Multi-degree-of-freedom accurate positioning device for positioning and adjusting vibrating rod

Abstract

The invention discloses a multi-degree-of-freedom accurate positioning device for positioning and adjusting a vibrating rod, which comprises a walking mechanism, a slewing mechanism, a lifting mechanism and a horizontal telescopic mechanism which are sequentially arranged from bottom to top, and further comprises a control box arranged on the walking mechanism and used for controlling the walking mechanism, the slewing mechanism, the lifting mechanism and the horizontal telescopic mechanism, the lifting mechanism comprises a hydraulic oil cylinder vertically arranged on the swing mechanism, a fixed platform vertically connected with the upper end of a piston rod of the hydraulic oil cylinder, a limiting platform horizontally arranged on a cylinder barrel of the hydraulic oil cylinder, and a plurality of guide columns which are fixedly arranged below the fixed platform in an annular array mode and penetrate through the limiting platform. The multi-degree-of-freedom automatic adjusting device can achieve multi-degree-of-freedom automatic adjusting in the front-back direction, the 360-degree omni-directional direction and the vertical direction on the horizontal plane and has the advantage of being high in positioning adjusting efficiency.

Description

Technical Field

[0001] This invention relates to the field of construction equipment, and in particular to a multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibratory rod. Background Technology

[0002] In construction, after concrete is poured, it needs to be vibrated with a vibrator to remove air bubbles and voids generated during pouring, thereby increasing the density of the concrete. Because hand-held vibrators are physically demanding for workers, some mechanized vibration devices have emerged. However, these devices are limited by the distribution of reinforcing steel in the concrete pouring area, making it impossible to avoid these obstacles. This results in the vibrator colliding with the steel reinforcement, requiring manual adjustment of the vibrator's position, leading to low positioning efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-degree-of-freedom precision positioning device for adjusting the position of a vibrator, in order to solve the problem that when a mechanical device carrying a vibrator is used to vibrate a concrete pouring surface, the vibrator collides with the steel reinforcement distribution on the concrete pouring surface, requiring the machine to be stopped and the position of the vibrator to be manually adjusted, resulting in low positioning adjustment efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: a multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod, comprising a traveling mechanism, a rotating mechanism, a lifting mechanism, and a horizontal telescopic mechanism arranged sequentially from bottom to top, and a control box disposed on the traveling mechanism for controlling the traveling mechanism, the rotating mechanism, the lifting mechanism, and the horizontal telescopic mechanism; the lifting mechanism includes a hydraulic cylinder vertically disposed on the rotating mechanism and a fixed platform vertically connected to the upper end of its piston rod, a limiting platform horizontally disposed on the cylinder barrel of the hydraulic cylinder, and multiple guide columns fixedly disposed in a ring array below the fixed platform and passing through the limiting platform.

[0005] Furthermore, the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention has the horizontal telescopic mechanism horizontally mounted on the fixed platform via a base.

[0006] Furthermore, in the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention, the horizontal telescopic mechanism is an automatic telescopic rod.

[0007] Furthermore, in the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention, the automatic telescopic rod is a hydraulic cylinder or an electric telescopic rod.

[0008] Furthermore, the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention has a flatbed trolley as its walking mechanism.

[0009] Furthermore, in the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention, the flatbed trolley is a programmable vehicle or a remote-controlled vehicle.

[0010] Furthermore, the multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibratory rod provided by the present invention includes a flatbed trolley comprising a flatbed body and a T-shaped bracket mounted on its lower end, a front axle rotary table mounted on the front T-shaped bracket, a front axle mounting bracket and a rear axle mounting bracket mounted on the front and rear T-shaped brackets respectively, a front axle rotatably mounted on the front axle mounting bracket and the T-shaped bracket at its location, a rear axle rotatably mounted on the rear axle mounting bracket and the T-shaped bracket at its location, wheels mounted at both ends of the front axle and both ends of the rear axle, and a drive mechanism connected to the rear axle, wherein the drive mechanism is connected to a control box.

[0011] Furthermore, in the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibrating rod provided by the present invention, the wheel is a grooved wheel.

[0012] Furthermore, the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention includes a rotary mechanism comprising a rotary module mounted on the flatbed trolley. The rotary module includes a gearbox and a worm gear transmission structure therein, a rotary motor, and a rotary platform. The rotary motor drives the worm gear transmission structure in the gearbox to drive the rotary platform to move around a circle.

[0013] Furthermore, the multi-degree-of-freedom precision positioning device for adjusting the positioning of the vibratory rod provided by the present invention further includes a rotary support mounted on the flatbed trolley, and the rotary module is mounted on the flatbed trolley via the rotary support.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The multi-degree-of-freedom precision positioning device for adjusting the position of a vibratory rod provided by this invention carries the vibratory rod directly or indirectly through a horizontal telescopic mechanism. A control box issues control commands to the traveling mechanism, directing it to the target work point in the construction environment, such as the reinforcing steel layer above the concrete pouring surface. When the sinking path of the carried vibratory rod interferes with the reinforcing steel, the control box coordinates the rotation mechanism, lifting mechanism, and horizontal telescopic mechanism to ensure the vibratory rod carried by the horizontal telescopic mechanism sinks away from the reinforcing steel, thus avoiding collisions. This eliminates the need for manual adjustment of the vibratory rod position required by traditional vibratory compaction mechanisms, and offers the advantage of high positioning and adjustment efficiency.

[0015] The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibratory rod provided by the present invention drives the horizontal telescopic mechanism and the rotation angle of the vibratory rod it carries through the rotary mechanism, thereby enabling the vibratory rod to avoid obstacles in its sinking path of the steel bars in the horizontal direction, realizing automatic adjustment of the degree of freedom in the horizontal direction within a range of 360 degrees.

[0016] The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibratory rod provided by the present invention drives the horizontal telescopic mechanism and the vibratory rod it carries to move up and down through a lifting mechanism, thereby enabling the vibratory rod to avoid obstacles to the vertical steel bars extending upward from the steel bar layer in the vertical direction and along its sinking path, thus realizing the automatic adjustment of the vertical degree of freedom.

[0017] The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibratory rod provided by this invention, during the lifting process of the lifting mechanism driving the horizontal telescopic mechanism and the vibratory rod it carries, the control box controls the extension and retraction of the hydraulic cylinder to synchronously drive the fixed platform and the guide column on it to limit the vertical guidance on the limiting platform, so as to ensure the stability of the hydraulic cylinder lifting process and prevent the piston rod of the hydraulic cylinder from being bent and causing overturning, thereby improving the stability of the lifting process.

[0018] The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrator provided by the present invention drives the vibrator carried on it to move back and forth through a horizontal telescopic mechanism, thereby making the vibrator avoid the reinforcing bars on the horizontal plane and realizing the automatic adjustment of the back and forth degrees of freedom on the horizontal plane. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a multi-degree-of-freedom precision positioning device used for positioning and adjusting the vibratory rod. Figure 2 This is a schematic diagram of the main structure of a multi-degree-of-freedom precision positioning device used for positioning and adjusting the vibratory rod. Figure 3 This is a three-dimensional structural diagram of a multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrator, without a horizontal telescopic mechanism. Figure 4 This is a three-dimensional structural diagram of a multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibratory rod, without a horizontal telescopic mechanism, from another perspective. As shown in the figure: 100. Multi-degree-of-freedom precision positioning device; 110. Walking mechanism; 111. Flatbed body; 112. T-shaped bracket; 113. Front axle rotary table; 114. Front axle mounting bracket; 115. Front axle; 116. Wheel; 117. Drive mechanism; 118. Rear axle mounting bracket; 119. Rear axle. 120. Slewing mechanism; 121. Slewing support; 122. Slewing module; 122-1. Slewing motor; 122-2. Gearbox; 122-3. Worm gear transmission structure; 122-4. Slewing platform. 130. Lifting mechanism; 131. Hydraulic cylinder; 132. Fixed platform; 133. Limiting platform; 134. Guide column; 135. Base platform. 140. Horizontal telescopic mechanism; 150. Control box; 160. Base. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0021] Please refer to Figures 1 to 4 This invention provides a multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of a vibrating rod. It includes a traveling mechanism 110, a rotating mechanism 120, a lifting mechanism 130, and a horizontal telescopic mechanism 140 arranged sequentially from bottom to top. It also includes a control box 150 mounted on the traveling mechanism 110 for controlling the traveling mechanism 110, the rotating mechanism 120, the lifting mechanism 130, and the horizontal telescopic mechanism 140. The lifting mechanism 130 includes a hydraulic cylinder 131 vertically mounted on the rotating mechanism 120 and a fixed platform 132 vertically connected to the upper end of its piston rod; a limiting platform 133 horizontally mounted on the cylinder of the hydraulic cylinder 131; and multiple guide columns 134 arranged in a ring array below the fixed platform 132 and passing through the limiting platform 133. The control box 150 contains a controller.

[0022] The multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of a vibratory rod provided in this embodiment of the invention carries the vibratory rod directly or indirectly through a horizontal telescopic mechanism 140. A control box 150 issues control commands to the traveling mechanism 110, controlling it to travel to the target work point in the construction environment, such as the steel reinforcement layer above the concrete pouring surface. When the sinking path of the carried vibratory rod interferes with the steel reinforcement, the control box 150 controls the coordination of the rotary mechanism 120, the lifting mechanism 130, and the horizontal telescopic mechanism 140 to ensure that the vibratory rod carried by the horizontal telescopic mechanism 140 sinks away from the steel reinforcement, thus avoiding collisions. This avoids the problem of traditional vibratory tamping mechanisms requiring manual adjustment of the vibratory rod position by stopping the machine, and has the advantage of high positioning adjustment efficiency.

[0023] The multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibratory rod provided in this embodiment of the invention drives the horizontal telescopic mechanism 140 and the vibratory rod it carries to rotate at an angle through the rotary mechanism 120, thereby enabling the vibratory rod to avoid obstacles in its sinking path of the steel bars in the horizontal direction, realizing automatic adjustment of the degree of freedom in the horizontal direction within a range of 360 degrees.

[0024] The multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibratory rod provided in this embodiment of the invention drives the horizontal telescopic mechanism 140 and the vibratory rod it carries to move up and down through the lifting mechanism 130, thereby enabling the vibratory rod to avoid obstacles to the vertical steel bars extending upward from the steel bar layer in the vertical direction and along its sinking path, thus realizing the automatic adjustment of the vertical degree of freedom.

[0025] The multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibratory rod provided in this embodiment of the invention has the following features: During the lifting and lowering process of the lifting mechanism 130 driving the horizontal telescopic mechanism 140 and the vibratory rod it carries, the control box 150 controls the extension and retraction movement of the hydraulic cylinder 131 to synchronously drive the fixed platform 132 and the guide column 134 on it to be limited on the limiting platform 133 for vertical guidance, so as to ensure the stability of the lifting and lowering process of the hydraulic cylinder 131 and prevent the piston rod of the hydraulic cylinder 131 from being bent and causing overturning, thereby improving the stability of the lifting and lowering process.

[0026] The multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibrator provided in this embodiment of the invention drives the vibrator carried on it to move back and forth through the horizontal telescopic mechanism 140, thereby making the vibrator avoid the reinforcing bars on the horizontal plane and realizing the automatic adjustment of the back and forth degrees of freedom on the horizontal plane.

[0027] Please refer to Figures 1 to 2 To facilitate the installation of the vibratory rod, the present invention provides a multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibratory rod, wherein the horizontal telescopic mechanism 140 is horizontally mounted on the fixed platform 132 via a base 160.

[0028] Please refer to Figures 1 to 2 To enable freedom of adjustment in the forward and backward directions on the horizontal plane, this embodiment of the invention provides a multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of a vibrating rod. The horizontal telescopic mechanism 140 is an automatic telescopic rod. The automatic telescopic rod adjusts the forward and backward directions through telescopic adjustment. The automatic telescopic rod can be a hydraulic cylinder 131 or an electric telescopic rod.

[0029] Please refer to this carefully. Figures 3 to 4The multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of a vibrating rod provided in this embodiment of the invention has a walking mechanism 110 that is a flatbed trolley. To facilitate the walking control of the flatbed trolley, the flatbed trolley can be a programmable vehicle or a remote-controlled vehicle.

[0030] Please refer to this carefully. Figures 3 to 4 To enable the walking mechanism 110 to move forward, backward, turn left, and turn right, this embodiment of the invention provides a multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of the vibrating rod. The flatbed trolley includes a flatbed body 111 and a T-shaped bracket 112 mounted on its lower end, a front axle rotary table 113 mounted on the front T-shaped bracket 112, a front axle mounting bracket 114 and a rear axle mounting bracket 118 mounted on the front and rear T-shaped brackets 112 respectively, a front axle 115 rotatably mounted on the front axle mounting bracket 114 and the T-shaped bracket 112 at its location, a rear axle 119 rotatably mounted on the rear axle mounting bracket 118 and the T-shaped bracket 112 at its location, wheels 116 mounted at both ends of the front axle 115 and the rear axle 119, and a drive mechanism 117 connected to the rear axle 119. The drive mechanism 117 is connected to a control box 150. The drive mechanism 117 includes a motor. The control box 150 sends control commands to the drive mechanism 117 through a program or external input parameters. For example, the control box 150 inputs control commands through a remote control to control the walking mechanism 110 to move forward, backward, turn left and turn right along a predetermined route, thereby realizing the walking mechanism 110's movement.

[0031] Please refer to this carefully. Figure 4 In order to enable the multi-degree-of-freedom precision positioning device 100 to move on the reinforcing steel layer, the multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibrator provided in this embodiment of the invention has grooved wheels 116. At this time, the grooved wheels can be stuck on the reinforcing steel and move along the length of the reinforcing steel.

[0032] Please refer to Figures 1 to 4 To achieve 360-degree rotation on a horizontal plane, this embodiment of the invention provides a multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of the vibrator. The rotation mechanism 120 includes a rotation module 122 mounted on the flatbed trolley. The rotation module 122 includes a gearbox 122-1 and its internal worm gear transmission structure 122-2, a rotation motor 122-3, and a rotation platform 122-4. The rotation motor 122-3 drives the worm gear transmission structure 122-2 within the gearbox 122-1 to drive the rotation platform 122-4 to move in a circular motion. Rotation can be achieved at a certain angle, approximately 15° clockwise or counterclockwise. Excessive rotation angle can cause the vibrator's landing point to stray far from the pouring area of ​​the concrete formwork.

[0033] Please refer to Figures 1 to 4To improve the stability of the assembly and installation of the rotary mechanism 120 and the lifting mechanism 130, this embodiment of the invention provides a multi-degree-of-freedom precision positioning device 100 for adjusting the positioning of the vibrating rod. The rotary module 122 further includes a rotary support 121 mounted on the flatbed trolley. The rotary module 122 is mounted on the flatbed trolley via the rotary support 121. The rotary support 121 serves as a positioning support component for the lifting mechanism 130, also has a raising function, and stabilizes the center of gravity of the traveling mechanism 110.

[0034] The multi-degree-of-freedom precision positioning device 100 for positioning and adjusting the vibratory rod provided in this embodiment of the invention can automatically achieve multi-degree-of-freedom adjustment in the front-back direction, 360-degree omnidirectional direction and vertical direction on the horizontal plane by means of the cooperation of the rotary mechanism 120, the lifting mechanism 130 and the horizontal telescopic mechanism 140, while the position of the walking mechanism 110 remains unchanged. It has the advantage of high positioning and adjustment efficiency.

Claims

1. A multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod, characterized in that, It includes a traveling mechanism, a slewing mechanism, a lifting mechanism, and a horizontal telescopic mechanism arranged sequentially from bottom to top, and also includes a control box installed on the traveling mechanism for controlling the traveling mechanism, the slewing mechanism, the lifting mechanism, and the horizontal telescopic mechanism; the lifting mechanism includes a hydraulic cylinder vertically installed on the slewing mechanism and a fixed platform vertically connected to the upper end of its piston rod, a limiting platform horizontally installed on the cylinder barrel of the hydraulic cylinder, and multiple guide columns fixedly installed in a ring array below the fixed platform and passing through the limiting platform.

2. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 1, characterized in that, The horizontal telescopic mechanism is horizontally mounted on the fixed platform via a base.

3. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 1 or 2, characterized in that, The horizontal telescopic mechanism is an automatic telescopic rod.

4. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 3, characterized in that, The automatic telescopic rod is either a hydraulic cylinder or an electric telescopic rod.

5. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 1, characterized in that, The walking mechanism is a flatbed trolley.

6. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 5, characterized in that, The flatbed vehicle is either a programmable or remote-controlled vehicle.

7. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrator according to claim 5, characterized in that, The flatbed trolley includes a flatbed body and a T-shaped bracket mounted on its lower end, a front axle rotary table mounted on the front T-shaped bracket, a front axle mounting bracket and a rear axle mounting bracket mounted on the front and rear T-shaped brackets respectively, a front axle rotatably mounted on the front axle mounting bracket and the T-shaped bracket at its location, a rear axle rotatably mounted on the rear axle mounting bracket and the T-shaped bracket at its location, wheels mounted on both ends of the front axle and both ends of the rear axle, and a drive mechanism connected to the rear axle. The drive mechanism is connected to the control box.

8. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrator according to claim 7, characterized in that, The wheel is a grooved wheel.

9. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 5, characterized in that, The rotary mechanism includes a rotary module mounted on the flatbed trolley. The rotary module includes a gearbox and its internal worm gear transmission structure, a rotary motor, and a rotary platform. The rotary motor drives the worm gear transmission structure in the gearbox to drive the rotary platform to move around a circle.

10. The multi-degree-of-freedom precision positioning device for adjusting the positioning of a vibrating rod according to claim 9, characterized in that, The rotary module also includes a rotary support mounted on the flatbed trolley, and the rotary module is mounted on the flatbed trolley via the rotary support.

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