the present application, the linear drive mechanism includes a thrust cylinder and a guide rod, the thrust cylinder and the guide rod are both arranged in the outer shell, the guide rod is arranged in the thrust direction of the thrust cylinder, a fixing hole is opened on the connecting plate, the guide rod is located in the fixing hole, and when the thrust cylinder is pushed, the connecting plate moves on the guide rod.

[0012] Optionally, in some embodiments of the present application, the rotation adjustment mechanism includes:

[0013] A fixed plate, wherein a gear is disposed on the inner ring of the fixed plate;

[0014] A rotating disk, the rotating disk is rotatably connected to the fixed disk, the rotating motor is installed on the rotating disk, and a rotating wheel is provided on the output end of the rotating motor, the rotating wheel is meshed and connected with the gear, the linear drive mechanism and the vibrator are both located on the rotating disk, when the rotating motor rotates, the rotating disk rotates relative to the fixed disk, and the rotating disk is provided with the through hole;

[0015] The fixed plate is installed on the outer side of the trolley, and the linear drive mechanism and the vibrator are both located inside the trolley.

[0016] Optionally, in some embodiments of the present application, a linear control constraint device is further included, and the linear control constraint device is arranged on an end of the connecting plate away from the linear drive mechanism and connected to the rotating disk.

[0017] Optionally, in some embodiments of the present application, the linear control constraint device includes:

[0018] A support plate, the support plate is connected to the rotating plate, and the support plate is vertically arranged on the rotating disk;

[0019] A plurality of abutment terminals are respectively arranged at the edge of one side of the support plate, so that a movement channel is formed between the plurality of abutment terminals, and the plurality of abutment terminals are rotatably connected to the support plate;

[0020] A linear driver connected to one end of the abutting terminal, so that when the linear driver is driven, the abutting terminal rotates synchronously on the support plate;

[0021] A restraining rod connected to the connecting plate, an abutment member is provided on one end of the restraining rod away from the connecting plate, the abutment member is rotatably connected to the restraining rod, and a spring is connected between the abutment member and the restraining rod;

[0022] When the linear drive drives the abutting terminal to rotate to a position, the abutting member abuts against the abutting terminal, and the abutting terminal constrains the abutting member, so that the abutting member is fixed on the abutting terminal, thereby fixing the constraining rod in the moving channel;

[0023] When the linear driver drives the abutting terminal to rotate to another position, the abutting terminal is disengaged from the abutment of the abutting member, so that the restraining rod moves in the moving channel.

[0024] Optionally, in some embodiments of the present application, a buffer device is installed between the vibrator and the connecting plate, and the buffer device performs a buffering connection on the vibrator.

[0025] Optionally, in some embodiments of the present application, the buffer device includes:

[0026] A buffer pad, the buffer pad is located on the connecting plate toward the vibrator;

[0027] A buffer spring is arranged on the buffer pad, one end of the buffer spring is connected to the vibrator, and a plurality of the buffer springs are arranged.

[0028] Optionally, in some embodiments of the present application, the plurality of sensors include a pressure sensor, and the pressure sensor is located on a side of the vibrator facing the buffer device, so that the buffer spring abuts against the pressure sensor.

[0029] Optionally, in some embodiments of the present application, the sensor further includes a displacement sensor, and the displacement sensor is disposed on the connecting plate, and the displacement sensor senses the displacement change of the vibrator.

[0030] In some embodiments of the present application, an automatic avoidance method is further provided, and the automatic avoidance method includes:

[0031] Step 1: The linear drive mechanism drives the vibrator to move, and the linear drive drives the abutment terminal to rotate to a position, and the abutment terminal is disengaged from the abutment of the abutment member, so that the vibrator moves through the through hole on the rotating disk, so that the vibrator extends out of the trolley, and at the same time, the displacement sensor and the pressure sensor sense corresponding sensing signals and transmit them to the controller;

[0032] Step 2: A pressure value is preset in the controller. When the vibrator contacts the steel bar, the pressure sensor transmits the corresponding sensing signal to the controller. The controller determines the relationship between the pressure value corresponding to the sensing signal and the preset pressure value. When the pressure value of the sensing signal is greater than the preset pressure value, the controller controls the linear drive mechanism to retract the vibrator.

[0033] Step three: The controller controls the rotation of the output end of the rotating motor so that the rotating disk rotates relative to the fixed disk, rotates the vibrator to other positions, and stops the output of the rotating motor. At this time, the process of step one is carried out, and step two is used to determine whether there are steel bars. When there are no steel bars, the controller controls the linear drive mechanism to continue to push the vibrator. When it is pushed to the specified position, the linear drive mechanism stops running. At the same time, the linear drive drives the abutment terminal to rotate to another position, so that the abutment terminal constrains the constraint rod to fix the vibrator.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] In the present application, a linear drive mechanism and multiple sensors are provided. When the vibrator vibrates the cement, the displacement sensor and the pressure sensor can be used in conjunction with the rotary motor to rotate the vibrator, so that the position of the vibrator on the rotating disk relative to the cement can be adjusted, so that the vibrator can avoid interference from the steel bars in the cement, making it easier for the vibrator to stir and vibrate the cement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic diagram of the overall structure of a steel bar avoidance insertion vibrator provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the side structure of a steel bar avoidance insertion vibrator provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the overall structure of a steel bar avoidance insertion vibrator provided in another embodiment of the present application;

[0040] Figure 4 A schematic diagram of the overall structure of a steel bar avoidance insertion vibrator provided in another embodiment of the present application;

[0041] Figure 5 The overall structure of the linear control restraint device provided in the embodiment of the present application is schematically shown in FIG. Figure 1 ;

[0042] Figure 6 The overall structure of the linear control restraint device provided in the embodiment of the present application is schematically shown in FIG. Figure 2 .

[0043] Description of reference numerals:

[0044] 100, linear drive mechanism; 110, connecting plate; 111, fixing hole; 120, thrust cylinder; 130, guide rod; 200, vibrator; 300, rotation adjustment mechanism; 310, rotating motor; 311, rotating wheel; 320, rotating disk; 321, through hole; 330, fixed disk; 400, controller; 410, sensor; 500, linear control constraint device; 510, support plate; 511, moving channel; 520, abutment terminal; 530, linear drive; 531, drive rod; 540, constraint rod; 541, abutment; 542, spring; 600, buffer device; 610, buffer pad; 620, buffer spring. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present application. It is understood that the drawings are only provided for reference and illustration, and are not used to limit the present application. The connection relationship shown in the drawings is only for the convenience of clear description and does not limit the connection method.

[0046] Specifically, Figure 1 As shown, in an embodiment of the present application, a steel bar avoidance insertion vibrator 200 is provided. The vibrator 200 is mainly installed at the top or both sides of a tunnel trolley or a shield machine. By extending the vibrator 200 out of the trolley, the cement in the tunnel is stirred and vibrated to maintain the density, uniformity and strength of the concrete, while eliminating bubbles.

[0047] Since the vibrator 200 needs to be extended, a rotation adjustment mechanism 300 is installed on the tunnel trolley. The rotation adjustment mechanism 300 includes a fixed plate 330 and a rotating plate 320. The fixed plate 330 is fixedly installed at an outer position on the tunnel trolley, and a gear is provided at an inner position on the fixed plate 330. The gear ring is arranged on the fixed plate 330.

[0048] The rotating disk 320 is arranged inside the fixed disk 330, and the rotating disk 320 is rotationally connected to the fixed disk 330, and the rotating motor 310 is installed on the rotating disk 320, and a rotating wheel 311 is connected to the output end of the rotating motor 310, and the rotating wheel 311 is meshed with the gear on the fixed disk 330, so that when the rotating motor 310 rotates, the rotating wheel 311 is rotationally connected to the gear, and the rotating disk 320 is rotated relative to the fixed disk 330.

[0049] A through hole 321 is provided on the rotating disk 320 . The through hole 321 is larger than the vibrator 200 , so that the vibrator 200 can pass through the through hole 321 .

[0050] The vibrator 200 is installed at an inner position of the tunnel trolley, and the movement of the vibrator 200 is driven by the linear drive mechanism 100 .

[0051] Specifically:

[0052] The linear drive mechanism 100 includes a connecting plate 110, which is connected to the vibrator 200. A propulsion cylinder 120 is provided on the connecting plate 110 at a position relative to the vibrator 200. The propulsion cylinder 120 propels the vibrator 200 so that the vibrator 200 stirs and vibrates the cement through the through hole 321.

[0053] In an embodiment of the present application, the connecting plate 110 is connected to the output end of the thrust cylinder 120. To facilitate the linear drive of the thrust cylinder 120, a guide rod 130 is arranged in the outer shell. The outer shell is the outer shell of the vibrator 200 device. The thrust cylinder 120 and the guide rod 130 are both arranged in the outer shell. The guide rod 130 is arranged in the thrust direction of the thrust cylinder 120. A fixing hole 111 is opened on the connecting plate 110. The guide rod 130 is located in the fixing hole 111. When the thrust cylinder 120 is pushed, the connecting plate 110 moves on the guide rod 130.

[0054] The guide rod 130 can be used to direct the moving direction of the connecting plate 110 to prevent the connecting plate 110 from tilting.

[0055] Preferably, in the embodiment of the present application, the vibrator 200 is installed in the middle position of the connecting plate 110, and two propulsion cylinders 120 are provided in the linear drive mechanism 100, and the two propulsion cylinders 120 are respectively arranged at the two ends of the connecting plate 110, such as Figure 3 As shown, the vibrator 200 is advanced as a whole.

[0056] However, in the existing structure, when two propulsion cylinders 120 are provided, the space of the vibrator 200 will be squeezed, making it impossible to effectively output the vibrator 200.

[0057] In the embodiment of the present application, a linear control constraint device 500 is provided, which constrains the angle of the connecting plate 110 so that the connecting plate 110 is always perpendicular to the propulsion cylinder 120. More specifically, Figure 4-6 As shown, the linear control constraint device 500 is arranged on one end of the connecting plate 110 away from the linear drive mechanism 100 and connected to the rotating disk 320. The linear control constraint device 500 includes a support plate 510, which is vertically arranged with the connecting plate 110 and vertically arranged on the rotating disk 320. A plurality of abutment terminals 520 are installed on the support plate 510. The plurality of abutment terminals 520 are respectively arranged at the edge position of one side of the support plate 510, so that a moving channel 511 is formed between the plurality of abutment terminals 520, and the plurality of abutment terminals 520 are rotatably connected to the support plate 510.

[0058] A linear driver 530 is also provided on the support plate 510. Two linear drivers 530 are provided. The two linear drivers 530 are respectively set corresponding to the positions of the abutting terminals 520. The output end of the linear driver 530 is connected to a driving rod 531. The driving rod 531 is rotatably connected to the plurality of abutting terminals 520, so that when the linear driver 530 is driven, the driving rod 531 drives the plurality of abutting terminals 520 to rotate synchronously to adjust the size of the moving channel 511.

[0059] A restraining rod 540 is provided in the moving channel 511, and the restraining rod 540 is connected to the connecting plate 110. An abutting member 541 is provided at one end of the restraining rod 540 away from the connecting plate 110. The abutting member 541 is rotatably connected to the restraining rod 540, and a spring 542 is connected between the abutting member 541 and the restraining rod 540. When the linear driver 530 drives the abutting terminal 520 to rotate to a position, the abutting member 541 abuts against the abutting terminal 520, and the abutting terminal 520 restrains the abutting member 541, so that the abutting member 541 is fixed on the abutting terminal 520, thereby fixing the restraining rod 540 in the moving channel 511.

[0060] When the linear driver 530 drives the abutting terminal 520 to rotate to another position, the abutting terminal 520 is released from the abutment of the abutting member 541 , so that the restraining rod 540 moves in the moving channel 511 .

[0061] Through the linear control constraint device 500, when the oil cylinder is pushed to push the vibrator 200, the linear control constraint device 500 can constrain the connecting plate 110, specifically:

[0062] When the oil cylinder is pushed to output, the connecting plate 110 pushes the vibrator 200 to move. At this time, the linear driver 530 drives the abutting terminal 520 to rotate to a position, so that the abutting piece 541 on the constraint rod 540 connected to the connecting plate 110 moves in the moving channel 511. When the vibrator 200 moves to a certain position, the linear driver 530 stops moving the vibrator 200. At this time, the linear driver 530 drives the abutting terminal 520 to rotate to another position, so that the abutting terminal 520 constrains the constraint rod 540 in position, thereby fixing the connecting plate 110 and facilitating the vibrator 200 to work.

[0063] When the vibrator 200 finishes working, the linear driver 530 is driven to rotate the abutting terminal 520 to another position, and the abutting terminal 520 is separated from the abutment to the restraining rod 540, so as to facilitate the movement of the restraining rod 540.

[0064] Among them, in the embodiment of the present application, a buffer device 600 is arranged between the vibrator 200 and the connecting plate 110, and the buffer device 600 mainly includes a buffer pad 610 and a buffer spring 620. The buffer pad 610 is located on the connecting plate 110 facing the vibrator 200, and the buffer spring 620 is arranged on the buffer pad 610. One end of the buffer spring 620 is connected to the vibrator 200, and a plurality of buffer springs 620 are arranged.

[0065] A sensor 410 is provided between the buffer device 600 and the vibrator 200 . The sensor 410 is a pressure sensor 410 . The pressure sensor 410 is located on one side of the vibrator 200 facing the buffer device 600 , so that the buffer spring 620 abuts against the pressure sensor 410 .

[0066] In the embodiment of the present application, the sensor 410 further includes a displacement sensor 410 . The displacement sensor 410 is disposed on the connecting plate 110 . The displacement sensor 410 senses the displacement change of the vibrator 200 .

[0067] In the above, a plurality of sensors 410 are disposed on the vibrator 200 or the connecting plate 110 , and the plurality of sensors 410 are electrically connected to the controller 400 so that the sensors 410 transmit sensing signals to the controller 400 , so that the controller 400 controls the linear drive mechanism 100 to drive.

[0068] In the embodiment of the present application, an automatic avoidance method is also provided, and the automatic avoidance method includes:

[0069] Step 1: The linear drive mechanism 100 drives the vibrator 200 to move, and the linear drive 530 drives the abutting terminal 520 to rotate to a position, and the abutting terminal 520 is disengaged from the abutment of the abutting member 541, so that the vibrator 200 moves through the through hole 321 on the rotating disk 320, so that the vibrator 200 extends out of the trolley, and at the same time, the displacement sensor 410 and the pressure sensor 410 sense corresponding sensing signals and transmit them to the controller 400;

[0070] Step 2: A pressure value is preset in the controller 400. When the vibrator 200 contacts the steel bar, the pressure sensor 410 transmits the corresponding sensing signal to the controller 400. The controller 400 determines the relationship between the pressure value corresponding to the sensing signal and the preset pressure value. When the pressure value of the sensing signal is greater than the preset pressure value, the controller 400 controls the linear drive mechanism 100 to retract the vibrator 200.

[0071] Step three: The controller 400 controls the rotation of the output end of the rotating motor 310, so that the rotating disk 320 rotates relative to the fixed disk 330, rotates the vibrator 200 to another position, and stops the output of the rotating motor 310. At this time, the process of step one is performed, and step two is used to determine whether there are steel bars. When there are no steel bars, the controller 400 controls the linear drive mechanism 100 to continue to push the vibrator 200. When it is pushed to the specified position, the linear drive mechanism 100 stops running. At the same time, the linear drive 530 drives the abutment terminal 520 to rotate to another position, so that the abutment terminal 520 constrains the constraint rod 540 to fix the vibrator 200.

[0072] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A steel bar avoidance insertion vibrator, characterized in that: include: A linear drive mechanism, wherein the linear drive mechanism is disposed in a housing, and an output end of the linear drive mechanism is provided with a connecting plate, and the connecting plate is moved by the linear drive mechanism; A vibrator is arranged on the connecting plate, and the vibrator is located on one side of the connecting plate relative to the linear drive mechanism; A rotation adjustment mechanism is connected to the linear drive mechanism. A rotation motor is provided on the rotation adjustment mechanism to drive the rotation motor. The rotation motor drives the linear drive mechanism and the vibrator to rotate. A through hole is provided on the rotation adjustment mechanism at a position corresponding to the vibrator. The through hole is used for the vibrator to pass through. A controller and a plurality of sensors, wherein the plurality of sensors are arranged on the vibrator or on the connecting plate, and the plurality of sensors are electrically connected to the controller so that the sensors transmit sensing signals to the controller, so that the controller controls the driving of the linear drive mechanism.

2. A steel bar avoidance insertion vibrator according to claim 1, characterized in that: The linear drive mechanism includes a propulsion cylinder and a guide rod, both of which are arranged in the outer shell. The guide rod is arranged in the propulsion direction of the propulsion cylinder. A fixing hole is opened on the connecting plate, and the guide rod is located in the fixing hole. When the propulsion cylinder pushes, the connecting plate moves on the guide rod.

3. A steel bar avoidance insertion vibrator according to claim 2, characterized in that: The rotation adjustment mechanism comprises: A fixed plate, wherein a gear is disposed on the inner ring of the fixed plate; A rotating disk, the rotating disk is rotatably connected to the fixed disk, the rotating motor is installed on the rotating disk, and a rotating wheel is provided on the output end of the rotating motor, the rotating wheel is meshed and connected with the gear, the linear drive mechanism and the vibrator are both located on the rotating disk, when the rotating motor rotates, the rotating disk rotates relative to the fixed disk, and the rotating disk is provided with the through hole; The fixed plate is installed on the outer side of the trolley, and the linear drive mechanism and the vibrator are both located inside the trolley.

4. The steel bar avoidance insertion vibrator according to claim 3, characterized in that: A linear control constraint device is also included. The linear control constraint device is arranged on an end of the connecting plate away from the linear drive mechanism and is connected to the rotating disk.

5. The steel bar avoidance insertion vibrator according to claim 4, characterized in that: The linear control constraint device comprises: A support plate, the support plate is connected to the rotating plate, and the support plate is vertically arranged on the rotating disk; A plurality of abutment terminals are respectively arranged at the edge of one side of the support plate, so that a movement channel is formed between the plurality of abutment terminals, and the plurality of abutment terminals are rotatably connected to the support plate; A linear driver connected to one end of the abutting terminal, so that when the linear driver is driven, the abutting terminal rotates synchronously on the support plate; A restraining rod connected to the connecting plate, an abutment member is provided on one end of the restraining rod away from the connecting plate, the abutment member is rotatably connected to the restraining rod, and a spring is connected between the abutment member and the restraining rod; When the linear drive drives the abutting terminal to rotate to a position, the abutting member abuts against the abutting terminal, and the abutting terminal constrains the abutting member, so that the abutting member is fixed on the abutting terminal, thereby fixing the constraining rod in the moving channel; When the linear driver drives the abutting terminal to rotate to another position, the abutting terminal is disengaged from the abutment of the abutting member, so that the restraining rod moves in the moving channel.

6. The steel bar avoidance insertion vibrator according to claim 1, characterized in that: A buffer device is installed between the vibrator and the connecting plate, and the buffer device performs a buffer connection on the vibrator.

7. The steel bar avoidance insertion vibrator according to claim 6, characterized in that: The buffer device comprises: A buffer pad, the buffer pad is located on the connecting plate toward the vibrator; A buffer spring is arranged on the buffer pad, one end of the buffer spring is connected to the vibrator, and a plurality of the buffer springs are arranged.

8. The steel bar avoidance insertion vibrator according to claim 7, characterized in that: The multiple sensors include a pressure sensor, and the pressure sensor is located on one side of the vibrator facing the buffer device, so that the buffer spring abuts against the pressure sensor.

9. The steel bar avoidance insertion vibrator according to claim 8, characterized in that: The sensor also includes a displacement sensor, which is arranged on the connecting plate and senses the displacement change of the vibrator.

10. An automatic avoidance method, performed by a avoidance steel bar insertion vibrator according to any one of claims 1 to 9, characterized in that: The automatic avoidance method comprises: Step 1: The linear drive mechanism drives the vibrator to move, and the linear drive drives the abutment terminal to rotate to a position, and the abutment terminal is disengaged from the abutment of the abutment member, so that the vibrator moves through the through hole on the rotating disk, so that the vibrator extends out of the trolley, and at the same time, the displacement sensor and the pressure sensor sense corresponding sensing signals and transmit them to the controller; Step 2: A pressure value is preset in the controller. When the vibrator contacts the steel bar, the pressure sensor transmits the corresponding sensing signal to the controller. The controller determines the relationship between the pressure value corresponding to the sensing signal and the preset pressure value. When the pressure value of the sensing signal is greater than the preset pressure value, the controller controls the linear drive mechanism to retract the vibrator. Step three: The controller controls the rotation of the output end of the rotating motor so that the rotating disk rotates relative to the fixed disk, rotates the vibrator to other positions, and stops the output of the rotating motor. At this time, the process of step one is carried out, and step two is used to determine whether there are steel bars. When there are no steel bars, the controller controls the linear drive mechanism to continue to push the vibrator. When it is pushed to the specified position, the linear drive mechanism stops running. At the same time, the linear drive drives the abutment terminal to rotate to another position, so that the abutment terminal constrains the constraint rod to fix the vibrator.

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