Concrete vibration adjusting device and method suitable for steel bar dense area
By combining a multi-sensor integrated module and a three-degree-of-freedom robotic arm mechanism, precise vibration control in areas with dense reinforcement is achieved, solving the problems of uneven vibration and quality defects in traditional vibration methods, and improving construction efficiency and concrete density.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA RAILWAY 14TH BUREAU GRP NO 3 ENG CO LTD
- Filing Date
- 2025-11-14
- Publication Date
- 2026-04-21
AI Technical Summary
Traditional vibration methods are difficult to control precisely in areas with dense reinforcement, resulting in incomplete removal of air bubbles inside the concrete, leading to quality defects such as honeycomb and pitted surfaces. They are unable to adapt to complex reinforcement distribution environments and lack adaptive adjustment capabilities.
By combining a multi-sensor integrated module with a three-degree-of-freedom robotic arm mechanism, the vibration frequency, insertion depth, and time are monitored and adjusted in real time. Visual recognition and laser ranging are used to avoid collisions with steel bars, thus achieving precise control of the vibrator.
It improves the precision and consistency of vibration quality, reduces labor intensity, minimizes human error, ensures concrete density, eliminates internal air bubbles and quality defects, and improves construction efficiency.
Smart Images
Figure CN121897159A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of building engineering technology, and in particular to a concrete vibration adjustment device and adjustment method suitable for areas with dense reinforced concrete. Background Technology
[0002] Concrete vibration is a key construction step to ensure the compactness and durability of concrete structures. Especially in areas with dense reinforcement, the quality of vibration directly affects the safety and service life of the engineering structure.
[0003] With the rapid development of large-scale public buildings and transportation hub projects, higher requirements have been placed on the quality of concrete construction. Taking the Dongying High-speed Railway Station Modern Integrated Passenger Transport Hub and its supporting projects as an example, such projects are characterized by complex structures, dense steel reinforcement distribution, and large concrete pouring volumes. Traditional vibration compaction technology can no longer meet the needs of modern engineering construction.
[0004] Traditional vibration methods mainly include manual vibration and mechanical vibration. Manual vibration suffers from drawbacks such as slow vibration progress, low construction efficiency, and poor vibration control precision. While mechanical vibration improves work efficiency by introducing vibration equipment, it still faces problems such as inconvenient operation and imprecise vibration control. These problems are particularly prominent in areas with dense reinforcement. The vibrator is difficult to insert vertically to the predetermined depth, and the transmission of vibration energy is hindered by the reinforcement, resulting in incomplete removal of air bubbles inside the concrete and quality defects such as honeycomb and pitting. Furthermore, it is even more difficult to adapt to complex reinforcement distribution environments, unable to avoid dense reinforcement in real time, and lacks adaptive adjustment capabilities.
[0005] Therefore, there is an urgent need to develop a concrete vibration adjustment device and method that can intelligently adapt to environments with dense reinforced concrete and achieve precise control, so as to meet the comprehensive requirements of modern large-scale engineering construction for construction quality, efficiency and safety. Summary of the Invention
[0006] Based on the aforementioned technical problems, this invention proposes a concrete vibration adjustment device and adjustment method suitable for areas with dense reinforcement.
[0007] The present invention proposes a concrete vibration adjustment device suitable for areas with dense reinforcement, comprising a vibrator for realizing the vibration action, a mobile chassis for moving on the construction site, a multi-sensor integrated module, a central control unit, and a vibration motor.
[0008] It also includes a three-degree-of-freedom robotic arm mechanism disposed on one side of the upper surface of the mobile chassis, the three-degree-of-freedom robotic arm mechanism being used to precisely control the position and orientation of the vibrating rod.
[0009] One end of the three-degree-of-freedom robotic arm mechanism is provided with a clamping and driving mechanism, which is used to clamp the vibrating rod and provide vibration power to the vibrating rod through the vibration motor;
[0010] The multi-sensor integrated module is connected to the central control unit via an RS485 bus signal. The central control unit is used to receive data from the multi-sensor integrated module and control the movement of the three-degree-of-freedom robotic arm mechanism and the clamping and driving mechanism.
[0011] Preferably, the multi-sensor integrated module includes an inclination sensor for monitoring the insertion angle of the vibrator, an RTK positioning module for accurately measuring the position of the vibrator, a vibration sensor for monitoring the vibration frequency of the vibrator, a visual recognition module for identifying the position of the reinforcing bars and the state of the concrete surface, and a laser rangefinder for measuring the insertion depth of the vibrator. The vibration sensor is located in the middle of the vibrator, and the visual recognition module acquires images of the reinforcing bar distribution in real time.
[0012] Preferably, the central control unit includes an industrial computer for running control algorithms and data processing, a data acquisition card for acquiring signals from multiple sensors, a touch screen for displaying vibration parameters and real-time status, and a wireless communication module for real-time communication.
[0013] Preferably, the control algorithm operated by the central control unit includes a dynamic adjustment formula for vibration frequency, a dynamic adjustment formula for insertion depth, and a dynamic adjustment formula for vibration time;
[0014] The formula for dynamically adjusting the vibration frequency is as follows:
[0015]
[0016]
[0017]
[0018]
[0019] in, Based on the vibration frequency, The minimum allowable vibration frequency of the system. The maximum allowable vibration frequency of the system. This refers to the concrete slump. The slump of the driest concrete that the system can handle. The maximum slump of the concrete that the system can handle. This is the correction factor for steel reinforcement density. For the density of the reinforcing steel, The maximum rebar density set for the system. This is the frequency adjustment amount. The gain is proportional, ranging from 0.5 to 2.0. For the target vibration acceleration, This refers to the actual measured vibration acceleration. The integral gain, with a value range of 0.1-0.5, The differential gain, with a value range of 0.01-0.1, The final output vibration frequency, For integration operations, the error is accumulated from the past to the present. This refers to the instantaneous rate of change in differential operations and computational errors.
[0020] The formula for dynamically adjusting the insertion depth is as follows:
[0021]
[0022]
[0023]
[0024] in, Based on the insertion depth, The thickness of the concrete pouring layer. For the safe depth of the reinforcing steel to avoid obstacles, This refers to the vertical distance from the concrete surface to the upper surface of the reinforcing steel, detected in real time by a laser rangefinder. The final insertion depth. Depth measured by the RTK positioning module;
[0025] The formula for dynamically adjusting the vibration time is as follows:
[0026]
[0027]
[0028]
[0029]
[0030] in, The time for basic vibration. Minimum vibration time, For maximum vibration time, The bleaching index, with a value range of 0-1, The bubble index, with a value range of 0-0.8. For the current vibration time, This refers to the dynamically adjusted vibration time. This refers to the final vibration time used.
[0031] Preferably, the three-degree-of-freedom robotic arm mechanism includes a base fixedly mounted on one side of the upper surface of the mobile chassis. A support is fixedly connected to the upper surface of the base. A shoulder joint is hinged to the inner surface of the support via a pin. A large arm is fixedly connected to the surface of the shoulder joint. An elbow joint is hinged to the end of the large arm away from the support via a pin. A forearm is fixedly connected to the surface of the elbow joint. A support plate is hinged to the end of the forearm away from the large arm via a pin. Servo motors are fixedly mounted on the surface of the support, the surface of the large arm near the elbow joint, and the surface of the forearm near the support plate, respectively. One end of the output shaft of the servo motor is fixedly sleeved with one end of the pin.
[0032] The above technical solution utilizes the rotation of the output shafts of three servo motors to drive the pins connected to them to rotate, which facilitates the rotation of the boom, arm, and support plate respectively, and keeps the support plate in a horizontal state, making it easy to insert the vibrator vertically.
[0033] Preferably, the three tilt sensors are respectively installed on the surfaces of the shoulder joint, the elbow joint, and the support plate to monitor the angles of the upper arm, the forearm, and the support plate in real time. The RTK positioning module is installed on the upper surface of the support plate, the visual recognition module is installed at the front end of the mobile chassis at a height of 0.8-1.2m above the ground, and the laser rangefinder is installed on the lower surface of the support plate.
[0034] Preferably, the clamping and driving mechanism includes three concave seats fixedly installed on the lower surface of the support plate. The inner walls of the three concave seats are respectively equipped with bidirectional lead screws through bearings. The surfaces of the bidirectional lead screws are symmetrically threaded with clamping claws.
[0035] The above technical solution utilizes the mutual convergence of the clamping claws to clamp the vibrating rod.
[0036] Preferably, two L-shaped brackets are fixedly installed on the lower surface of the support plate, and a connecting gear is installed between the two L-shaped brackets through a bearing. A drive motor is fixedly installed on one side surface of one of the support plates, and one end of the output shaft of the drive motor is fixedly sleeved with one end of one of the bidirectional lead screws. A connecting rod is fixedly connected between the two bidirectional lead screws, and a drive gear is fixedly sleeved on the surface of the connecting rod. A driven gear is fixedly sleeved at the shaft center of the third bidirectional lead screw, and the connecting gear meshes with the drive gear and the driven gear respectively.
[0037] Through the above technical solution, the rotation of the output shaft of the drive motor drives the rotation of the bidirectional lead screw connected to it. The rotation of the bidirectional lead screw drives another bidirectional lead screw to rotate synchronously through the connecting rod. At the same time, the rotation of the connecting rod drives the rotation of the drive gear connected to it. The rotation of the drive gear drives the rotation of the connecting gear meshing with it. The rotation of the connecting gear drives the rotation of the driven gear meshing with it. This causes the third bidirectional lead screw connected to the driven gear to rotate synchronously. The rotation of the bidirectional lead screw causes the two clamping claws on its surface to converge and clamp the vibrator.
[0038] Preferably, the upper surface of the support plate is provided with fixed plates arranged in a rectangular array, the vibration motor is fixedly installed on the upper surface of the fixed plates, one end of the output shaft of the vibration motor is fixedly connected to the upper end of the vibrating rod through a flexible coupling, and the flexible coupling is embedded in the fixed plate.
[0039] Through the above technical solutions, the design of the flexible coupling allows for certain axial, radial, and angular deviations, making the vibration of the vibrator more uniform.
[0040] This invention proposes an adjustment method for concrete vibration adjustment devices suitable for areas with dense reinforcement. The adjustment method is as follows:
[0041] S1. On-site, a visual recognition module is used to obtain the rebar distribution map, and initial vibration parameters are set. ,initial ,initial .
[0042] S2. Start the drive motor. The rotation of the drive motor output shaft drives the bidirectional lead screw connected to it to rotate. The rotation of the bidirectional lead screw drives another bidirectional lead screw to rotate synchronously through the connecting rod. At the same time, the rotation of the connecting rod drives the drive gear connected to it to rotate. The rotation of the drive gear drives the connecting gear meshing with it to rotate. The rotation of the connecting gear drives the driven gear meshing with it to rotate, so that the third bidirectional lead screw connected to the driven gear rotates synchronously. The rotation of the bidirectional lead screw causes the two clamping claws on its surface to come together and clamp the vibrator.
[0043] S3. The vibratory motor starts the vibratory rod. During the vibration process, the tilt sensor, RTK positioning module, laser rangefinder and vibration sensor collect data on the vibration angle, position, depth and frequency in real time, and the visual recognition module monitors the surface condition of the concrete.
[0044] S4. The central control unit adjusts the posture of the boom, arm and support plate through servo motors according to the preset vibration path and real-time sensor data, and keeps the support plate in a horizontal position to facilitate the vertical insertion of the vibrator into the concrete and avoid collision with the steel bars. It also adjusts the vibration frequency, insertion depth and vibration time in real time according to the flowability of the concrete and the density of the steel bars.
[0045] S5. Upload the vibration process data to the cloud, recording it once every 1 second. , , This creates a vibration quality database, and a vibration quality report is generated after construction is completed.
[0046] The beneficial effects of this invention are as follows:
[0047] 1. By integrating multiple sensors, the vibration status is monitored in real time. The vibration parameters are adaptively optimized using dynamic adjustment formulas for vibration frequency, insertion depth, and vibration time. This enables automated vibration operations, reduces labor intensity, improves vibration accuracy and consistency, reduces human error, and increases construction efficiency.
[0048] 2. By setting up a three-degree-of-freedom robotic arm mechanism, the position and posture of the vibrator can be precisely controlled. Combined with visual recognition and laser ranging, it can avoid obstacles to the steel bars, ensuring that the vibrator is inserted vertically, avoiding collisions with the steel bars, reducing operational risks, preventing construction accidents, and ensuring the uniformity of vibration quality in areas with dense steel bars. This effectively eliminates quality defects such as air bubbles, honeycomb, and pitting inside the concrete, and improves the density of the concrete. Attached Figure Description
[0049] Figure 1 This is a schematic diagram of a concrete vibration adjustment device and adjustment method suitable for densely reinforced concrete areas proposed in this invention;
[0050] Figure 2 This is a three-dimensional view of a three-degree-of-freedom robotic arm structure for a concrete vibration adjustment device and method suitable for densely reinforced concrete areas proposed in this invention.
[0051] Figure 3 This is a three-dimensional view of a vibration motor structure for a concrete vibration adjustment device and adjustment method suitable for densely reinforced concrete areas proposed in this invention.
[0052] Figure 4 This is a perspective view of a connecting gear structure for a concrete vibration adjustment device and adjustment method suitable for densely reinforced concrete areas proposed in this invention.
[0053] Figure 5 This is a perspective view of the active gear structure of a concrete vibration adjustment device and adjustment method suitable for densely reinforced concrete areas proposed in this invention.
[0054] Figure 6 This is a system overall block diagram of a concrete vibration adjustment device and adjustment method suitable for densely reinforced concrete areas proposed in this invention;
[0055] Figure 7 This is a flowchart illustrating the workflow of a concrete vibration adjustment device and method suitable for densely reinforced concrete areas proposed in this invention.
[0056] In the diagram: 1. Vibrating rod; 2. Mobile chassis; 3. Base; 31. Support; 32. Shoulder joint; 33. Upper arm; 34. Elbow joint; 35. Forearm; 36. Support plate; 37. Servo motor; 4. Concave seat; 41. Two-way lead screw; 42. Clamping claw; 43. L-shaped bracket; 44. Connecting gear; 45. Drive motor; 46. Connecting rod; 47. Driving gear; 48. Driven gear; 5. Fixing plate; 6. Vibration motor; 7. Flexible coupling. Detailed Implementation
[0057] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0058] Reference Figures 1-7 A concrete vibration adjustment device suitable for densely reinforced concrete areas includes a vibrating rod 1 for realizing the vibration action, a mobile chassis 2 for moving on the construction site, a multi-sensor integrated module, a central control unit, and a vibration motor 6.
[0059] To monitor various parameters during the vibration process in real time, the multi-sensor integrated module includes an inclination sensor for monitoring the insertion angle of the vibrator 1, an RTK positioning module for accurately measuring the position of the vibrator 1, a vibration sensor for monitoring the vibration frequency of the vibrator 1, a visual recognition module for identifying the position of the reinforcing bars and the state of the concrete surface, and a laser rangefinder for measuring the insertion depth of the vibrator 1. The vibration sensor is located in the middle of the vibrator 1, while the visual recognition module acquires images of the reinforcing bar distribution in real time.
[0060] Combination Figure 1-2 It is known that it also includes a three-degree-of-freedom robotic arm mechanism set on one side of the upper surface of the mobile chassis 2. The three-degree-of-freedom robotic arm mechanism is used to precisely control the position and attitude of the vibrating rod 1.
[0061] To adjust the position and orientation of the vibrating rod, the three-degree-of-freedom robotic arm mechanism includes a base 3 fixedly mounted on one side of the upper surface of the mobile chassis 2. A support 31 is fixedly connected to the upper surface of the base 3. A shoulder joint 32 is hinged to the inner surface of the support 31 via a pin. A large arm 33 is fixedly connected to the surface of the shoulder joint 32. An elbow joint 34 is hinged to the end of the large arm 33 away from the support 31 via a pin. A forearm 35 is fixedly connected to the surface of the elbow joint 34. The end of the forearm 35 away from the large arm 33 is hinged to the elbow joint 34 via a pin. A servo motor 37 is fixedly installed on the surface of the support plate 36, the support 31, the surface of the upper arm 33 near the elbow joint 34, and the surface of the lower arm 35 near the support plate 36. One end of the output shaft of the servo motor 37 is fixedly connected to one end of the pin. The rotation of the output shafts of the three servo motors 37 drives the pin connected to them to rotate, which facilitates the rotation of the upper arm 33, the lower arm 35 and the support plate 36 respectively, and keeps the support plate 36 in a horizontal state, which facilitates the vertical insertion of the vibrator 1.
[0062] To monitor the robot arm angle in real time, three tilt sensors are installed on the surfaces of the shoulder joint 32, elbow joint 34, and support plate 36, respectively, to monitor the angles of the upper arm 33, forearm 35, and support plate 36 in real time.
[0063] The RTK positioning module is installed on the upper surface of the support plate 36, the visual recognition module is installed at the front end of the mobile chassis 2 at a height of 0.8-1.2m above the ground, and the laser range sensor is installed on the lower surface of the support plate 36.
[0064] To process sensor data, run control algorithms, and adjust vibration parameters and robotic arm movements in real time, the central control unit includes an industrial computer for running control algorithms and processing data, a data acquisition card for acquiring signals from multiple sensors, a touch screen for displaying vibration parameters and real-time status, and a wireless communication module for real-time communication.
[0065] The control algorithms used by the central control unit include dynamic adjustment formulas for vibration frequency, insertion depth, and vibration time.
[0066] The formula for dynamically adjusting the vibration frequency is as follows:
[0067]
[0068]
[0069]
[0070]
[0071] in, Based on the vibration frequency, The minimum allowable vibration frequency of the system. The maximum allowable vibration frequency of the system. This refers to the concrete slump. The slump of the driest concrete that the system can handle. The maximum slump of the concrete that the system can handle. This is the correction factor for steel reinforcement density. For the density of the reinforcing steel, The maximum rebar density set for the system. This is the frequency adjustment amount. The gain is proportional, ranging from 0.5 to 2.0. For the target vibration acceleration, This refers to the actual measured vibration acceleration. The integral gain, with a value range of 0.1-0.5, The differential gain, with a value range of 0.01-0.1, The final output vibration frequency, For integration operations, the error is accumulated from the past to the present. It represents the instantaneous rate of change in differential operations and computational errors.
[0072] The formula for dynamically adjusting insertion depth is as follows:
[0073]
[0074]
[0075]
[0076] in, Based on the insertion depth, The thickness of the concrete pouring layer. For the safe depth of the reinforcing steel to avoid obstacles, This refers to the vertical distance from the concrete surface to the upper surface of the reinforcing steel, detected in real time by a laser rangefinder. The final insertion depth. Depth measured by the RTK positioning module.
[0077] The formula for dynamically adjusting the vibration time is as follows:
[0078]
[0079]
[0080]
[0081]
[0082] in, The time for basic vibration. Minimum vibration time, For maximum vibration time, The bleaching index, with a value range of 0-1, The bubble index, with a value range of 0-0.8. For the current vibration time, This refers to the dynamically adjusted vibration time. This refers to the final vibration time used.
[0083] Combination Figure 1-5 It can be seen that one end of the three-degree-of-freedom robotic arm mechanism is equipped with a clamping and driving mechanism. The clamping and driving mechanism is used to clamp the vibrating rod 1, and the vibration motor 6 provides vibration power to the vibrating rod 1 through the flexible coupling 7.
[0084] In order to clamp the vibratory rod 1, the clamping and driving mechanism includes three concave seats 4 fixedly installed on the lower surface of the support plate 36. The inner walls of the three concave seats 4 are respectively equipped with bidirectional lead screws 41 through bearings. The surfaces of the bidirectional lead screws 41 are symmetrically distributed with threaded clamping claws 42. The clamping claws 42 are used to clamp the vibratory rod 1 by bringing the clamping claws 42 together.
[0085] To drive the gripper 42 to move, two L-shaped brackets 43 are fixedly installed on the lower surface of the support plate 36. A connecting gear 44 is installed between the two L-shaped brackets 43 via bearings. A drive motor 45 is fixedly installed on one side surface of one of the support plates 36. One end of the output shaft of the drive motor 45 is fixedly sleeved with one end of one of the double-acting lead screws 41. A connecting rod 46 is fixedly connected between the two double-acting lead screws 41. A drive gear 47 is fixedly sleeved on the surface of the connecting rod 46. A driven gear 48 is fixedly sleeved at the shaft center of the third double-acting lead screw 41. The connecting gear 44 is connected to both the drive gear 47 and the driven gear 48. 8. The rotation of the output shaft of the drive motor 45 drives the bidirectional lead screw 41 connected to it to rotate. The rotation of the bidirectional lead screw 41 drives another bidirectional lead screw 41 to rotate synchronously through the connecting rod 46. At the same time, the rotation of the connecting rod 46 drives the drive gear 47 connected to it to rotate. The rotation of the drive gear 47 drives the connecting gear 44 meshing with it to rotate. The rotation of the connecting gear 44 drives the driven gear 48 meshing with it to rotate, so that the third bidirectional lead screw 41 connected to the driven gear 48 rotates synchronously. The rotation of the bidirectional lead screw 41 causes the two clamping claws 42 on its surface to gather and clamp the vibrator 1.
[0086] To drive the vibrating rod 1 to vibrate, fixed plates 5 are arranged in a rectangular array on the upper surface of the support plate 36. A vibration motor 6 is fixedly installed on the upper surface of the fixed plate 5. One end of the output shaft of the vibration motor 6 is fixedly connected to the upper end of the vibrating rod 1 through a flexible coupling 7. The flexible coupling 7 is embedded in the fixed plate 5. The design of the flexible coupling 7 allows for certain axial, radial and angular deviations, making the vibration of the vibrating rod 1 more uniform.
[0087] The multi-sensor integration module is connected to the central control unit via an RS485 bus signal. The central control unit is used to receive data from the multi-sensor integration module and control the actions of the three-degree-of-freedom robotic arm mechanism and the gripping and driving mechanism.
[0088] Reference Figures 1-7 A method for adjusting a concrete vibratory compaction device suitable for areas with dense reinforcement is provided, the method being as follows:
[0089] S1. On-site, a visual recognition module is used to obtain the rebar distribution map, and initial vibration parameters are set. ,initial ,initial ;
[0090] S2. Start the drive motor 45. The rotation of the output shaft of the drive motor 45 drives the bidirectional lead screw 41 connected to it to rotate. The rotation of the bidirectional lead screw 41 drives another bidirectional lead screw 41 to rotate synchronously through the connecting rod 46. At the same time, the rotation of the connecting rod 46 drives the drive gear 47 connected to it to rotate. The rotation of the drive gear 47 drives the connecting gear 44 meshing with it to rotate. The rotation of the connecting gear 44 drives the driven gear 48 meshing with it to rotate, so that the third bidirectional lead screw 41 connected to the driven gear 48 rotates synchronously. The rotation of the bidirectional lead screw 41 drives the two clamping claws 42 on its surface to gather and clamp the vibrator 1.
[0091] S3. Start the vibrating rod 1 by the vibration motor 6. During the vibration process, the vibration angle, position, depth and frequency data are collected in real time by the tilt sensor, RTK positioning module, laser range sensor and vibration sensor. The surface condition of the concrete is monitored by the vision recognition module.
[0092] S4. The central control unit adjusts the posture of the boom 33, arm 35 and support plate 36 through the servo motor 37 according to the preset vibration path and real-time sensor data, and keeps the support plate 36 in a horizontal state so that the vibrator 1 can be inserted vertically into the concrete, avoiding collision with the steel bars. The vibration frequency, insertion depth and vibration time are adjusted in real time according to the concrete fluidity and steel bar density.
[0093] S5. Upload the vibration process data to the cloud, recording it once every 1 second. , , This creates a vibration quality database, and a vibration quality report is generated after construction is completed.
[0094] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A concrete vibration adjustment device suitable for areas with dense reinforcement, characterized in that: It includes a vibrating rod (1) for realizing the vibration action, a mobile chassis (2) for moving on the construction site, a multi-sensor integrated module, a central control unit and a vibration motor (6). It also includes a three-degree-of-freedom robotic arm mechanism disposed on one side of the upper surface of the mobile chassis (2), the three-degree-of-freedom robotic arm mechanism being used to precisely control the position and attitude of the vibrating rod (1); One end of the three-degree-of-freedom robotic arm mechanism is provided with a clamping and driving mechanism, which is used to clamp the vibrating rod (1), and the vibration motor (6) provides vibration power to the vibrating rod (1) through a flexible coupling (7); The multi-sensor integrated module is connected to the central control unit via an RS485 bus signal. The central control unit is used to receive data from the multi-sensor integrated module and control the movement of the three-degree-of-freedom robotic arm mechanism and the clamping and driving mechanism.
2. The concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 1, characterized in that: The multi-sensor integrated module includes an inclination sensor for monitoring the insertion angle of the vibrator (1), an RTK positioning module for accurately measuring the position of the vibrator (1), a vibration sensor for monitoring the vibration frequency of the vibrator (1), a visual recognition module for identifying the position of the reinforcing bars and the state of the concrete surface, and a laser rangefinder for measuring the insertion depth of the vibrator (1). The vibration sensor is located in the middle of the vibrator (1), and the visual recognition module acquires images of the reinforcing bar distribution in real time.
3. The concrete vibration adjustment device and adjustment method suitable for densely reinforced concrete areas according to claim 2, characterized in that: The central control unit includes an industrial computer for running control algorithms and data processing, a data acquisition card for acquiring signals from multiple sensors, a touch screen for displaying vibration parameters and real-time status, and a wireless communication module for real-time communication.
4. A concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 3, characterized in that: The control algorithm running in the central control unit includes a dynamic adjustment formula for vibration frequency, a dynamic adjustment formula for insertion depth, and a dynamic adjustment formula for vibration time. The formula for dynamically adjusting the vibration frequency is as follows: in, Based on the vibration frequency, The minimum allowable vibration frequency of the system. The maximum allowable vibration frequency of the system. This refers to the concrete slump. The slump of the driest concrete that the system can handle. The maximum slump of the concrete that the system can handle. This is the correction factor for steel reinforcement density. For the density of the reinforcing steel, The maximum rebar density set for the system. This is the frequency adjustment amount. The gain is proportional, ranging from 0.5 to 2.
0. For the target vibration acceleration, This refers to the actual measured vibration acceleration. The integral gain, with a value range of 0.1-0.5, The differential gain, with a value range of 0.01-0.1, The final output vibration frequency, For integration operations, the error is accumulated from the past to the present. This refers to the instantaneous rate of change in differential operations and computational errors. The formula for dynamically adjusting the insertion depth is as follows: in, Based on the insertion depth, The thickness of the concrete pouring layer. For the safe depth of the reinforcing steel to avoid obstacles, This refers to the vertical distance from the concrete surface to the upper surface of the reinforcing steel, detected in real time by a laser rangefinder. The final insertion depth. Depth measured by the RTK positioning module; The formula for dynamically adjusting the vibration time is as follows: in, The time for basic vibration. Minimum vibration time, For maximum vibration time, The bleaching index, with a value range of 0-1, The bubble index, with a value range of 0-0.8, For the current vibration time, This refers to the dynamically adjusted vibration time. This refers to the final vibration time used.
5. A concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 2, characterized in that: The three-degree-of-freedom robotic arm mechanism includes a base (3) fixedly installed on one side of the upper surface of the mobile chassis (2). A support (31) is fixedly connected to the upper surface of the base (3). A shoulder joint (32) is hinged to the inner surface of the support (31) by a pin. A large arm (33) is fixedly connected to the surface of the shoulder joint (32). An elbow joint (34) is hinged to the end of the large arm (33) away from the support (31) by a pin. A forearm (35) is fixedly connected to the surface of the elbow joint (34). A support plate (36) is hinged to the end of the forearm (35) away from the large arm (33) by a pin. Servo motors (37) are fixedly installed on the surface of the support (31), the surface of the large arm (33) near the elbow joint (34), and the surface of the forearm (35) near the support plate (36). One end of the output shaft of the servo motor (37) is fixedly sleeved with one end of the pin.
6. A concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 5, characterized in that: The three tilt sensors are respectively installed on the surfaces of the shoulder joint (32), the elbow joint (34) and the support plate (36) to monitor the angles of the upper arm (33), the forearm (35) and the support plate (36) in real time. The RTK positioning module is installed on the upper surface of the support plate (36). The visual recognition module is installed at the front end of the mobile chassis (2) at a height of 0.8-1.2m above the ground. The laser rangefinder is installed on the lower surface of the support plate (36).
7. A concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 5, characterized in that: The clamping and driving mechanism includes three concave seats (4) fixedly installed on the lower surface of the support plate (36). The inner walls of the three concave seats (4) are respectively equipped with bidirectional lead screws (41) through bearings. The surfaces of the bidirectional lead screws (41) are symmetrically threaded with clamping claws (42).
8. A concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 7, characterized in that: Two L-shaped brackets (43) are fixedly installed on the lower surface of the support plate (36). A connecting gear (44) is installed between the two L-shaped brackets (43) through a bearing. A drive motor (45) is fixedly installed on one side surface of one of the support plates (36). One end of the output shaft of the drive motor (45) is fixedly sleeved with one end of one of the bidirectional lead screws (41). A connecting rod (46) is fixedly connected between the two bidirectional lead screws (41). A drive gear (47) is fixedly sleeved on the surface of the connecting rod (46). A driven gear (48) is fixedly sleeved at the shaft center of the third bidirectional lead screw (41). The connecting gear (44) meshes with the drive gear (47) and the driven gear (48) respectively.
9. A concrete vibration adjustment device suitable for densely reinforced concrete areas according to claim 5, characterized in that: The upper surface of the support plate (36) is provided with fixed plates (5) arranged in a rectangular array. The vibration motor (6) is fixedly installed on the upper surface of the fixed plate (5). One end of the output shaft of the vibration motor (6) is fixedly connected to the upper end of the vibrating rod (1) through a flexible coupling (7). The flexible coupling (7) is embedded in the fixed plate (5).
10. A method for adjusting a concrete vibration adjustment device suitable for densely reinforced concrete areas, based on any one of claims 1-9, characterized in that: S1. On-site, a visual recognition module is used to obtain the rebar distribution map, and initial vibration parameters are set. ,initial ,initial ; S2. Start the drive motor (45). The rotation of the output shaft of the drive motor (45) drives the bidirectional lead screw (41) connected to it to rotate. The rotation of the bidirectional lead screw (41) drives another bidirectional lead screw (41) to rotate synchronously through the connecting rod (46). At the same time, the rotation of the connecting rod (46) drives the drive gear (47) connected to it to rotate. The rotation of the drive gear (47) drives the connecting gear (44) meshed with it to rotate. The rotation of the connecting gear (44) drives the driven gear (48) meshed with it to rotate, so that the third bidirectional lead screw (41) connected to the driven gear (48) rotates synchronously. The rotation of the bidirectional lead screw (41) drives the two clamping claws (42) on its surface to gather and clamp the vibrator (1). S3. Start the vibrating rod (1) by the vibrating motor (6). During the vibration process, the vibration angle, position, depth and frequency data are collected in real time by the tilt sensor, RTK positioning module, laser range sensor and vibration sensor. The concrete surface condition is monitored by the visual recognition module. S4. The central control unit adjusts the posture of the boom (33), forearm (35) and support plate (36) through the servo motor (37) according to the preset vibration path and real-time sensor data, and keeps the support plate (36) in a horizontal state so that the vibrator (1) can be inserted vertically into the concrete to avoid collision with the steel bars. The vibration frequency, insertion depth and vibration time are adjusted in real time according to the concrete fluidity and steel bar density. S5. Upload the vibration process data to the cloud, recording it once every 1 second. , , This creates a vibration quality database, and a vibration quality report is generated after construction is completed.