Flat plate type vibrating robot

Abstract

The invention relates to a flat plate type vibrating robot which comprises a vibrating bottom plate, a vibrating motor, a power control box, a driving control box and an independent driving device, the vibrating bottom plate and the vibrating motor are connected through bolts, the power control box and the driving control box are both connected with the vibrating bottom plate, and a collecting device is installed on the vibrating motor. A wireless receiving and transmitting device is installed in the driving control box, and the wireless receiving and transmitting device receives motor real-time working current and working time data from the collecting device and sends a control instruction. The flat plate type vibrating robot is used for solving the problems of insufficient vibrating of a concrete slab pouring vibrating rod and low construction efficiency, the vibrating task can be automatically completed, the labor cost is saved, meanwhile, the construction efficiency is improved, and the construction quality is improved; complex environments such as reinforcing steel bars can be climbed, the capacity of passing through uneven working faces is improved, and the application range is widened.

Description

Technical Field

[0001] The invention relates to the field of construction equipment, and in particular to a flat-plate vibrating robot. Background Art

[0002] At present, the vibration method for pouring concrete slabs in civil construction is mainly achieved through hand-held vibrators and flat vibrators. The specific construction situation is that the construction workers insert the hand-held vibrator into the concrete for vibration, or the construction workers drag the flat vibrator to complete the pouring and vibration of the concrete slab. The second is to use automated vibrating equipment and perform manual intervention and vibration in a single environment.

[0003] The traditional construction vibration method has the following disadvantages: 1. Large labor demand, low construction efficiency, unstable quality, and greater impact on human factors; 2. The vibration mode is single and cannot be used for different concrete types and construction environments. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, the present invention provides a flat-plate vibrating robot to solve the problems of insufficient vibration of a vibrating rod and low construction efficiency in pouring large-area concrete slabs.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A flat-plate vibrating robot comprises a vibrating base plate, a vibrating motor, a power control box, a driving control box and an independent driving device. The vibrating base plate and the vibrating motor are connected by bolts, the power control box and the driving control box are both connected to the vibrating base plate, a collection device is installed on the vibrating motor, a wireless receiving and transmitting device is installed in the driving control box, the wireless receiving and transmitting device receives the real-time working current and working time data of the motor from the collection device and sends control instructions.

[0007] As a preferred technical solution, a vibration reduction system is provided between the power control box and the vibrating base plate, and a vibration reduction device is provided between the driving control box and the vibrating base plate.

[0008] As a preferred technical solution, the independent drive device includes an adaptive independent suspension lifting device, an independent drive wheel hub, a hydraulic motor and a detachable wheel rod. The independent drive wheel hub is connected to the adaptive independent suspension lifting system, the adaptive independent suspension lifting system is connected to the vibrating base plate, and the hydraulic motor is connected to the independent drive hub by transmission.

[0009] As a preferred technical solution, an independent driving hub and six detachable wheel rods on the periphery form a hexagonal wheel.

[0010] As a preferred technical solution, the number of hydraulic motors and hexagonal wheels are four, and the hexagonal wheels are distributed in pairs on the left and right sides of the robot.

[0011] As a preferred technical solution, the adaptive independent suspension lifting device includes four hydraulic cylinders corresponding to the hexagonal wheels one by one, and the hydraulic cylinders are transmission-connected to the hexagonal wheels to realize the extension and retraction of the hexagonal wheels.

[0012] As a preferred technical solution, a displacement sensor and a pressure sensor are installed on the hydraulic cylinder.

[0013] As a preferred technical solution, the driving control box is equipped with an unmanned driving control system, which integrates laser radar, GNSS positioning system, inertial navigation system, camera, millimeter wave radar and industrial control computer.

[0014] Compared with the prior art, the flat-plate vibrating robot of the present invention has the following beneficial effects:

[0015] (1) Unmanned driving and autonomous decision-making technologies enable the vibration equipment to complete the vibration task autonomously without human operation, saving labor costs while improving construction efficiency.

[0016] (2) By controlling the current and working time and by uniform automatic vibration, the uniform density of concrete is ensured, thus improving the construction quality;

[0017] (3) The use of multi-wheel independent drive and adaptive active suspension lifting device can enable the vibrating robot to climb over complex environments such as steel bars, improve its ability to pass through uneven working surfaces, and expand its scope of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the flat-plate vibrating robot of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the hexagonal wheel in the flat-plate vibrating robot of the present invention.

[0020] In the figure: 1. Vibrating base plate; 2. Vibrating motor; 3. Power control box; 4. Driving control box; 5. Independent drive device; 501. Adaptive independent suspension lifting device; 502. Independent drive wheel hub; 503. Hydraulic motor; 504. Removable wheel rod. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below in conjunction with specific implementation methods:

[0022] like Figure 1As shown, a flat-plate vibrating robot comprises a vibrating base plate 1, a vibrating motor 2, a power control box 3, a driving control box 4 and an independent driving device 5. The vibrating base plate 1 and the vibrating motor 2 are connected by bolts, the power control box 3 and the driving control box 4 are both connected to the vibrating base plate 1, a vibration reduction system is provided between the power control box 3 and the vibrating base plate 1, and a vibration reduction device is provided between the driving control box 4 and the vibrating base plate 1. A collection device is installed on the vibrating motor 2 to collect the real-time working current and working time data of the vibrating motor 2, and a wireless receiving and transmitting device is installed in the driving control box 4, which can send and receive control instructions and working current and time reports through a mobile phone program.

[0023] The flat-plate vibrating robot adopts the classic flat-plate vibrating machine structure, which is mainly composed of a vibrating base plate 1 and a vibrating motor 2. It can accurately control and monitor the vibration probability and vibration time during vibration, thereby improving the quality of concrete vibration.

[0024] The independent drive device 5 includes an adaptive independent suspension lifting device 501, an independent drive wheel hub, a hydraulic motor 503 and a detachable wheel rod 504. The independent drive wheel hub is connected to the adaptive independent suspension lifting system, the adaptive independent suspension lifting system is connected to the vibrating base plate 1, and the hydraulic motor 503 is transmission-connected to the independent drive hub 502.

[0025] like Figure 2 As shown, an independent driving wheel hub 502 and six detachable wheel rods 504 on the periphery form a hexagonal wheel. The detachable wheel rods 504 can be replaced at will according to the working conditions. The inner side of the wheel is an arc elastic wheel hub, so that the tire will not damage the steel bars when crossing the steel mesh. The hexagonal wheel can be matched and replaced according to the required thickness of the working surface.

[0026] There are four hydraulic motors 503 and four hexagonal wheels, and the four hexagonal wheels are driven independently by four hydraulic motors 503. The four hydraulic motors 503 are divided into two groups, two hydraulic motors 503 on the left side form one group, and two hydraulic motors 503 on the right side form one group. They are powered by two constant power variable piston pumps controlled by electro-hydraulic ratio, and diverted by a diverter. In order to ensure the stability of the vehicle when driving in a straight line, the traction of the four hydraulic motors 503 must be balanced; at the same time, the hydraulic resistance control technology is used to automatically distribute the flow of the hexagonal wheels on the same side on the basis of ensuring balanced traction. When one or more of the hydraulic motors 503 idle due to the slippery working surface or falling into a deep pit, it is necessary to cut off its power and automatically distribute this power to other hexagonal wheels. Therefore, it is necessary to independently control each hydraulic motor 503 and monitor its operating status in real time (including parameters such as motor speed, inlet and outlet oil pressure, etc.), and the control system makes corresponding adjustments based on these parameters.

[0027] The flat-plate vibrating robot adopts a four-wheel independent driving device 5, which can achieve barrier-free passage through wading working surfaces, steel grids and other complex construction site roads. In order to ensure the scope of use of the robot, in addition to the use of hexagonal wheels, the robot is also required to have balanced traction on each driving wheel under various complex working surface conditions. In order to ensure the driving safety of the vibrating robot, the robot is required not to overturn when passing through a sloped working surface, and the robot should be guaranteed to have sufficient traction when passing through a smooth working surface. When the robot passes through an uneven working surface, the robot is required to have good smoothness.

[0028] The adaptive independent suspension lifting device 501 includes four hydraulic cylinders, which correspond to the hexagonal wheels one by one. The hydraulic cylinders are connected to the hexagonal wheels in a transmission manner to realize the extension and retraction of the hexagonal wheels. A displacement sensor and a pressure sensor are installed on each hydraulic cylinder, and the control system monitors the status of each hydraulic cylinder at any time to ensure that the robot has good passability under different working surface conditions. When the robot is traveling on a flat working surface, all four hydraulic cylinders are retracted, and the hydraulic system realizes passive suspension, so that the ground clearance of the robot is minimized, and the center of gravity of the robot is lowered to improve the safety of the robot when traveling at high speed; when passing through an uneven working surface, the control system detects the status of each hexagonal wheel. If there is a pit in front, the control cylinder is controlled to extend outward until the hexagonal wheel is reliably in contact with the ground, and the height of the chassis of the trolley is increased at the same time; if a raised obstacle is detected in front, the control cylinder is retracted in sequence, and in this process, the hexagonal wheel must be reliably in contact with the ground. If a track wheel exceeds the adjustment range of the cylinder due to a pit that is too deep, the control system also needs to cut off its power and distribute it to other drive wheels. When working, the chassis height can be automatically adjusted to adapt to the working environment.

[0029] The flat-plate vibrating robot is equipped with an intelligent vibrating system, which is a key link to ensure the quality of vibration construction. The intelligent vibrating system first needs to quickly and accurately sense various parameters in the vibration process, such as the location information of the vibrating equipment, the density of concrete, etc. By integrating a variety of sensors and data analysis technologies, the intelligent vibrating system can monitor and control the vibration operation in real time, and finally form a comprehensive quality monitoring platform. The intelligent vibrating system integrates equipment such as GPS positioning module, angle sensor (or gyroscope), laser radar, ultrasonic rangefinder and hydraulic sensor. It can automatically collect data such as the location information, spacing, depth, inclination angle of the vibration to ensure the accuracy and consistency of the vibration operation. A current acquisition device is installed on the vibrating motor 2 to monitor the vibration state in real time, judge the equipment operation state by the current change, and transmit the data to the driving control box 4 through a wireless receiving and transmitting device, so as to display the working state and time of the vibrating motor 2 in real time.

[0030] The driving control box 4 is equipped with an unmanned driving control system, which integrates laser radar, GNSS positioning system, inertial navigation system, camera, millimeter wave radar and industrial control computer, etc., and realizes unmanned driving through the upper and lower computer control architecture. Users can switch freely between unmanned driving and manual driving modes to ensure flexibility. Using point cloud data for map creation and real-time positioning can effectively reduce the dependence on satellite signals and inertial equipment performance, and improve positioning accuracy and reliability.

[0031] This embodiment is only a further explanation of the invention rather than a limitation of the invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as they are within the scope of the claims of the invention, they are protected by the patent law.

Claims

1. A flat-plate vibrating robot, characterized in that: It includes a vibrating base plate, a vibrating motor, a power control box, a driving control box and an independent driving device. The vibrating base plate and the vibrating motor are connected by bolts. The power control box and the driving control box are both connected to the vibrating base plate. A collection device is installed on the vibrating motor. A wireless receiving and transmitting device is installed in the driving control box. The wireless receiving and transmitting device receives the real-time working current and working time data of the motor from the collection device and sends control instructions.

2. The flat-plate vibrating robot according to claim 1, characterized in that: A vibration reduction system is provided between the power control box and the vibrating base plate, and a vibration reduction device is provided between the driving control box and the vibrating base plate.

3. The flat-plate vibrating robot according to claim 1, characterized in that: The independent drive device includes an adaptive independent suspension lifting device, an independent drive wheel hub, a hydraulic motor and a detachable wheel rod. The independent drive wheel hub is connected to the adaptive independent suspension lifting system, the adaptive independent suspension lifting system is connected to the vibrating base plate, and the hydraulic motor is drivingly connected to the independent drive wheel hub.

4. The flat-plate vibrating robot according to claim 3, characterized in that: A hexagonal wheel is composed of an independently driven wheel hub and six detachable wheel rods on the periphery.

5. The flat-plate vibrating robot according to claim 4, characterized in that: The number of the hydraulic motors and the number of the hexagonal wheels are both four, and the hexagonal wheels are distributed in pairs on the left and right sides of the robot.

6. The flat-plate vibrating robot according to claim 5, characterized in that: The adaptive independent suspension lifting device comprises hydraulic cylinders, wherein there are four hydraulic cylinders corresponding to the hexagonal wheels one by one, and the hydraulic cylinders are transmission-connected with the hexagonal wheels to realize the extension and retraction of the hexagonal wheels.

7. The flat-plate vibrating robot according to claim 6, characterized in that: A displacement sensor and a pressure sensor are installed on the hydraulic cylinder.

8. The flat-plate vibrating robot according to claim 1, characterized in that: The driving control box is equipped with an unmanned driving control system, which integrates a laser radar, a GNSS positioning system, an inertial navigation system, a camera, a millimeter-wave radar and an industrial control computer.

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