Flat plate type vibrating outrigger robot

Abstract

The invention relates to a flat plate type vibrating boom robot which comprises a vibrating system, a telescopic suspension system, a vibrating system protection shell, a vehicle-mounted moving platform, an independent driving device and a power and driving control box. The telescopic suspension system, the vibrating system protection shell, the independent driving device and the power and driving control box are all connected with the vehicle-mounted mobile platform, a notch is formed in the vehicle-mounted mobile platform, and the vibrating system is installed at the notch. According to the flat plate type vibrating boom robot, the vibrating task can be automatically completed under the unmanned operation condition, the labor cost is saved, and meanwhile the construction efficiency is improved; the uniform compactness of the concrete can be ensured, 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; an effective shock insulation effect is achieved, and the manufacturing cost of the product is reduced.

Description

Technical Field

[0001] The invention relates to the field of construction equipment, and in particular to a flat-plate vibrating arm 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. Single vibration mode, unable to use different types of concrete and construction environment. 3. The vibration system has a great impact on other modules. 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 arm robot to solve the problems of insufficient vibration of a vibrating rod, low construction efficiency and seismic isolation 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 arm robot comprises a vibrating system, a telescopic suspension system, a vibrating system protective shell, a vehicle-mounted mobile platform, an independent driving device, and a power and driving control box. The vibrating system is connected to the telescopic suspension system through a suspension steel strand, and the telescopic suspension system, the vibrating system protective shell, the independent driving device, and the power and driving control box are all connected to the vehicle-mounted mobile platform. A slot is provided on the vehicle-mounted mobile platform, and the vibrating system is installed at the slot.

[0007] As a preferred technical solution, the telescopic suspension system includes a telescopic outer arm, a telescopic boom, a suspension steel strand and a steel strand winch. The telescopic outer arm is welded to the vehicle-mounted mobile platform. The lower end of the telescopic outer arm is slotted for the suspension steel strand to pass through. Four steel strand winches are provided on the telescopic boom, and the steel strand winches are connected to the vibration system through the suspension steel strand.

[0008] As a preferred technical solution, the vibration system includes a vibration motor, a vibration base plate, hanging screws and fixing bolts. The vibration base plate and the vibration motor are connected by fixing bolts to form a vibration device. The hanging screws are connected to one end of the hanging steel strand. A collection device is installed on the vibration motor. A wireless receiving and transmitting device is installed in the power and driving control box. The collection device is communicatively connected to the wireless receiving and transmitting device.

[0009] As a preferred technical solution, the independent drive device includes an inner tire support rod, a hydraulic motor, a rotatable inner tube, an outer tire support rod and an adaptive independent suspension lifting device. One end of the adaptive independent suspension lifting device is connected to the vehicle-mounted mobile platform, and the other end is connected to the independent drive tire device. The independent drive tire device is composed of an inner tire support rod, a hydraulic motor, a rotatable inner tube and an outer tire support rod. The inner tire support rod, the rotatable inner tube and the outer tire support rod are combined into a hexagonal barrier tire. The number of hydraulic motors and the number of hexagonal barrier tires are both four and correspond one to one. The hydraulic motor is connected to the hexagonal barrier tire through transmission.

[0010] As a preferred technical solution, the adaptive independent suspension lifting device includes four hydraulic cylinders, each of which is equipped with a displacement sensor and a pressure sensor. The hydraulic cylinders correspond one-to-one to the hexagonal obstacle-crossing tires and are connected in transmission.

[0011] As a preferred technical solution, the robot moves on a flat working surface via a rotatable inner tire, and moves on an outer tire formed by a tire outer support rod during vibration work.

[0012] As a preferred technical solution, the rotatable inner tube is a circular arc divided into six equal parts, and the middle of the rotatable inner tube is a steel wheel hub. When the rotatable inner tube is used for driving, the convex surface is on the outside, and when the outer tire is used for driving, the concave surface is on the outside. The outer tire includes six tire outer support rods, and the tire outer support rods are fan-shaped and connected to the tire inner support rods.

[0013] As a preferred technical solution, the power and driving control box includes an intelligent vibration system, an unmanned driving and control system and a drive control system. The intelligent vibration system is installed on the vibration system, and the drive control system is connected to an independent drive device.

[0014] As a preferred technical solution, the intelligent vibration system integrates a GPS positioning module, an angle sensor, a lidar, an ultrasonic rangefinder and a hydraulic sensor.

[0015] As a preferred technical solution, the unmanned driving and control system integrates lidar, GNSS positioning system, inertial navigation system, camera, millimeter wave radar and industrial control computer.

[0016] Compared with the prior art, the flat-plate vibrating arm robot of the present invention has the following beneficial effects:

[0017] (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;

[0018] (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;

[0019] (3) The new multi-wheel independent drive and adaptive active suspension lifting device 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;

[0020] (4) The telescopic suspension system has an effective seismic isolation effect on the device, reducing the cost of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the flat-plate vibrating arm robot of the present invention;

[0022] Figure 2 It is a structural schematic diagram of a vibrating system in a flat-plate vibrating boom robot of the present invention;

[0023] Figure 3 It is a schematic diagram of the overall cross section and telescopic suspension system of the flat-plate vibrating arm robot of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the hexagonal obstacle-crossing tire in the flat-plate vibrating boom robot of the present invention.

[0025] In the figure: 1. Vibration system; 101. Vibration motor; 102. Vibration base plate; 103. Suspension screws; 104. Fixing bolts; 2. Telescopic suspension system; 201. Telescopic outer arm; 202. Telescopic upper arm; 203. Suspension steel strand; 204. Steel strand winch; 3. Vibration system protective shell; 4. Vehicle-mounted mobile platform; 5. Independent drive device; 501. Tire inner support rod; 502. Hydraulic motor; 503. Rotatable inner tube; 504. Tire outer support rod; 505. Adaptive independent suspension lifting device 6. Power and driving control box. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is further described below in conjunction with specific implementation methods:

[0027] like Figure 1 As shown, a flat-plate vibrating arm robot includes a vibrating system 1, a telescopic suspension system 2, a vibrating system protective shell 3, a vehicle-mounted mobile platform 4, an independent driving device 5, and a power and driving control box 6. The vibrating system 1 is connected to the telescopic suspension system 2 through a hanging steel strand 203, and the telescopic suspension system 2, the vibrating system protective shell 3, the independent driving device 5 and the power and driving control box 6 are all connected to the vehicle-mounted mobile platform 4. A slot is opened on the vehicle-mounted mobile platform 4, and the vibrating system 1 is installed at the slot.

[0028] The telescopic suspension system 2 includes a telescopic outer arm 201, a telescopic boom 202, a suspension steel strand 203 and a steel strand winch 204. The telescopic outer arm 201 is welded to the vehicle-mounted mobile platform 4. The lower end of the telescopic outer arm 201 is slotted for the suspension steel strand 203 to pass through. The telescopic boom 202 is provided with four steel strand winches 204, which are connected to the vibration system 1 through the suspension steel strand 203. This ensures that the vibration robot can adjust the height of the vibration base plate 102 and the working plane under different working conditions. The purpose of using steel strands in the telescopic suspension system 2 is to isolate the vibration effect of the vibration system 1 on the steel strands, without affecting other parts, and each part does not need to be additionally installed with a seismic isolation device.

[0029] The vibration system 1 includes a vibration motor 101, a vibration base plate 102, a suspension screw 103 and a fixing bolt 104. The vibration base plate 102 and the vibration motor 101 are connected by the fixing bolt 104 to form a vibration device. The suspension screw 103 is connected to one end of the suspension steel strand 203. A collection device is installed on the vibration motor 101 to collect the working current and working time data of the vibration motor 101 in real time. A wireless receiving and transmitting device is installed in the power and driving control box 6. The collection device is connected to the wireless receiving and transmitting device for communication. The wireless receiving and transmitting device can send and receive control instructions and working current and time report data from the collection device through a control program. The vibration system 1 adopts a classic flat-plate vibrator structure, which can accurately control and monitor the vibration probability and vibration time during vibration, and improve the quality of concrete vibration.

[0030] The independent driving device 5 includes an inner tire support rod 501, a hydraulic motor 502, a rotatable inner tube 503, an outer tire support rod 504 and an adaptive independent suspension lifting device 505. One end of the adaptive independent suspension lifting device 505 is connected to the vehicle-mounted mobile platform 4, and the other end is connected to the independent driving tire device. The independent driving tire device is composed of the inner tire support rod 501, the hydraulic motor 502, the rotatable inner tube 503 and the outer tire support rod 504. The inner tire support rod 501, the rotatable inner tube 503 and the outer tire support rod 504 are combined into a hexagonal barrier tire. The number of hydraulic motors 502 and the hexagonal barrier tire are four and one-to-one corresponding. The four hexagonal barrier tires are independently driven by four hydraulic motors 502 respectively, and the four hydraulic motors 502 are divided into two groups, two on the left and two on the right, each of which is powered by two constant power variable piston pumps controlled by electro-hydraulic proportions 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 502 must be balanced; at the same time, the hydraulic resistance control technology is used to automatically distribute the flow of the same-side driving wheels on the basis of ensuring balanced traction. When one or more of the hydraulic motors 502 are idling due to the slippery working surface or being stuck in a deep pit, its power must be cut off and automatically distributed to other driving wheels. Therefore, each hydraulic motor 502 needs to be independently controlled and its operating status (including motor speed, inlet and outlet oil pressure and other parameters) monitored in real time. The unmanned driving and control system makes corresponding adjustments based on these parameters.

[0031] The robot can pass through complex construction site roads such as wading working surfaces and steel grids without obstacles through the independent driving device 5. In order to ensure the scope of use of the robot, in addition to using hexagonal obstacle-crossing tires, it is also necessary to ensure that the driving wheels of the robot have balanced traction under various complex working surface conditions. In order to ensure the driving safety of the vibrating robot, the robot should not overturn when passing through a sloped working surface, and the robot should have sufficient traction when passing through a smooth working surface. When the robot passes through an uneven working surface, the robot should have good smoothness.

[0032] The adaptive independent suspension lifting device 505 includes four hydraulic cylinders, and the four hexagonal awn obstacle-crossing tires are respectively actively suspended by the four hydraulic cylinders. 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. The independent suspension lifting device can ensure that a certain safe distance is maintained between the mobile platform and the ground under different working conditions. Specifically, when the robot is traveling on a flat working surface, the four hydraulic cylinders are all retracted, and the hexagonal awn obstacle-crossing tires are passively suspended, 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 unmanned driving and control system detects the status of each hexagonal awn wheel. If there is a pit in front, the hydraulic cylinder is controlled to extend outward until the hexagonal awn wheel is reliably in contact with the ground, and the chassis height of the robot is increased at the same time; if a raised obstacle is detected in front, the hydraulic cylinder is controlled to retract in sequence, and in this process, the hexagonal awn obstacle-crossing tire must be reliably in contact with the ground. When a certain hexagonal ridge tire exceeds the adjustment range of the hydraulic cylinder due to the pit being too deep, the unmanned driving and control system needs to cut off its power and distribute it to other hexagonal ridge tires. When working, the chassis height can be automatically adjusted according to the working environment to adapt to the working environment.

[0033] The hexagonal obstacle-crossing tire has two working modes. When the robot is on a flat working surface, it uses the rotatable inner tire 503 to travel. When it is vibrating, it travels through the outer tire formed by the tire outer support rod 504.

[0034] The rotatable inner tube 503 is a six-part circular arc. The middle of the rotatable inner tube 503 is a steel wheel hub. The convex surface is ordinary tire rubber and the concave surface is relatively soft rubber. When the rotatable inner tube 503 is used for driving, the convex surface is on the outside, and when the outer tire is used for driving, the concave surface is on the outside. The rubber on the concave side is relatively soft, which can ensure that the tire protects the steel bars when crossing the steel mesh. The outer tire includes six tire outer support rods 504. The tire outer support rods 504 are in the shape of a sector, and the central angle of the sector is guaranteed to be about 3°. The tire outer support rods 504 are connected to the tire inner support rods 501 to ensure that the robot can cross the steel mesh without obstacles when performing vibration work. The tire outer support rods 504 can be replaced at will according to the working conditions.

[0035] The power and driving control box 6 includes an intelligent vibration system 1 , an unmanned driving and control system, and a driving control system. The intelligent vibration system 1 is installed on the vibration system 1 , and the driving control system is connected to the independent driving device 5 .

[0036] The intelligent vibration system 1 is a key link to ensure the quality of vibration construction. The system first needs to quickly and accurately sense various parameters in the vibration process, such as the location information of the vibration equipment, the density of the concrete, etc. By integrating a variety of sensors and data analysis technologies, the system can monitor and control the vibration operation in real time, and finally form a comprehensive quality monitoring platform. The intelligent vibration system 1 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 vibration motor 101 to monitor the vibration status in real time, judge the equipment operation status by current changes, and transmit data to the power and driving control box 6 through communication equipment to display the working status and time in real time.

[0037] The unmanned driving and control system 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 effectively reduces dependence on satellite signals and inertial equipment performance, and improves positioning accuracy and reliability.

[0038] 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 arm robot, characterized in that: It includes a vibration system, a telescopic suspension system, a vibration system protective shell, a vehicle-mounted mobile platform, an independent drive device, and a power and driving control box. The vibration system is connected to the telescopic suspension system through a suspension steel strand. The telescopic suspension system, the vibration system protective shell, the independent drive device and the power and driving control box are all connected to the vehicle-mounted mobile platform. A slot is opened on the vehicle-mounted mobile platform, and the vibration system is installed at the slot.

2. The flat-plate vibrating arm robot according to claim 1, characterized in that: The telescopic suspension system includes a telescopic outer arm, a telescopic boom, a suspension steel strand and a steel strand winch. The telescopic outer arm is welded to the vehicle-mounted mobile platform. The lower end of the telescopic outer arm is slotted for the suspension steel strand to pass through. Four steel strand winches are provided on the telescopic boom. The steel strand winches are connected to the vibration system through the suspension steel strand.

3. The flat-plate vibrating arm robot according to claim 2, characterized in that: The vibration system includes a vibration motor, a vibration base plate, hanging screws and fixing bolts. The vibration base plate and the vibration motor are connected by fixing bolts to form a vibration device. The hanging screw is connected to one end of the hanging steel strand. A collection device is installed on the vibration motor. A wireless receiving and transmitting device is installed in the power and driving control box. The collection device is communicatively connected to the wireless receiving and transmitting device.

4. The flat-plate vibrating arm robot according to claim 1, characterized in that: The independent driving device includes an inner tire support rod, a hydraulic motor, a rotatable inner tube, an outer tire support rod and an adaptive independent suspension lifting device. One end of the adaptive independent suspension lifting device is connected to the vehicle-mounted mobile platform, and the other end is connected to the independent driving tire device. The independent driving tire device is composed of an inner tire support rod, a hydraulic motor, a rotatable inner tube and an outer tire support rod. The inner tire support rod, the rotatable inner tube and the outer tire support rod are combined into a hexagonal barrier tire. The number of the hydraulic motors and the hexagonal barrier tire are both four and one-to-one corresponding. The hydraulic motor is connected to the hexagonal barrier tire in a transmission connection.

5. The flat-plate vibrating arm robot according to claim 4, characterized in that: The adaptive independent suspension lifting device includes four hydraulic cylinders, each of which is equipped with a displacement sensor and a pressure sensor. The hydraulic cylinders correspond to the hexagonal obstacle-crossing tires one by one and are connected in transmission.

6. The flat-plate vibrating arm robot according to claim 4, characterized in that: The robot travels on a flat working surface via a rotatable inner tire, and travels on an outer tire formed by tire outer support rods during vibration work.

7. The flat-plate vibrating arm robot according to claim 6, characterized in that: The rotatable inner tube is a circular arc divided into six equal parts, and a steel wheel hub is provided in the middle of the rotatable inner tube. When the rotatable inner tube is used for driving, the convex surface is on the outside, and when the outer tire is used for driving, the concave surface is on the outside. The outer tire includes six outer tire support rods, and the outer tire support rods are fan-shaped and connected to the inner tire support rods.

8. The flat-plate vibrating arm robot according to claim 1, characterized in that: The power and driving control box includes an intelligent vibration system, an unmanned driving and control system and a driving control system. The intelligent vibration system is installed on the vibration system, and the driving control system is connected to an independent driving device.

9. The flat-plate vibrating arm robot according to claim 8, characterized in that: The intelligent vibration system integrates a GPS positioning module, an angle sensor, a laser radar, an ultrasonic rangefinder and a hydraulic sensor.

10. The flat-plate vibrating arm robot according to claim 8, characterized in that: The unmanned driving and control system integrates laser radar, GNSS positioning system, inertial navigation system, camera, millimeter wave radar and industrial control computer.

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