Movable concrete vibrating robot

Abstract

The invention relates to the technical field of concrete vibration, in particular to a movable concrete vibration robot which comprises a control box. The walking wheels are mounted at the bottom of the control box; the telescopic driving mechanism is arranged in the control box and is provided with a driving end extending to the outer side of the control box; the rack is connected to the driving end; the winch is arranged on the control box, a cable is wound on the winch, and the tail end of the cable extends out of the corresponding winch, bypasses the rack and then naturally droops; the vibrating rod is connected to the tail end of the cable and can be driven to ascend and descend through forward and reverse rotation of the winch; the plane vibrator is arranged on one side of the control box in a manner of swinging up and down, and the plane vibrator is arranged on one side opposite to the vibrating rod; and the vibrating motor is arranged on the plane vibrator. The device can adapt to different construction scenes, the construction efficiency is greatly improved, the redundant time is shortened, and the labor intensity of workers is greatly relieved.

Description

Technical Field

[0001] The invention relates to the technical field of concrete vibration, in particular to a mobile concrete vibration robot. Background Art

[0002] In current concrete construction, concrete pouring primarily targets walls, columns, and beams and slabs. While spreading the concrete, vibration is required to consolidate the concrete and increase the density of the structural layers to ensure sufficient structural strength. In the current process, vibrating walls and columns is subject to irregularities and randomness among on-site workers. This results in the inability to achieve targeted vibration according to process requirements when using inserted vibrators. Furthermore, due to the dense mesh of the steel bars at the insertion points, a significant amount of manual time is required for alignment, resulting in low work efficiency. This leads to quality defects in the concrete due to missed vibrations, creating the risk of water seepage on the slab surface and increasing the cost of subsequent repairs. Furthermore, manual vibration cannot precisely control the insertion depth and duration of the vibrator, resulting in a loose bond between the concrete and the steel bars, as well as between the upper and lower layers, leading to quality defects such as cold joints and honeycombing. When vibrating the slab surface, workers need to replace the vibrator with a flat vibrator, increasing construction preparation time and material management costs. Summary of the Invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a mobile concrete vibrating robot to solve the problems of low manual vibration efficiency, difficulty in ensuring vibration quality, and increased construction preparation time and material management costs caused by the need to switch vibration tools during the existing concrete vibration process.

[0004] The technical solution to achieve the above purpose is:

[0005] The present invention provides a mobile concrete vibrating robot, comprising:

[0006] control box;

[0007] A traveling wheel installed at the bottom of the control box;

[0008] a telescopic drive mechanism disposed in the control box and capable of telescopic adjustment in the horizontal direction, the telescopic drive mechanism having a drive end extending outward from the control box;

[0009] a frame connected to the driving end;

[0010] A hoist is provided on the control box, wherein a cable is wound around the hoist, and the end of the cable extends from the corresponding hoist and passes around the frame and then naturally hangs down. The cable can be retracted and extended by rotating the hoist forward and reverse;

[0011] A vibrating rod connected to the end of the cable, the vibrating rod being arranged vertically and capable of being lifted and lowered by the forward and reverse rotation of the winch;

[0012] A plane vibrator is provided on one side of the control box so as to be able to swing up and down, and the plane vibrator is provided on a side opposite to the vibrating rod;

[0013] A vibrating motor is provided on the plane vibrator.

[0014] A further improvement of the mobile concrete vibrating robot of the present invention is that guide wheels are provided on the frame corresponding to the cables, and the cables pass around the frame from the corresponding guide wheels.

[0015] A further improvement of the mobile concrete vibrating robot of the present invention is that a link mechanism capable of swinging up and down and a telescopic driving member are provided on one side of the control box corresponding to the planar vibrator;

[0016] The telescopic driving member is arranged obliquely downward, and the driving end of the telescopic driving member is connected to the connecting rod mechanism. The telescopic driving member can be telescopically adjusted, and can then lead the connecting rod mechanism to swing up and down relative to the control box;

[0017] The plane vibrator is connected to a fixing frame, which is hinged to the connecting rod mechanism and can swing up and down along with the connecting rod mechanism.

[0018] A further improvement of the mobile concrete vibrating robot of the present invention is that a damper is provided at the connection between the fixing frame and the planar vibrator.

[0019] A further improvement of the mobile concrete vibrating robot of the present invention is that the travel wheel includes a mounting frame, a wheel rotatably mounted on the mounting frame, a rotation drive member mounted on the mounting frame and drivingly connected to the wheel, and a rotary drive member mounted on the mounting frame;

[0020] The rotary drive member is also connected to the bottom of the control box, and the rotary drive member can drive the mounting frame to rotate relative to the control box;

[0021] The rotation driving member can drive the wheel to rotate.

[0022] A further improvement of the mobile concrete vibrating robot of the present invention is that a first wire hole is provided on the mounting frame;

[0023] The rotary drive member is provided with a second wire passing hole;

[0024] The signal and power cables of the rotary drive member pass through the first wire hole and the second wire hole and then pass into the control box, and are connected to the servo driver provided in the control box.

[0025] A further improvement of the mobile concrete vibrating robot of the present invention is that a camera is provided on the frame corresponding to the vibrating rod, and the camera is arranged downward.

[0026] A further improvement of the mobile concrete vibrating robot of the present invention is that the control box is provided with a satellite signal receiving antenna, a mobile network receiving antenna, a remote control signal antenna and a WIFI antenna.

[0027] A further improvement of the mobile concrete vibrating robot of the present invention is that a controller and a power endurance battery are provided in the control box.

[0028] A further improvement of the mobile concrete vibrating robot of the present invention is that a plurality of the hoist and the vibrating rod are provided.

[0029] The beneficial effects of the mobile concrete vibrating robot of the present invention are:

[0030] The mobile concrete vibrating robot, featuring an integrated plug-in vibrating rod and a flat vibrator, is suitable for vibrating both wall and column construction scenarios, as well as beam and slab construction. It can fully cover the concrete construction areas of both columns and beams. For cross-concrete pouring processes, the robot can simply switch between different vibration modes to adapt to different construction scenarios, significantly improving construction efficiency, reducing redundant time, and significantly alleviating worker workload.

[0031] The mobile concrete vibrating robot of the present invention can move the vibrating rod and the flat vibrator to the designated working position by moving the walking wheels. When performing the vibrating operation, the horizontal position of the vibrating rod can be adjusted by a telescopic driving mechanism, and the vertical position can be adjusted by retracting and releasing the rope of the winch. The vibration depth and vibration time of the vibrating rod can be accurately controlled, thereby solving the quality problem caused by insufficient vibration due to human subjective judgment.

[0032] The mobile concrete vibrating robot of the present invention replaces traditional manual concrete vibration construction, is an effective method to solve the current problems of poor positioning effect, low vibration efficiency and high labor intensity for workers, and is an inevitable trend in the development of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the mobile concrete vibrating robot of the present invention.

[0034] Figure 2This is a schematic structural diagram of the traveling wheels in the mobile concrete vibrating robot of the present invention.

[0035] Figure 3 This is a structural schematic diagram of the mobile concrete vibrating robot of the present invention, in which the flat vibrator and the top of the control box are omitted and the telescopic drive mechanism is in an extended state.

[0036] Figure 4 This is a side view of the mobile concrete vibrating robot of the present invention without the flat vibrator and with the vibrating rod in working condition.

[0037] Figure 5 This is a schematic diagram of the three-dimensional structure of the mobile concrete vibrating robot of the present invention without the flat vibrator and with the vibrating rod in a working state.

[0038] Figure 6 This is a schematic diagram of the three-dimensional structure of the flat vibrator of the mobile concrete vibrating robot of the present invention in a working state. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] See Figure 1 The present invention provides a mobile concrete vibrating robot that integrates an insertable vibrating rod and a flat vibrator. This robot can be effectively applied to wall columns, beams, and slabs on construction sites, significantly improving the automation and intelligence of the vibrating process. The mobile concrete vibrating robot of the present invention is described below with reference to the accompanying drawings.

[0041] See Figure 1 , shows a schematic diagram of the three-dimensional structure of the mobile concrete vibrating robot of the present invention. Figure 3 , shows a schematic diagram of the structure of the mobile concrete vibrating robot of the present invention without the flat vibrator and the top of the control box and with the telescopic drive mechanism in an extended state. Figure 1 and Figure 3 , the mobile concrete vibrating robot of the present invention is described.

[0042] like Figure 1 and Figure 3As shown, the mobile concrete vibrating robot of the present invention includes a control box 21, a walking wheel 22, a telescopic drive mechanism 23, a frame 24, a winch 25, a vibrating rod 26, a plane vibrator 27 and a vibrating motor 28; wherein the walking wheel 22 is installed at the bottom of the control box 21, and the omnidirectional mobile walking function of the control box 21 can be realized by the walking wheel 22; the telescopic drive mechanism 23 is arranged in the control box 21, and the telescopic drive mechanism 23 can be telescopically adjusted in the horizontal direction. The telescopic drive mechanism 23 is provided with a drive end 230 extending to the outside of the control box 21; the frame 24 is connected to the drive end 230, so that the telescopic adjustment of the telescopic drive mechanism 23 can bring the frame 24 relative to The control box 21 is telescopically movable in the horizontal direction; the winch 25 is arranged on the control box 21, and a cable 251 is wound around the winch 25. The end of the cable 251 extends from the corresponding winch 25 and passes around the frame 24 and then naturally hangs down. The cable 251 can be retracted and extended by the forward and reverse rotation of the winch 25; the vibrating rod 26 is connected to the end of the cable 251, and the vibrating rod 26 is arranged vertically. The vibrating rod 26 can be raised and lowered by the forward and reverse rotation of the winch 25; the plane vibrator 27 is arranged on one side of the control box 21 so as to swing up and down, and the plane vibrator 27 is arranged on the side opposite to the vibrating rod 26; the vibrating motor 28 is arranged on the plane vibrator 27.

[0043] The working principle of the mobile concrete vibrating robot of the present invention is described below.

[0044] During construction, concrete of the same layer of structure is poured at the same time. Therefore, after tying the wall and column reinforcement and setting up the wall and column formwork, the upper floor formwork and floor reinforcement are also constructed, and then the wall and column concrete is poured. Before the wall and column concrete solidifies, the floor concrete is poured. The mobile concrete vibrating robot of the present invention is used to vibrate the concrete of the wall, column and beam and slab area. After the wall and column concrete is poured, the mobile vibrating robot of the present invention is placed on the upper floor reinforcement. Then, the walking wheel 22 is used to bring the vibrating rod 26 to the vibrating position of the wall and column. The vibrating rod 26 is aligned with the reinforcement grid holes of the wall and column. Then, the winch 25 is started to control the vibrating rod 26 to descend and extend into the concrete of the wall and column to a certain depth. By rotating the winch 25 forward and backward, the vibrating rod 26 can be driven to rise and fall vertically. In this way, the vibration depth and vibration time can be accurately controlled by controlling the winch, thereby ensuring the vibration effect of the vibrating rod. For vibrating beam and slab concrete with a thickness exceeding 200 mm, a vibrating rod 26 is also used for vibrating. For vibrating beam and slab concrete with a thickness less than or equal to 200 mm, a flat vibrator 27 is used for vibrating. In this case, the mobile vibrating robot of the present invention is placed on the surface of the beam and slab concrete to be vibrated. The flat vibrator 27 is then brought to the vibrating position using the running wheels 22. The flat vibrator 27 is then swung downward so that the plane of the flat vibrator 27 contacts the surface of the beam and slab concrete. The vibrating motor 28 is then started. The high-speed rotation of the vibrating motor 28 generates an exciting force that acts on the flat vibrator 27, thereby enabling the flat vibrator 27 to vibrate the surface and interior of the concrete, thereby achieving automatic compaction and degassing of the concrete material. When vibrating the surface of the beam and slab concrete, the mobile vibrating robot can be moved from one side of the beam and slab to the other, achieving slow movement while vibrating, thereby both compacting the beam and slab concrete and smoothing the surface of the beam and slab concrete.

[0045] In a specific embodiment of the present invention, Figure 1 、 Figure 3 and Figure 4 As shown, a guide wheel 241 is provided on the rack 24 corresponding to the cable 251 , and the cable 251 passes around the rack 24 from the corresponding guide wheel 241 .

[0046] The movement of the cable 251 is guided by the guide wheel 241 to facilitate the retraction and extension operation of the cable 251 .

[0047] The guide wheel 241 is rotatably mounted on the frame 24 , and a wedge-shaped arc guide groove is provided on the surface of the guide wheel 241 , and the corresponding part of the cable 251 is placed in the wedge-shaped arc guide groove, which can be used to position the cable 251 during the retraction and extension process.

[0048] Furthermore, a rubber protective layer is provided on the cable 251 , and the rubber protective layer is used to isolate the cable 251 from contact with concrete, thereby preventing concrete from penetrating into the cable 251 .

[0049] Furthermore, there are multiple winches 25 and vibrating rods 26. The winches 25 and the vibrating rods 26 are arranged in a one-to-one correspondence. The multiple vibrating rods 26 can vibrate multiple vibration positions at the same time, thereby improving the vibration efficiency.

[0050] like Figure 1 and Figure 3 As shown, a bracket 211 is provided on the control box 21, and the hoist 25 is installed on the bracket 211. The bracket 211 is provided on a side of the control box 21 opposite to the vibrating rod 26.

[0051] In a specific embodiment of the present invention, Figure 1 and Figure 2 As shown, the walking wheel 22 includes a mounting frame 221, a wheel 222 rotatably provided on the mounting frame 221, a rotating driving member 223 provided on the mounting frame 221 and drivingly connected to the wheel 222, and a slewing driving member 224 provided on the mounting frame 221; the slewing driving member 224 is also connected to the bottom of the control box 21, and the slewing driving member 224 can drive the mounting frame 221 to rotate relative to the control box 21; the rotating driving member 223 can drive the wheel 222 to rotate.

[0052] The wheel 22 can be driven to rotate by rotating the driving member 223, so that the wheel 222 can move along the bearing surface. The mounting frame 221 can be driven to rotate around the vertical axis relative to the control box 21 by the rotary driving member 224, so that the driving wheel 222 can be turned. In this way, the walking wheel 222 can enable the mobile concrete vibrating robot to move in all directions on the bearing surface.

[0053] Furthermore, four running wheels 22 are provided and symmetrically distributed at the bottom of the control box 21 .

[0054] The rotating drive member 223 includes a servo motor and a right-angle planetary reducer connected to the servo motor. A flange is provided in the middle of the wheel 222, and the flange is connected to the right-angle planetary reducer. The servo motor drives the wheel 222 to rotate through the right-angle planetary reducer.

[0055] The rotary drive 224 includes a servo motor and a hollow reducer connected to the servo motor. The hollow reducer is fixed to the mounting frame 221. The servo motor drives the mounting frame 221 to rotate through the hollow reducer, thereby controlling the steering of the wheel 222. The hollow reducer can be rotatably mounted on the bottom of the control box 21 through parts such as bearings.

[0056] Furthermore, the mounting bracket 221 is provided with a first cable hole 2211, and the rotary drive member 224 is provided with a second cable hole 2241. The signal and power cables of the rotary drive member 223 pass through the first and second cable holes 2211 and 2241, then into the control box 21, and are connected to the servo driver provided therein. This allows the servo driver to control and power the rotary drive member 223. The signal and power cables of the rotary drive member 224 pass directly through the second cable hole 2241, then into the control box 21, and are connected to the servo driver provided therein. This allows the servo driver to control and power the rotary drive member 224.

[0057] In a specific embodiment of the present invention, Figures 3 to 5 As shown, a camera 33 is provided on the frame 24 corresponding to the vibrating rod 26 , and the camera 33 is arranged downward.

[0058] The camera 33 can be used to capture the steel structure 11 below the frame 24 to form video data, and then the image recognition technology can be used to identify the mesh holes on the steel structure 11. The position of the vibrating rod 26 can be adjusted according to the identified mesh hole position so that the vibrating rod 26 can be smoothly placed into the mesh holes of the steel structure 11.

[0059] Furthermore, the control box 21 is provided with a satellite signal receiving antenna 34 , a mobile network receiving antenna 35 , a remote control signal antenna 36 and a WIFI antenna 37 .

[0060] Satellite signal receiving antenna 34 and mobile network receiving antenna 35 are used for positioning and navigation of the mobile concrete vibrating robot. Remote control signal antenna 36 is used for manual control of the mobile concrete vibrating robot. Wi-Fi antenna 37 connects to a tablet computer for fully automatic task setting and function control of the mobile concrete vibrating robot.

[0061] Emergency stop buttons 38 are also provided at the symmetrical corners of the control box 21 for emergency braking in abnormal conditions, thus playing a role of safety protection.

[0062] like Figure 5 As shown, a controller 39 and a power endurance battery 40 are provided in the control box 21 .

[0063] The power endurance battery 40 provides power to the controller 39 , the rotating drive member 223 , the rotary drive member 224 , the telescopic drive mechanism 23 , the winch 25 and the vibration motor 28 .

[0064] The controller 39 is used for the motion control of the robot. The controller 39 is provided with a control program, which can realize the movement control of the robot, the vibration control of the vibrating rod and the vibration control of the plane vibrator. The movement control of the robot can be realized according to the navigation software, and the movement path is planned for the robot so that it can move to the vibration position. The vibration control of the vibrating rod can adjust the position of the vibrating rod according to the steel mesh obtained by the video data analysis, and then control the rotation of the winch to realize the lifting and lowering control of the vibrating rod, thereby completing the vibration operation of the vibrating rod. The vibration control of the plane vibrator can set the vibration path according to the navigation software. After moving to the vibration position, the plane vibrator is swung downward, and then the vibration motor is started, and then the robot is controlled to move according to the vibration path, thereby completing the vibration operation of the plane vibrator.

[0065] The controller 39 is controllably connected to the rotating drive member 223 and the rotary drive member 224 on the running wheel 22. By controlling the rotating drive member 223 and the rotary drive member 224, the movement of the vibrating robot can be controlled. The controller 39 is also controllably connected to the telescopic drive mechanism 23, enabling adjustment of the telescopic drive mechanism 23. The controller 39 is also controllably connected to the winch 25, controlling the forward and reverse rotation of the winch 25 to achieve elevation control of the vibrating rod 26. The controller 39 is also used to control the vertical swing adjustment of the planar vibrator 27 and the operation of the vibrating motor 28.

[0066] In a specific embodiment of the present invention, Figure 3As shown, the telescopic drive mechanism 23 includes a primary telescopic arm 231, a secondary telescopic arm 232, and a tertiary telescopic arm 233. The secondary telescopic arm 232 is slidably mounted on the primary telescopic arm 231 and can be horizontally moved and adjusted relative to the primary telescopic arm 231. The tertiary telescopic arm 233 is slidably mounted on the secondary telescopic arm 232 and can be horizontally moved and adjusted relative to the secondary telescopic arm 232. Furthermore, the secondary telescopic arm 232 is connected to the primary telescopic arm 231 via a linear guide, and the tertiary telescopic arm 233 is connected to the secondary telescopic arm 232 via a linear guide. A drive mechanism is provided on the primary telescopic arm 231, which drives and connects to the secondary telescopic arm 232. This drive mechanism can drive the secondary telescopic arm 232 to telescope relative to the primary telescopic arm 231. The drive mechanism may include a motor 234, a reducer 235, a synchronous wheel 236, and a rack 237. The motor 234 drives the synchronous wheel 236 to rotate via the reducer 235, and the synchronous wheel 236 then meshes with the rack 237. Rotation of the synchronous wheel 236 enables movement along the rack 237. The rack 237 may be fixed to the secondary telescopic arm 232, and the motor 234, reducer 235, and synchronous wheel 236 may be fixed to the primary telescopic arm 231. Alternatively, the rack 237 may be fixed to the primary telescopic arm 231, and the motor 234, reducer 235, and synchronous wheel 236 may be fixed to the secondary telescopic arm 232. In another preferred embodiment, the drive mechanism may also be a telescopic electric cylinder or a telescopic pneumatic cylinder. A second driving mechanism is provided on the secondary telescopic arm, and the second driving mechanism can drive the tertiary telescopic arm 233 to telescopically move relative to the secondary telescopic arm 232 . The second driving mechanism can have the same structure as the driving member mechanism.

[0067] In a specific embodiment of the present invention, Figure 1 and Figure 6 As shown, one side of the control box 21 is provided with a connecting rod mechanism 29 and a telescopic drive member 30 that can swing up and down, corresponding to the plane vibrator 27; the telescopic drive member 30 is arranged obliquely downward, and the driving end of the telescopic drive member 30 is connected to the connecting rod mechanism 29, and the telescopic drive member 30 can be telescopically adjusted, thereby being able to swing up and down with the connecting rod mechanism 29 relative to the control box 21; a fixing frame 31 is connected to the plane vibrator 27, and the fixing frame 31 is hinged to the connecting rod mechanism 29, thereby being able to swing up and down with the connecting rod mechanism 29.

[0068] When the telescopic drive member 30 extends obliquely downward, it can push the connecting rod mechanism 29 to rotate downward around the connection between it and the control box 21, and then can swing downward with the plane vibrator 27 through the fixing frame 31, and then stick to the surface of the concrete, the effect is as follows: Figure 6When the telescopic drive member 30 is retracted obliquely downward, the connecting rod mechanism 29 can be pulled to rotate upward around the connection between the connecting rod and the control box 21, thereby swinging the plane vibrator 27 upward through the fixing frame 31, thereby lifting the plane vibrator 27. Figure 1 The telescopic driving member 30 is preferably an electric push rod.

[0069] Furthermore, the connecting rod mechanism 29 includes two sets of arms 291 arranged in parallel above and below. One end of the arm 291 is rotatably connected to the side wall of the control box 21 through a pin, and the other end of the arm 291 is rotatably connected to the fixed frame 31 through a pin. The driving end of the telescopic drive member 30 is connected to the arm 291 located at the bottom. The fixed frame 31 includes a frame 311, a pair of vertical rods 312 erected on one side of the frame 311, and a diagonal brace 313 supported on one side of the vertical rod 312, and the other end of the diagonal brace 313 is fixedly connected to the frame 311. The ends of a pair of arms 391 are rotatably connected to the pair of vertical rods 312. Through the connection of the two sets of arms 291, the plane vibrator 27 can maintain the same posture and move up and down.

[0070] Furthermore, the arm 291 includes a pair of arms and a support rod connected between the pair of arms. The arm includes a horizontal portion and an oblique portion connecting the horizontal portion. The end of the horizontal portion is connected to the control box 21, and the end of the oblique portion is connected to the vertical pole 312.

[0071] Furthermore, a damper 32 is provided at the connection between the fixing frame 31 and the plane vibrator 27 .

[0072] The damper 32 plays a role of vibration isolation, and can prevent the exciting force generated by the vibrating motor 28 from being transmitted to the control box 21 through the fixing bracket 31 .

[0073] Preferably, an inverted U-shaped clip plate 314 is provided at the bottom of the frame 311 of the fixing frame 31. This clip plate 314 is clipped onto the plane vibrator 27. A vertical damper 32 is provided between the top of the clip plate 314 and the frame 311, and a horizontal damper 32 is provided between the side of the clip plate 314 and the side of the plane vibrator 27. The vertical and horizontal placement of the dampers provides excellent vibration isolation. The damper 32 is preferably a spring damper with a diameter of 30 mm.

[0074] An aviation plug 41 is provided on the outside of the control box 21 , and the aviation plug 41 is connected to the power endurance battery 40 provided inside the control box 21 . The provision of the aviation plug 41 facilitates the electrical connection between the electric push rod and the vibrating motor.

[0075] The vibrating motor 28 is fastened to the plane vibrator 27 by means of external hexagonal bolts.

[0076] The vibration construction of the mobile concrete vibrating robot is explained below.

[0077] Initially, the plane vibrator 27 on the vibrating robot swings upward to a certain height from the ground or the load-bearing surface, and the vibrating rod 26 moves upward to a certain height from the ground or the load-bearing surface to avoid interfering with the movement of the vibrating robot. At this time, the plane vibrator 27 and the vibrating rod 26 are both in the retracted state.

[0078] For concrete-poured walls, columns, and beams and slabs thicker than 200 mm, vibrate the concrete using the vibrating rod 26 on the vibrating robot after pouring. For beams and slabs 200 mm or thicker, vibrate the concrete using the flat vibrator 27 on the vibrating robot after pouring. The following describes the vibration process using the vibrating rod 26 and the flat vibrator 27, respectively.

[0079] When using a vibrating rod for vibrating operation, the vibrating robot is placed on the floor steel bars of the upper layer of the wall or column to be vibrated, or on the concrete surface of the beam to be vibrated, the vibrating rod 26 of the vibrating robot is controlled to be set forward, and then moved to the vibrating position, so that the vibrating rod 26 is aligned with the steel mesh, the winch is started to move the vibrating rod below to the vibrating depth, and then the vibrating rod 26 is controlled to move up and down by the forward and reverse rotation of the winch, thereby completing the vibration operation at the location, and then the vibrating rod 26 is lifted and moved to the next vibrating position for vibration. The position adjustment of the vibrating rod can be achieved by the omnidirectional movement of the running wheel to achieve position adjustment on the horizontal plane, by the telescopic drive mechanism to achieve position adjustment to the next position horizontally, such as the front-back direction, and by the rotation of the winch to achieve position adjustment in the height direction.

[0080] When using a plane vibrator for vibration operation, the vibrating robot is placed on the concrete surface of the beam to be vibrated, the plane vibrator 27 is controlled to be set forward, and then moved to the vibrating position, the telescopic drive member is extended to allow the plane vibrator 27 to stick to the surface of the concrete, and then the vibrating motor 28 is started to vibrate the surface and interior of the concrete. After vibrating for a certain period of time, the vibrating robot is moved to the next position. For the plane vibration method, the vibrating robot can move from one side to the other on the beam surface, completing the concrete vibration operation while also smoothing the concrete surface of the beam.

[0081] The present invention has been described in detail above with reference to the embodiments of the accompanying drawings. A person skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention. The scope of protection of the present invention shall be determined by the scope defined in the appended claims.

Claims

1. A mobile concrete vibrating robot, characterized in that: include: control box; A traveling wheel installed at the bottom of the control box; a telescopic drive mechanism disposed in the control box and capable of telescopic adjustment in the horizontal direction, the telescopic drive mechanism having a drive end extending outward from the control box; a frame connected to the driving end; A hoist is provided on the control box, wherein a cable is wound around the hoist, and the end of the cable extends from the corresponding hoist and passes around the frame and then naturally hangs down. The cable can be retracted and extended by rotating the hoist forward and reverse; A vibrating rod connected to the end of the cable, the vibrating rod is arranged vertically and can be lifted and lowered by the forward and reverse rotation of the winch; A plane vibrator is provided on one side of the control box so as to be able to swing up and down, and the plane vibrator is provided on a side opposite to the vibrating rod; A vibrating motor is provided on the plane vibrator.

2. The mobile concrete vibrating robot according to claim 1, characterized in that: The frame is provided with guide wheels corresponding to the cables, and the cables pass around the frame from the corresponding guide wheels.

3. The mobile concrete vibrating robot according to claim 1, characterized in that: One side of the control box is provided with a connecting rod mechanism and a telescopic driving member that can swing up and down corresponding to the plane vibrator; The telescopic driving member is arranged obliquely downward, and the driving end of the telescopic driving member is connected to the connecting rod mechanism. The telescopic driving member can be telescopically adjusted, and can then lead the connecting rod mechanism to swing up and down relative to the control box; The plane vibrator is connected to a fixing frame, which is hinged to the connecting rod mechanism and can swing up and down along with the connecting rod mechanism.

4. The mobile concrete vibrating robot according to claim 3, characterized in that: A damper is provided at the connection between the fixing frame and the plane vibrator.

5. The mobile concrete vibrating robot according to claim 1, characterized in that: The walking wheel includes a mounting frame, a wheel rotatably mounted on the mounting frame, a rotation driving member mounted on the mounting frame and drivingly connected to the wheel, and a rotary driving member mounted on the mounting frame; The rotary drive member is also connected to the bottom of the control box, and the rotary drive member can drive the mounting frame to rotate relative to the control box; The rotation driving member can drive the wheel to rotate.

6. The mobile concrete vibrating robot according to claim 5, characterized in that: The mounting frame is provided with a first wire hole; The rotary drive member is provided with a second wire hole; The signal and power cables of the rotary drive member pass through the first wire hole and the second wire hole and then pass into the control box, and are connected to the servo driver provided in the control box.

7. The mobile concrete vibrating robot according to claim 1, characterized in that: A camera is provided on the frame corresponding to the vibrating rod, and the camera is arranged downward.

8. The mobile concrete vibrating robot according to claim 1, characterized in that: The control box is provided with a satellite signal receiving antenna, a mobile network receiving antenna, a remote control signal antenna and a WIFI antenna.

9. The mobile concrete vibrating robot according to claim 1, characterized in that: The control box is provided with a controller and a power endurance battery.

10. The mobile concrete vibrating robot according to claim 1, characterized in that: The hoist and the vibrating rod are provided in plurality.

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