Lower column pier concrete rapid forming robot device and using method

Abstract

The invention discloses a rapid forming robot device for lower column pier concrete. The rapid forming robot device comprises a low-position module, a middle-position module and a high-position module. The low-position module assembly comprises a driving device, a hydraulic regulator, a vibration flat plate and a battery assembly; the middle-position module assembly comprises an eccentric vibrator and a vibration flat plate; the high-position module comprises a driving device, a hydraulic regulator, a vibration flat plate, a battery assembly and an intelligent controller; the module assemblies are connected in a hinged mode and can be combined into devices of different sizes and angles. The invention further discloses a using method of the rapid forming robot device based on the lower column pier concrete. The using method has the remarkable effects that the running posture is adjusted in real time according to terrain feedback data, vibration leveling is conducted on the lower column pier concrete, it is ensured that the forming size is accurate, and the labor cost is saved.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically a robot device for rapid concrete forming of lower column piers and its usage method. Background Technology

[0002] A column pier is a concrete abutment placed below the column and below the bottom surface of the foundation slab. It enhances the shear and punching shear resistance of the raft foundation by increasing the load-bearing area. Unlike isolated foundations, column piers share the load with the surrounding raft slab, fully utilizing the upper space of the raft slab, optimizing the load transfer path, and addressing the problem of insufficient local bearing capacity of raft slabs under large spans or high loads. However, because the concrete of the column pier requires manual leveling during the forming process, the dimensional deviation after forming is relatively large, making it difficult to meet quality acceptance requirements and resulting in significant concrete waste. Summary of the Invention

[0003] The purpose of this invention is to provide a rapid prototyping robot device and method for use of concrete for lower column piers, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a rapid concrete forming robot device for lower column piers, comprising a low-level module, a middle-level module, and a high-level module; the low-level module includes a drive device, an electro-hydraulic regulator, a vibrating plate, and a battery assembly; the middle-level module includes an eccentric vibrator, an electro-hydraulic regulator, and a vibrating plate; the high-level module includes a drive device, an electro-hydraulic regulator, a vibrating plate, a battery assembly, and an intelligent controller.

[0005] Preferably, the drive device is an electric tracked type, with a built-in variable frequency motor, powered by a battery pack, and the speed and direction are adjusted by an intelligent controller.

[0006] Preferably, the electro-hydraulic controller is installed inside the high / low module, powered by a battery pack, and the intelligent controller adjusts the extension and retraction.

[0007] Preferably, the battery assembly is installed inside the high-low module and consists of a high-density battery, a charging interface, an inverter, an input / output module, and a power management system. It supplies power to the drive device and the eccentric vibrator according to the instructions of the intelligent controller.

[0008] Preferably, the eccentric vibrator is installed on the upper part of the center module and connected to the battery pack via a cable. The intelligent controller sends a command to the battery pack to start or stop the eccentric vibrator.

[0009] Preferably, the vibrating plate is installed at the lower part of the high, medium and low modules, and its height and levelness are adjusted by an electric hydraulic adjuster. When the eccentric vibrator is started, the vibrating plate comes into contact with the concrete, compacting the concrete surface and straightening the inside and outside corners.

[0010] Preferably, the intelligent controller is installed on the upper part of the high-position module and is connected to the eccentric vibrator, drive device, electro-hydraulic regulator and battery pack via cables. The internal processor can store terrain coordinates and elevation and calculate the data into a travel path. Its sensors can collect external terrain data in real time and compare it with the planned path to correct deviations in real time.

[0011] Preferably, the high, medium and low modules can be flexibly combined according to the size of the lower column pier to meet the construction needs of concrete columns of various sizes.

[0012] This invention provides another technical solution: a method for using a rapid concrete forming robot device for lower column piers, comprising the following steps:

[0013] S1: Assemble the low-position module, middle-position module, and high-position module into a rapid concrete prototyping robot for the lower column pier according to the structural dimensions of the lower column pier. Start the drive device and observe whether the movement is flexible; start the electric hydraulic regulator and observe whether the extension and retraction are normal and whether the connection with the vibrating plate is firm; start the eccentric vibrator and observe whether the vibration frequency is normal; observe whether the battery pack is supplying power normally; observe whether the intelligent controller is receiving and outputting signals normally.

[0014] S2: Based on the coordinate points provided in the design documents, collect the coordinate points of the upper and lower openings of the column pier excavation site one by one, and form a measurement result file;

[0015] S3: Import the measurement results file into the intelligent controller. The intelligent controller automatically calculates the measurement results and generates a running trajectory diagram.

[0016] S4: The rapid prototyping robot for the lower column pier starts its drive device according to the route of the running trajectory diagram, adjusts the height of the vibrating plate, and starts the eccentric vibrator to compact the concrete under the vibrating plate and straighten the inside and outside corners. When it reaches the corner, the low-position module drive device brakes and the high-position module drive device rotates to complete the turn and switch to another working surface to continue working.

[0017] S5: After completing the concrete molding of one lower column pier, the lower column pier concrete rapid molding robot will move to the next lower column pier according to the running trajectory to continue working until all the work is completed.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The present invention provides a rapid molding robot device and method for lower column pier concrete, which, through the combination of low-level module, mid-level module and high-level module, can realize rapid molding of lower column pier concrete, thereby saving manpower and reducing material consumption.

[0020] 2. The present invention provides a rapid prototyping robot device and method for lower column pier concrete. By importing the measurement results into an intelligent controller, it can automatically calculate and form a running trajectory. It can follow the concrete pouring personnel to complete the vibration and smoothing work. The appearance quality of the concrete is greatly improved compared with the quality of manual prototyping, which meets the needs of refined quality management on site. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of the entire invention;

[0022] Figure 2 This is an overall cross-sectional view of the present invention;

[0023] Figure 3 This is a diagram illustrating the working state of the present invention;

[0024] Figure 4 This is a control principle diagram of the present invention.

[0025] In the diagram: 1. Low-position module; 11. Drive device; 12. Electro-hydraulic regulator; 13. Vibrating plate; 14. Battery assembly; 2. Mid-position module; 21. Eccentric vibrator; 22. Vibrating plate; 3. High-position module; 31. Drive device; 32. Electro-hydraulic regulator; 33. Vibrating plate; 34. Intelligent controller; 35. Battery assembly. Detailed Implementation

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] This invention provides a rapid prototyping robot device for lower column pier concrete, comprising a low-position module 1, a middle-position module 2, and a high-position module 3; the low-position module 1 includes a drive device 11, an electro-hydraulic regulator 12, a vibrating plate 13, and a battery assembly 14; the middle-position module 2 includes an eccentric vibrator 21 and a vibrating plate 22; the high-position module 3 includes a drive device 31, an electro-hydraulic regulator 32, and a vibrating plate 33; an intelligent controller 34; and a battery assembly 35.

[0028] The drive unit 11 is an electric tracked type with a built-in variable frequency motor, powered by the battery pack 14, and the intelligent controller 34 adjusts the speed and direction.

[0029] The electro-hydraulic controller 12 and the electro-hydraulic regulator 32 are installed inside the low-position module 1 and the high-position module 3, respectively, and are powered by the battery pack 14 and the battery pack 35. The intelligent controller 34 adjusts the extension and retraction.

[0030] Battery assembly 14 and battery assembly 35 are installed inside low-position module 1 and high-position module 3, and consist of high-density battery, charging interface, inverter, input / output module and power management system. They supply power to drive device 11, drive device 31 and eccentric vibrator 21 according to the instructions of intelligent controller 34.

[0031] The eccentric vibrator 21 is installed on the upper part of the intermediate module 2 and is connected to the battery assembly 14 and battery assembly 35 via cables. The intelligent controller 34 sends commands to the battery assembly 14 and battery assembly 35 to start or stop the eccentric vibrator 21.

[0032] Vibrating plate 13 and vibrating plate 33 are installed at the bottom of low-position module 1, middle-position module 2 and high-position module 3. The height and level are adjusted by electric hydraulic adjuster 12 and electric hydraulic adjuster 32. When the eccentric vibrator 21 is started, vibrating plate 13 and vibrating plate 33 come into contact with concrete, compacting the concrete surface and straightening the inside and outside corners.

[0033] The intelligent controller 34 is installed on the upper part of the high-position module 3 and is connected to the eccentric vibrator 21, drive device 11, drive device 31, electro-hydraulic regulator 12, electro-hydraulic regulator 32, battery pack 14, and battery pack 35 via cables. The internal processor can store terrain coordinates and elevation and calculate the data into a travel path. Its sensors can collect external terrain data in real time and compare it with the planned path to correct deviations in real time.

[0034] The low-position module 1, middle-position module 2, and high-position module 3 can be flexibly combined according to the size of the lower column pier to meet the construction needs of concrete columns of various sizes.

[0035] To further explain the embodiments of the present invention, a method for using the rapid prototyping robot device for lower column pier concrete is also provided, including the following steps:

[0036] Step 1: Assemble the low-position module 1, middle-position module 2, and high-position module 3 according to the structural dimensions of the lower column pier to form a rapid concrete prototyping robot for the lower column pier. Start the drive device 11 and drive device 31 to observe whether the movement is flexible; start the electric hydraulic regulator 12 and electric hydraulic regulator 32 to observe whether the extension and retraction are normal, and whether the connection with the vibrating plate 13 and vibrating plate 33 is firm; start the eccentric vibrator 21 to observe whether the vibration frequency is normal; observe whether the battery assembly 14 and battery assembly 35 are powered normally; observe whether the intelligent controller 34 is receiving and outputting signals normally.

[0037] Step 2: Based on the coordinate control points provided in the design documents, collect the coordinate points of the upper and lower openings of the column pier excavation site one by one to form a measurement result file;

[0038] Step 3: Import the measurement results file into the intelligent controller 34. The intelligent controller 34 automatically calculates the measurement results and generates a running trajectory diagram.

[0039] Step 4: The rapid concrete forming robot for the lower column pier starts the drive device 11 and drive device 31 according to the route of the running trajectory diagram, adjusts the height of the vibrating plate 13 and vibrating plate 33, and at the same time starts the eccentric vibrator 21 to vibrate and compact the concrete under the vibrating plate 13 and vibrating plate 33, and straighten the inside and outside corners. When it reaches the corner, the low-position module 1 drive device 11 brakes, and the high-position module 3 drive device 31 rotates to complete the turn and switches to another working surface to continue working.

[0040] Step 5: After completing the concrete molding of one lower column pier, the rapid concrete molding robot will move to the next lower column pier according to its operating trajectory to continue working until all work is completed.

[0041] In summary, the present invention provides a rapid molding robot device and method for lower column pier concrete. Through the combination of low-position, mid-position, and high-position modules, it can achieve rapid molding of lower column pier concrete, thereby saving manpower and reducing material waste. By importing the measurement results into the intelligent controller, it can automatically calculate and form the running trajectory, which can follow the concrete pouring personnel to complete the vibration and smoothing work. The appearance quality of the concrete is greatly improved compared with the quality of manual molding, meeting the needs of refined quality management on site.

[0042] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robotic device for rapid prototyping of concrete for lower column piers, characterized in that, It includes a low-position module (1), a middle-position module (2), and a high-position module (3); the low-position module (1), the middle-position module (2), and the high-position module (3) are connected by hinges; the low-position module (1) includes a drive device (11), an electro-hydraulic regulator (12), a vibrating plate (13), and a battery assembly (14); the middle-position module (2) includes an eccentric vibrator (21) and a vibrating plate (22); the high-position module (3) includes a drive device (31), an electro-hydraulic regulator (32), a vibrating plate (33), an intelligent controller (34), and a battery assembly (35).

2. The rapid prototyping robot device for lower column piers as described in claim 1, characterized in that: The drive device (11) and drive device (31) are electric tracked types with built-in variable frequency motors, powered by battery components (14) and (35), and the intelligent controller (34) adjusts the speed and direction.

3. The rapid prototyping robot device for lower column piers as described in claim 2, characterized in that: The battery assembly (14) and battery assembly (35) are installed inside the low-position module (1) and the high-position module (3), and are composed of a high-density battery, a charging interface, an inverter, an input / output module, and a power management system. They supply power to the drive device (11), the drive device (31), and the eccentric vibrator (21) according to the instructions of the intelligent controller (34).

4. The rapid prototyping robot device for lower column piers as described in claim 3, characterized in that: The electric hydraulic controller (12) and electric hydraulic regulator (32) are installed inside the low-position module (1) and high-position module (3), respectively, and are powered by the battery assembly (14) and battery assembly (35). The intelligent controller (34) adjusts the extension and retraction.

5. The rapid prototyping robot device for lower column piers as described in claim 4, characterized in that: The eccentric vibrator (21) is installed on the upper part of the middle module (2) and connected to the battery assembly (14) and battery assembly (35) via cables. The intelligent controller (34) sends instructions to the battery assembly (14) and battery assembly (35) to start or stop the eccentric vibrator (21).

6. The rapid prototyping robot device for lower column piers as described in claim 5, characterized in that: The vibrating plate (13), vibrating plate (22), and vibrating plate (33) are installed at the lower part of the low-position module (1), the middle-position module (2), and the high-position module (3). The height and level are adjusted by the electric hydraulic regulator (12) and the electric hydraulic regulator (32). When the eccentric vibrator (21) is started, the vibrating plate (13), vibrating plate (22), and vibrating plate (33) come into contact with the concrete.

7. The rapid prototyping robot device for lower column piers as described in claim 6, characterized in that: The intelligent controller (34) is installed on the upper part of the high-position module (3) and is connected to the eccentric vibrator (21), drive device (11), drive device (31), electro-hydraulic regulator (12), electro-hydraulic regulator (32), battery assembly (14), and battery assembly (35) via cables.

8. The rapid prototyping robot device for lower column piers as described in claim 7, characterized in that: The internal processor of the intelligent controller (34) can store terrain coordinates and elevation and calculate the data into a travel path. Its sensors can collect external terrain data in real time and compare it with the planned path to correct deviations in real time.

9. A method of using the rapid prototyping robot device for lower column piers as described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Assemble the low-position module, middle-position module, and high-position module into a rapid concrete prototyping robot for the lower column pier according to the structural dimensions of the lower column pier. Start the drive device and observe whether the movement is flexible; start the electric hydraulic regulator and observe whether the extension and retraction are normal and whether the connection with the vibrating plate is firm; start the eccentric vibrator and observe whether the vibration frequency is normal; observe whether the battery pack is supplying power normally; observe whether the intelligent controller is receiving and outputting signals normally. S2: Based on the coordinate points provided in the design documents, collect the coordinate points of the upper and lower openings of the column pier excavation site one by one, and form a measurement result file; S3: Import the measurement results file into the intelligent controller. The intelligent controller automatically calculates the measurement results and generates a running trajectory diagram. S4: The rapid prototyping robot for the lower column pier starts its drive device according to the route of the running trajectory diagram, adjusts the height of the vibrating plate, and starts the eccentric vibrator to compact the concrete under the vibrating plate and straighten the inside and outside corners. When it reaches the corner, the low-position module drive device brakes and the high-position module drive device rotates to complete the turn and switch to another working surface to continue working. S5: After completing the concrete molding of one lower column pier, the lower column pier concrete rapid molding robot will move to the next lower column pier according to the running trajectory to continue working until all the work is completed.

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