Exoskeleton robot for assisting concrete vibration and method for assisting concrete vibration

Abstract

The invention discloses an exoskeleton robot for assisting concrete vibration and a method for assisting concrete vibration, and the exoskeleton robot comprises an exoskeleton robot body which is provided with a waist posture sensor for collecting a bending angle in real time; the glove is provided with an IMU sensor used for collecting the pitch angle of the hand and a piezoelectric film sensor used for collecting the working amplitude of the vibrating rod. The controller is in signal connection with the waist driving mechanism, the waist posture sensor, the IMU sensor and the piezoelectric film sensor of the exoskeleton robot body, and the controller judges the start of single-time vibration operation based on the hand pitch angle and the working amplitude and carries out timing; and the controller dynamically adjusts torque compensation of the waist driving mechanism based on the duration of the single vibration operation, generates an alarm signal when the duration of the single vibration operation exceeds a preset threshold value and sends the alarm signal to the outside, and meanwhile, the controller dynamically adjusts the waist driving mechanism to generate over-vibration protection force based on the preset optimal vibration time. The problem that the intelligent degree of current traditional vibrating operation is insufficient is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to an exoskeleton robot assisting in concrete vibration and an assisting concrete vibration method. Background Art

[0002] Traditional concrete vibration operations rely heavily on manual experience, resulting in poor quality consistency. Existing vibration equipment requires workers to rely on experience to control insertion depth and vibration time. This can easily lead to under-vibration (insufficient concrete density) or over-vibration (aggregate stratification) due to fatigue or operator error. Furthermore, current vibration equipment designs lack real-time feedback and operator guidance, relying instead on post-process quality inspections.

[0003] Secondly, current vibrating equipment lacks intelligence and multimodal data fusion. Current concrete vibrating equipment lacks sensor design, making it unable to collect various vibration-related parameters in real time and providing a data foundation for intelligent vibrating operations. Furthermore, existing vibrating equipment lacks a resistance feedback mechanism, making it impossible to forcefully correct incorrect operations through physical constraints or acoustic, optical, and other information. This leads to high training costs and difficulties in standardization.

[0004] At the same time, the application of exoskeleton technology is currently concentrated in medical rehabilitation (such as gait training for hemiplegic patients) and basic assistance (such as logistics handling). The design focus is on providing joint torque compensation or reducing muscle load. In the construction industry, exoskeleton robots are mainly used for handling assistance. They lack adaptability to scenarios in the concrete construction field, are not combined with construction parameters, and lack intelligent guidance.

[0005] Therefore, the current traditional vibration operation is not intelligent enough, and the application scenarios of exoskeleton robots on construction sites are limited, which cannot effectively help construction sites to reduce costs and increase efficiency and improve the level of intelligent construction. Summary of the Invention

[0006] In order to overcome the defects of the existing technology, an exoskeleton robot for assisting concrete vibration and an assisting concrete vibration method are provided to solve the problem that the current traditional vibration operation is not intelligent enough.

[0007] To achieve the above objectives, an exoskeleton robot for assisting concrete vibration is provided, comprising:

[0008] An exoskeleton robot body, wherein the exoskeleton robot body is equipped with a waist posture sensor for real-time acquisition of bending angle;

[0009] Gloves, each equipped with an IMU sensor for collecting the hand's pitch angle and a piezoelectric film sensor for collecting the vibrating amplitude of the vibrator;

[0010] The controller is signal-connected to the waist drive mechanism, the waist posture sensor, the IMU sensor and the piezoelectric film sensor of the exoskeleton robot body. The controller determines the start and timing of a single vibration operation based on the hand pitch angle and the working amplitude. The controller dynamically adjusts the torque compensation of the waist drive mechanism based on the duration of the single vibration operation. When the duration of the single vibration operation exceeds a preset threshold, the controller generates an alarm signal and sends it to the outside. At the same time, the controller dynamically adjusts the waist drive mechanism to generate over-vibration protection force based on a preset optimal vibration time.

[0011] Furthermore, the controller includes:

[0012] A control module, signal-connected to the waist drive mechanism of the exoskeleton robot body, the waist posture sensor, the IMU sensor, and the piezoelectric film sensor;

[0013] a determination module for determining the start of a single vibration operation based on the hand pitch angle and the working amplitude, connected to the control module;

[0014] A timing module for calculating the duration of a single vibration operation, connected to the determination module;

[0015] a warning module for generating an alarm signal when the duration of a single vibration operation exceeds a preset threshold, connected to the timing module and the control module;

[0016] a first calculation module for calculating the torque compensation of the waist drive mechanism based on the duration of the single vibration operation, connected to the timing module and the control module;

[0017] A second calculation module for calculating the over-vibration protection force based on a preset optimal vibration time is connected to the timing module and the control module.

[0018] Furthermore, the first calculation module calculates the torque compensation using a first calculation model, and the first calculation model is:

[0019] τ assist =k1·θ 2 +k2·In(T+1);

[0020] Among them, τ assist For torque compensation;

[0021] k1 and k2 are control parameters;

[0022] θ is the bending angle;

[0023] T is the time of the single vibration operation.

[0024] Furthermore, the second calculation module calculates and obtains the over-vibration protection force through a second calculation model, and the second calculation model is:

[0025] F=k3·θ+k4·(Tt set );

[0026] Wherein, F is the over-vibration protection force;

[0027] k3 and k4 are control parameters.

[0028] Furthermore, the controller is connected to an audible and visual alarm.

[0029] Furthermore, the IMU sensor is installed in the back filling layer of the glove.

[0030] Furthermore, the piezoelectric film sensor is installed on the palm of the glove.

[0031] The present invention provides an auxiliary concrete vibration method using an exoskeleton robot for auxiliary concrete vibration, comprising the following steps:

[0032] The construction worker wears the exoskeleton robot body and gloves and holds the vibrator;

[0033] The waist posture sensor collects the bending angle in real time;

[0034] The IMU sensor collects the hand pitch angle in real time;

[0035] The piezoelectric film sensor collects the working amplitude of the vibrating rod in real time;

[0036] The controller obtains the bending angle, the hand pitch angle and the working amplitude;

[0037] The controller determines the start of a single vibration operation and times the start of the operation based on the hand pitch angle and the working amplitude;

[0038] After the single vibration operation begins, the controller dynamically adjusts the torque compensation of the waist drive mechanism based on the duration of the single vibration operation;

[0039] When the duration of a single vibration operation exceeds a preset threshold, the controller generates an alarm signal and sends it to the outside. At the same time, the controller dynamically adjusts the waist drive mechanism to generate over-vibration protection force based on the preset optimal vibration time to remind the construction personnel to end the vibration operation in time.

[0040] The beneficial effect of the present invention is that the exoskeleton robot for assisting concrete vibration of the present invention realizes intelligent linkage between the exoskeleton robot and the vibration operation by integrating multimodal sensors in the exoskeleton robot, thereby ensuring efficient and safe operation at the construction site.

[0041] The exoskeleton robot for assisting concrete vibration of the present invention improves the intelligence level of the vibration operation and ensures the quality of the vibration construction.

[0042] The exoskeleton robot for assisting concrete vibration of the present invention improves the construction environment for construction workers and reduces the labor intensity of the construction workers.

[0043] The exoskeleton robot for assisting concrete vibration of the present invention expands the application scenarios of exoskeleton robots and ensures their practicability at construction sites.

[0044] The exoskeleton robot for assisting concrete vibration of the present invention is a design scheme of exoskeleton robot with remarkable innovation and practicality, which is of great significance for ensuring the construction effect on the construction site and improving the construction environment for construction workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0046] Figure 1 This is a schematic structural diagram of an exoskeleton robot that assists in concrete vibration according to an embodiment of the present invention.

[0047] Figure 2 Schematic diagram of the structure of the glove according to an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of the process of dynamically adjusting the waist assistance of the exoskeleton robot assisting concrete vibration according to an embodiment of the present invention.

[0049] Figure 4 This is a schematic diagram of the process of dynamically adjusting the over-vibration protection force of the exoskeleton robot assisting concrete vibration according to an embodiment of the present invention.

[0050] Reference numerals:

[0051] Exoskeleton robot body 1, ergonomic harness 11, waist drive mechanism 12, control system 13 and leg straps 14;

[0052] Glove 2, IMU sensor 21, piezoelectric film sensor 22. DETAILED DESCRIPTION

[0053] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0054] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0055] Reference Figures 1 to 2 As shown, the present invention provides an exoskeleton robot for assisting concrete vibration, comprising an exoskeleton robot body 1, gloves 2 and a controller.

[0056] The exoskeleton robot body 1 includes an ergonomic harness 11, a waist drive mechanism 12 (power motor), a control system 13, and leg straps 14. The waist drive mechanism drives the upper and lower parts of the exoskeleton robot body to flip downward and upward relative to each other.

[0057] The ergonomic harness 11 and leg straps 14 are responsible for securing the exoskeleton and preventing it from loosening. The control system 13 integrates control and power management, and is responsible for powering the exoskeleton robot body 1 and operating the system.

[0058] Glove 2 is responsible for real-time monitoring of concrete vibration operations.

[0059] In this embodiment, the exoskeleton robot body 1 is equipped with a waist posture sensor. The waist posture sensor is used to collect the bending angle in real time. Specifically, the waist posture sensor is a high-precision MEMS posture sensor.

[0060] The MEMS posture sensor is arranged at the back of the waist of the exoskeleton robot body 1 to obtain three-dimensional posture data of the waist in real time, including information such as bending angle and duration.

[0061] Before performing concrete vibration operations, construction workers put on the exoskeleton robot body 1 and gloves 2.

[0062] The glove 2 is equipped with an IMU sensor 21 and a piezoelectric film sensor 22 .

[0063] The IMU sensor 21 is used to collect the hand pitch angle.

[0064] The piezoelectric film sensor 22 is used to collect the working amplitude of the vibrating rod. The piezoelectric film sensor 22 is a flexible piezoelectric film sensor 22.

[0065] Specifically, the IMU sensor 21 is installed in the back padding layer of the glove 2 .

[0066] The piezoelectric film sensor 22 is mounted on the palm of the glove 2 .

[0067] The glove 2 is integrated with a micro IMU sensor 21 and a flexible piezoelectric film sensor 22. By sensing the construction worker's hand posture and the vibration frequency of the vibrator held in the palm of the palm in real time, it can accurately judge and record the time of a single vibration operation. It can collect vibration operation information for the robot control module and digitize the vibration operation process.

[0068] The controller signal is connected to the waist drive mechanism 12, waist posture sensor, IMU sensor 21 and piezoelectric film sensor 22 of the exoskeleton robot body 1.

[0069] The controller determines the start of a single vibration operation and starts timing based on the hand pitch angle and working amplitude.

[0070] The controller dynamically adjusts the torque compensation of the waist drive mechanism 12 based on the duration of a single vibrating operation.

[0071] When the duration of a single vibration operation exceeds a preset threshold, the controller generates an alarm signal and sends it to the outside. At the same time, the controller dynamically adjusts the waist drive mechanism 12 to generate over-vibration protection force based on the preset optimal vibration time.

[0072] As a preferred embodiment, the controller is connected to an audible and visual alarm.

[0073] In this embodiment, the controller dynamically adjusts the strength of the assist by receiving data from the MEMS attitude sensor. If the worker is relatively fatigued, the controller appropriately increases the waist assist to reduce the worker's workload. Simultaneously, the controller receives feedback from the hand IMU sensor 21 and the piezoelectric film sensor 22, determines the completion of the vibration operation based on the duration of each operation, and alerts the worker through the sound and light signals of the sound and light alarm to prevent under-vibration. If the operation is likely to time out, the controller dynamically adjusts the waist over-vibration protection to remind the worker to complete the operation as soon as possible to prevent over-vibration.

[0074] In this embodiment, the controller includes: a control module, a determination module, a timing module, an alarm module, a first calculation module, and a second calculation module.

[0075] The control module is signal-connected to the waist drive mechanism 12 , waist posture sensor, IMU sensor 21 and piezoelectric film sensor 22 of the exoskeleton robot body 1 .

[0076] The determination module is connected to the control module and is used to determine whether a single vibration operation has started based on the hand pitch angle and the working amplitude.

[0077] The timing module is connected to the determination module and is used to calculate the duration of a single vibration operation.

[0078] The warning module is connected to the control module and is used to generate an alarm signal when the duration of a single vibration operation exceeds a preset threshold.

[0079] The first calculation module is connected to the timing module and the control module. The first calculation module is used to calculate the waist driving mechanism 12 based on the duration of a single vibration operation.

[0080] Specifically, the first calculation module calculates the torque compensation using a first calculation model, where the first calculation model is:

[0081] τ assist =k1·θ 2 +k2·In(T+1);

[0082] Among them, τ assist For torque compensation;

[0083] k1 and k2 are control parameters, which ensure that the assist torque increases nonlinearly as the bending angle increases and the time increases;

[0084] θ is the bending angle;

[0085] T is the time for a single vibration operation.

[0086] The second calculation module is connected to the timing module and the control module. The second calculation module is used to calculate and obtain the over-vibration protection force based on a preset optimal vibration time.

[0087] Specifically, the second calculation module calculates the over-vibration protection force through a second calculation model, and the second calculation model is:

[0088] F=k3·θ+k4·(Tt set );

[0089] Wherein, F is the over-vibration protection force;

[0090] k3 and k4 are control parameters that linearly couple the angle deviation with the time limit to achieve precise correction while strictly limiting the lifting acceleration to ensure safety.

[0091] The exoskeleton robot for assisting concrete vibration of the present invention integrates a multimodal sensor in the exoskeleton robot to achieve intelligent linkage between the exoskeleton robot and the vibration operation, thereby ensuring efficient and safe operation at the construction site.

[0092] The exoskeleton robot for assisting concrete vibration of the present invention improves the intelligence level of the vibration operation and ensures the quality of the vibration construction.

[0093] The exoskeleton robot for assisting concrete vibration of the present invention improves the construction environment for construction workers and reduces the labor intensity of the construction workers.

[0094] The exoskeleton robot for assisting concrete vibration of the present invention expands the application scenarios of exoskeleton robots and ensures their practicability at construction sites.

[0095] The exoskeleton robot for assisting concrete vibration of the present invention is a design scheme of exoskeleton robot with remarkable innovation and practicality, which is of great significance for ensuring the construction effect on the construction site and improving the construction environment for construction workers.

[0096] Combine Figure 3 and Figure 4 The present invention provides an auxiliary concrete vibration method using an exoskeleton robot for auxiliary concrete vibration, comprising the following steps:

[0097] S1. The construction worker wears the exoskeleton robot body and gloves and holds the vibrator.

[0098] S2. The waist posture sensor collects the bending angle in real time.

[0099] S3, IMU sensor collects hand pitch angle in real time.

[0100] S4. The piezoelectric film sensor collects the working amplitude of the vibrating rod in real time.

[0101] The micro IMU sensor is installed in the padding layer on the back of the glove, located in the center of the third metacarpal bone on the back of the hand, to monitor the three-dimensional posture of the hand in real time.

[0102] The flexible piezoelectric film sensor is located in the palm of the glove. It adopts PVDF flexible sensor design, fits the curved surface of the palm, directly senses the vibration of the contact surface, and judges the working status of the handheld vibrator in real time.

[0103] The gloves also have a Bluetooth Low Energy (BLE) communication module. This module is responsible for data exchange with the controller's control module and uses the BLE 5.0 protocol to achieve low-latency data transmission.

[0104] S5. The controller obtains the bending angle, hand pitch angle and working amplitude.

[0105] After acquiring data from the glove's back IMU sensor and palm piezoelectric film sensor, the controller first performs preprocessing. This preprocessing includes Kalman filtering, wavelet noise reduction, and data normalization, eliminating interference factors such as hand tremors and high-frequency noise. The controller then calculates the instantaneous hand pitch angle and the vibration amplitude of the handheld vibrator. This data is then transmitted internally by the controller's control module for further processing.

[0106] S6. The controller determines the start of a single vibration operation and starts timing based on the hand pitch angle and working amplitude.

[0107] Specifically, after obtaining hand pitch angle data, the judgment module determines the construction worker's hand movements based on changes in pitch angle data. During a vibration operation, the construction worker typically lifts the vibrator and then extends it into a designated area. When the recorded pitch angle changes over a certain period of time match the vibrator placement process, combined with the vibrator's amplitude, the control system determines that the vibration operation has begun, accumulates the single operation time, and incorporates it into the robot control module's power assist system.

[0108] The timing module calculates the duration of the single vibration operation when the determination module determines that the single vibration operation has started.

[0109] S7. After a single vibration operation begins, the controller dynamically adjusts the torque compensation of the waist drive mechanism based on the duration of the single vibration operation.

[0110] The exoskeleton robot body monitors the construction workers' bending angle θ and duration T in real time through the waist posture sensor, and implements dual control logic based on the vibration time feedback from the gloves. Dynamic power adjustment calculates torque compensation based on the bending degree and time.

[0111] S8. When the duration of a single vibration operation exceeds a preset threshold, the controller generates an alarm signal and sends it to the outside. At the same time, the controller dynamically adjusts the waist drive mechanism to generate over-vibration protection force based on the preset optimal vibration time to remind the construction personnel to end the vibration operation in time.

[0112] The warning module has a preset threshold for the duration of a single vibration operation. If the duration exceeds the threshold, the warning module generates an alarm signal. Upon receiving the alarm signal, the control module activates the audible and visual alarms, which sound to remind construction workers to end the vibration operation promptly.

[0113] The optimal vibration time t is preset on site according to the concrete type set When the construction worker's single vibration operation time exceeds the preset optimal vibration time, the sound and light alarm will start to alarm, reminding the construction worker to end the vibration operation in time.

[0114] At the same time, the exoskeleton robot applies an over-vibration protection force at the waist, increasing the resistance at the waist and reminding the construction worker to finish the vibration work as soon as possible. When the vibration work is completed, the robot returns to its original position and the exoskeleton stops assisting.

[0115] The exoskeleton robot for assisting concrete vibrations of this invention integrates the exoskeleton with the vibration operation in an intelligent manner. By combining the ergonomic assistance of an industrial exoskeleton with the control of concrete vibration construction parameters, this robot breaks the disconnect between traditional exoskeletons, which only provide basic assistance and rely solely on manual experience for vibration equipment. Through data exchange between the exoskeleton's sensors and sensors on the vibration tool, a closed-loop control system of "human motion-construction parameters-equipment response" is achieved.

[0116] The exoskeleton robot for assisting concrete vibration of the present invention integrates multimodal sensor fusion and dynamic parameter adaptation. The exoskeleton robot for assisting concrete vibration of the present invention is equipped with a variety of different types of sensors in the design of the exoskeleton robot, which are used to achieve accurate human body state perception and vibration operation state monitoring, and achieve full-process assistance for vibration operation. The exoskeleton robot for assisting concrete vibration of the present invention is integrated with a waist posture sensor, which monitors the construction worker's waist bending angle in real time and adjusts the assistance intensity in time; at the same time, the gloves are integrated with IMU sensors and flexible piezoelectric film sensors, which use algorithms to judge the construction worker's working state and vibration time in real time. The multi-terminal sensor data is aggregated to the controller to assist in the concrete vibration operation.

[0117] The exoskeleton robot, which assists in concrete vibrating, uses multiple feedback mechanisms to prevent overvibration. If the controller determines that the current vibration duration is too long, it dynamically increases overvibration protection through the exoskeleton's waist joints and issues an audible message to remind the construction worker to stop vibrating immediately, preventing overvibration and achieving precise construction.

[0118] The exoskeleton robot for assisting concrete vibration of the present invention effectively improves the current situation of insufficient intelligence of traditional vibration operations, solves the problems of high labor intensity and lack of basis for current vibration operations, and by introducing exoskeleton robot technology, ensures the effect of on-site concrete construction, reduces the workload of on-site construction personnel, and provides strong support for the development of intelligent construction.

[0119] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims

1. An exoskeleton robot for assisting concrete vibration, characterized in that: include: An exoskeleton robot body, wherein the exoskeleton robot body is equipped with a waist posture sensor for real-time acquisition of bending angle; Gloves, each equipped with an IMU sensor for collecting the hand's pitch angle and a piezoelectric film sensor for collecting the vibrating amplitude of the vibrator; The controller is signal-connected to the waist drive mechanism, the waist posture sensor, the IMU sensor and the piezoelectric film sensor of the exoskeleton robot body. The controller determines the start and timing of a single vibration operation based on the hand pitch angle and the working amplitude. The controller dynamically adjusts the torque compensation of the waist drive mechanism based on the duration of the single vibration operation. When the duration of the single vibration operation exceeds a preset threshold, the controller generates an alarm signal and sends it to the outside. At the same time, the controller dynamically adjusts the waist drive mechanism to generate over-vibration protection force based on a preset optimal vibration time.

2. The exoskeleton robot for assisting concrete vibration according to claim 1, characterized in that: The controller includes: A control module, signal-connected to the waist drive mechanism of the exoskeleton robot body, the waist posture sensor, the IMU sensor, and the piezoelectric film sensor; a determination module for determining the start of a single vibration operation based on the hand pitch angle and the working amplitude, connected to the control module; A timing module for calculating the duration of a single vibration operation, connected to the determination module; a warning module for generating an alarm signal when the duration of a single vibration operation exceeds a preset threshold, connected to the timing module and the control module; a first calculation module for calculating the torque compensation of the waist drive mechanism based on the duration of the single vibration operation, connected to the timing module and the control module; A second calculation module for calculating the over-vibration protection force based on a preset optimal vibration time is connected to the timing module and the control module.

3. The exoskeleton robot for assisting concrete vibration according to claim 2, characterized in that: The first calculation module calculates the torque compensation using a first calculation model, where the first calculation model is: t assist =k1·θ 2 +k2·In(T+1); Among them, τ assist For torque compensation; k1 and k2 are control parameters; θ is the bending angle; T is the time of the single vibration operation.

4. The exoskeleton robot for assisting concrete vibration according to claim 3, characterized in that: The second calculation module calculates the over-vibration protection force using a second calculation model, where the second calculation model is: F=k3·θ+k4·(T-t set ); Wherein, F is the over-vibration protection force; k3 and k4 are control parameters.

5. The exoskeleton robot for assisting concrete vibration according to claim 1, characterized in that: The controller is connected with an audible and visual alarm.

6. The exoskeleton robot for assisting concrete vibration according to claim 1, characterized in that: The IMU sensor is installed in the back padding layer of the glove.

7. The exoskeleton robot for assisting concrete vibration according to claim 6, characterized in that: The piezoelectric film sensor is installed on the palm of the glove.

8. A method for assisting concrete vibration using the exoskeleton robot for assisting concrete vibration according to any one of claims 1 to 7, characterized in that: The following steps are involved: The construction worker wears the exoskeleton robot body and gloves and holds the vibrator; The waist posture sensor collects the bending angle in real time; The IMU sensor collects the hand pitch angle in real time; The piezoelectric film sensor collects the working amplitude of the vibrating rod in real time; The controller obtains the bending angle, the hand pitch angle and the working amplitude; The controller determines the start of a single vibration operation and times the start of the operation based on the hand pitch angle and the working amplitude; After the single vibration operation begins, the controller dynamically adjusts the torque compensation of the waist drive mechanism based on the duration of the single vibration operation; When the duration of a single vibration operation exceeds a preset threshold, the controller generates an alarm signal and sends it to the outside. At the same time, the controller dynamically adjusts the waist drive mechanism to generate over-vibration protection force based on the preset optimal vibration time to remind the construction personnel to end the vibration operation in time.

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