Intelligent vibrating device for concrete under reinforcing mesh

Abstract

The utility model discloses an intelligent vibrating device for concrete under a reinforcing mesh, which comprises a bottom plate, a mechanical arm mechanism and a vibrating mechanism, and the vibrating mechanism comprises a first bus steering engine, a gear transmission group, a turntable and a vibrator; the rotating disc is rotationally connected with the gear transmission set, the vibrator is electrically connected with a sixth bus steering engine of the mechanical arm mechanism through a lead, the lead penetrates through the auxiliary traction part, a part of the lead is fixed to the rotating disc, and the vibrator is perpendicular to the reinforcing mesh. According to the intelligent vibrating device, the vibrating tamper is vertically put down to penetrate through the reinforcing mesh for vibrating and recycling, and intelligent vibrating of concrete under the mesh is achieved. The connecting rod is driven by the steering engine, multiple degrees of freedom are achieved, it is guaranteed that the vibrating mechanism is always parallel to a working plane, namely a reinforcing mesh, and it is further guaranteed that the vibrator conducts lowering, vibrating and recycling operation in the posture perpendicular to the working plane; therefore, the error that the vibrator is inserted into the center point of the steel bar grid is reduced, and collision between the vibrator and the steel bar is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of engineering construction, in particular to an intelligent concrete vibrating device under a steel mesh. Background Art

[0002] As a key process in concrete construction, vibration operation directly affects the quality of subsequent construction. Among them, applying a higher vibration frequency before the initial setting of concrete can remove the air entrained during pouring, compact the concrete structure, and thus improve the compressive strength of concrete. However, the traditional concrete vibration process mainly relies on manual participation, and there are problems such as high labor intensity, poor working environment, and difficult quality control. Insufficient vibration time (under-vibration) causes a small amount of bubbles inside the concrete to be discharged, resulting in low density; too long vibration time (over-vibration) causes concrete stratification and segregation, resulting in separation honeycombs, pockmarked pores, beam and slab cracks, and exposed steel bars in the concrete forming quality problems. Current research on mechanical vibration of concrete mainly reflects the mechanical vibration of concrete without steel mesh (plain concrete), and it is difficult to achieve standardized vibration of concrete under the steel mesh. Utility Model Content

[0003] Purpose of the utility model: The purpose of the utility model is to provide a device in which a vibrator can penetrate a steel mesh to reach a predetermined working area depth in a vertical posture to realize intelligent vibration of concrete under the mesh.

[0004] Technical solution: The intelligent concrete vibrating device under the steel mesh of the utility model comprises a base plate, a mechanical arm mechanism and a vibrating mechanism, wherein the vibrating mechanism comprises a bus No. 1 servo, a gear transmission group, a turntable and a vibrator; the turntable is rotatably connected to the gear transmission group, and the vibrator is electrically connected to the bus No. 6 servo of the mechanical arm mechanism through a lead wire, wherein the lead wire passes through an auxiliary traction component, the lead wire portion is fixed on the turntable, and the vibrator is perpendicular to the steel mesh; when the bus No. 1 servo drives the gear transmission group, the turntable is driven to rotate, and the lead wire is retracted / released to realize the vertical translation movement of the vibrator; the bus No. 6 servo controls the vibration of the vibrator.

[0005] Further, the mechanical arm mechanism includes a rotating platform, a No. 2 bus steering engine, a No. 3 bus steering engine, a No. 1 connecting rod, a No. 4 bus steering engine, a No. 2 connecting rod, a No. 5 bus steering engine and a No. 3 connecting rod, the rotating platform is meshed with the No. 2 bus steering engine to control the left and right rotation of the rotating platform; the No. 3 bus steering engine is fixedly installed on the rotating platform, the bottom end of the No. 1 connecting rod is meshed with the No. 3 bus steering engine, and the top end is meshed with the No. 4 bus steering engine to control the up and down rotation of the No. 1 connecting rod; the left end of the No. 2 connecting rod is fixedly connected to the No. 4 bus steering engine, the No. 5 bus steering engine is fixedly connected to the right end of the No. 2 connecting rod, the left end of the No. 3 connecting rod is meshed with the No. 5 bus steering engine to control the up and down rotation of the No. 3 connecting rod; the No. 6 bus steering engine is fixedly connected to the inner side of the right end of the No. 3 connecting rod. The utility model relies on multiple degrees of freedom to ensure that the vibrating mechanism and the working plane, that is, the steel mesh sheet remains horizontal, and further avoids the collision of the vibrator with the steel bar when it is lowered.

[0006] Furthermore, the gear transmission group includes a first gear and a second gear.

[0007] Furthermore, the module of gear No. 1 is 0.8, and the number of teeth is 30; the module of gear No. 2 is 0.8, and the number of teeth is 15.

[0008] Furthermore, the outer side of the third connecting rod is fixedly connected to the vibrating mechanism through an auxiliary connecting piece and a supporting plate.

[0009] Furthermore, a camera is provided on the outer side of the third connecting rod.

[0010] Furthermore, it also includes a control module, which includes a power supply, a Raspberry Pi 4B mainboard and a Raspberry Pi 4B expansion board. The Raspberry Pi 4B mainboard is connected in series with the camera through wires and interfaces; the Raspberry Pi 4B expansion board is plugged into the Raspberry Pi 4B mainboard and connected in series with the bus servo interface through wires.

[0011] Beneficial effects: Compared with the prior art, the utility model has the following advantages: 1. The utility model can vertically lower the vibrator through the steel mesh, so that the vibrator can run to a certain depth, vibrate and then retract, thereby realizing intelligent vibration of concrete under the mesh; 2. The utility model drives the connecting rod through the servo, and multiple degrees of freedom ensure that the vibrating mechanism connected to the end of the mechanical arm mechanism is always parallel to the working plane, that is, the steel mesh, and the vibrating mechanism and the working plane remain horizontal, which can further ensure that the vibrator is lowered, vibrated and recovered in a vertical posture relative to the working plane; thereby reducing the error of the vibrator inserted into the center point of the steel mesh, and avoiding the collision between the vibrator and the steel bars; 3. The utility model adopts 5 servos, 1 rotating platform and 3 connecting rods, providing 4 rotational degrees of freedom and 1 translational degree of freedom, ensuring that the intelligent vibrating device can drive the vibrator to any specified coordinate position in the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a left view of the utility model;

[0014] Figure 3 It is a structural diagram of the vibrating mechanism;

[0015] Figure 4 It is a structural diagram of the robotic arm mechanism. DETAILED DESCRIPTION

[0016] The technical solution of the utility model is further described below in conjunction with the accompanying drawings.

[0017] The utility model discloses an intelligent concrete vibrating device under a steel mesh, comprising a bottom plate 1, a mechanical arm mechanism, a vibrating mechanism and a control module, wherein the mechanical arm mechanism comprises a bus No. 2 steering engine 14, a rotating platform 15, a bus No. 3 steering engine 16, a connecting rod No. 17, a bus No. 4 steering engine 18, a bus No. 2 connecting engine 19, a bus No. 5 steering engine 20, a connecting rod No. 3 21, a bus No. 6 steering engine 22, and a camera 2, wherein the camera 2 is fixed to the top of the connecting rod No. 3 21 by screws. The bottom end of the bus No. 2 steering engine 14 is fixed to the bottom plate 1 by screws, and the bottom surface of the rotating platform 15 is meshed and connected with the gear end of the bus No. 2 steering engine 14 to control the left and right rotation of the rotating platform. The bottom end of the bus No. 3 steering engine 16 is fixedly connected to the top surface of the rotating platform 15 by screws, and the inner side of the bottom end of the connecting rod No. 1 17 is meshed and connected with the gear end of the bus No. 3 steering engine 16 to control the up and down rotation of the connecting rod No. 1 17. The gear end of the bus servo 18 is meshed with the inner side of the top of the No. 1 connecting rod 17. When the No. 1 connecting rod 17 rotates, the bus servo 18 rotates accordingly. The bottom end of the No. 2 connecting rod 19 is fixed to the top of the No. 4 bus servo 18 by screws, and the bottom end of the No. 5 bus servo 20 is fixed to the top of the No. 2 connecting rod 19 by screws. When the No. 1 connecting rod 17 rotates, the bus servo 18 rotates accordingly, driving the No. 2 connecting rod 19 to move. The inner side of the bottom end of the No. 3 connecting rod 21 is meshed with the gear end of the No. 5 bus servo 20, controlling the No. 3 connecting rod to drive the camera 2 to rotate up and down. The right side of the No. 6 bus servo 22 is fixed to the inner side of the top of the No. 3 connecting rod 21 by screws. The No. 6 bus servo 22 is electrically connected to the vibrator 3 through a lead wire to control the vibration of the vibrator 3.

[0018] The vibrating mechanism includes a vibrator 3, a dust cover 4, an auxiliary traction component 7, a support plate 8, an auxiliary connecting piece 9, a No. 1 gear 12, a No. 2 gear 13, a wheel, a cylindrical auxiliary connecting piece 10 and a No. 1 bus servo 11. The No. 1 bus servo 11 and the support plate 8 are fixedly connected by the cylindrical auxiliary connecting piece 10; the bottom surface of the dust cover 4 and the top surface of the left end of the support plate 8 are fixed by screws, the top surface of the auxiliary traction component 7 and the bottom surface of the right end of the support plate 8 are fixed by screws, the top surface of the auxiliary connecting piece 9 and the bottom surface of the left end of the support plate 8 are fixed by screws, and the bottom surface of the No. 1 gear 12 is meshed and connected with the gear end of the No. 1 bus servo 11 through the hollow area of ​​the support plate 8. The round rod at the bottom of the No. 2 gear 13 passes through the hollow area of ​​the support plate and is meshed and connected with the No. 1 gear 12, and the turntable is meshed and connected with the No. 2 gear 13. The vibrator 3 is connected to the lead wire, which passes through the auxiliary traction component 7. The lead wire part is fixed on the turntable, and the other end of the lead wire is connected to the No. 6 bus servo 22 of the mechanical arm mechanism, so that the vibrator 3 is installed on the mechanical arm mechanism; when the No. 1 bus servo 11 drives the No. 1 gear 12 to rotate, the power and movement between the parallel axes are transmitted through the parallel axis cylindrical gear transmission, driving the No. 2 gear 13 to rotate. Through the rotation of the No. 2 gear 13, the turntable rotates and drives the lead wire of the vibrator 3 fixed on the turntable, thereby driving the vibrator 3 to move vertically up and down to meet the depth requirement of inserting into the concrete mixture.

[0019] The control module includes a power supply, a Raspberry Pi 4B mainboard 5, and a Raspberry Pi 4B expansion board 6. The Raspberry Pi 4B mainboard 5 is powered by an external power supply and is connected in series with the camera 2 through wires and interfaces. The Raspberry Pi 4B expansion board 6 is plugged into the Raspberry Pi 4B mainboard 5, is connected in series with the bus servo to the 2-way bus servo interface through wires, and is connected to 220V AC through a 12V switching power supply.

[0020] The method for vibrating the utility model is as follows:

[0021] According to the properties and boundary conditions of the concrete mixture at the project site, the vibration equipment parameters and process parameters are determined, and the initial parameters are transmitted to the control module.

[0022] After the power is turned on and the workstation is reached, the camera 2 mounted on the third connecting rod 21 collects the workstation image and transmits the image to the Raspberry Pi 4B mainboard 5; the image is processed by the machine vision algorithm and the vibration point screening algorithm built into the Raspberry Pi 4B mainboard 5 to obtain the vibration point coordinates after identification, extraction and screening; the Raspberry Pi 4B mainboard 5 converts the vibration point coordinate information into pulse width information through an internal program; the Raspberry Pi 4B expansion board 6 sends the corresponding pulse width information to the 6 serial bus servos through the bus servo interface, and drives the bus servos to control the vibrator 3 to reach the vibration position for vibration operation; after the vibration is completed, the Raspberry Pi 4B expansion board 6 sends a signal to the sixth bus servo 22 to stop the vibration, and the No. 1 main servo 11 drives the No. 1 gear 12, and finally drives the vibrator 3 to recover vertically, and repeats the cycle until all the filtered vibration point coordinates are traversed.

[0023] The utility model realizes the intelligent vibration of concrete under the steel mesh. The existing intelligent vibrating device fixes the vibrator at the end of the mechanical arm. The above assembly method makes it difficult for the vibrator to pass through the steel mesh to vibrate the concrete below. Even if the vibrator at the end of the above device can be immersed in the concrete mixture under the steel mesh, there are still two major problems. The first major problem is that the freedom of the mechanical arm is limited, and it is difficult to ensure that the end vibrator is inserted in a vertical posture. During operation, it is also easier to collide with the steel bars; another major problem is that due to the space limitation of the steel mesh, the depth of the vibrator fixed at the end of the mechanical arm inserted into the concrete mixture is limited. The utility model solves the above problems.

Claims

1. An intelligent concrete vibrating device under a steel mesh, characterized in that: The invention comprises a base plate (1), a mechanical arm mechanism and a vibrating mechanism, wherein the vibrating mechanism comprises a bus No. 1 steering engine (11), a gear transmission group, a turntable and a vibrator (3); the turntable is rotatably connected to the gear transmission group, and the vibrator (3) is electrically connected to a bus No. 6 steering engine (22) of the mechanical arm mechanism via a lead wire, wherein the lead wire passes through an auxiliary traction component (7), the lead wire portion is fixed on the turntable, and the vibrator (3) is perpendicular to the steel mesh; when the bus No. 1 steering engine (11) drives the gear transmission group, the turntable is driven to rotate, the lead wire is retracted / released, and the vertical translation movement of the vibrator (3) is realized; the bus No. 6 steering engine (22) controls the vibration of the vibrator (3).

2. The intelligent concrete vibrating device under the steel mesh according to claim 1 is characterized in that: The mechanical arm mechanism comprises a rotating platform (15), a No. 2 bus steering gear (14), a No. 3 bus steering gear (16), a No. 1 connecting rod (17), a No. 4 bus steering gear (18), a No. 2 connecting rod (19), a No. 5 bus steering gear (20) and a No. 3 connecting rod (21); the rotating platform (15) is meshed with the No. 2 bus steering gear (14) for transmission to control the left and right rotation of the rotating platform; the No. 3 bus steering gear (16) is fixedly mounted on the rotating platform (15); the bottom end of the No. 1 connecting rod (17) is connected to the No. 3 bus steering gear (16) meshing transmission, the top end of which is meshing transmission with the No. 4 bus steering gear (18) to control the up and down rotation of the No. 1 connecting rod (17); the left end of the No. 2 connecting rod (19) is fixedly connected to the No. 4 bus steering gear (18), the No. 5 bus steering gear (20) is fixedly connected to the right end of the No. 2 connecting rod (19), the left end of the No. 3 connecting rod (21) is meshing transmission with the No. 5 bus steering gear (20) to control the up and down rotation of the No. 3 connecting rod (21); the No. 6 bus steering gear (22) is fixedly connected to the inner side of the right end of the No. 3 connecting rod (21).

3. The intelligent concrete vibrating device under the steel mesh according to claim 1 is characterized in that: The gear transmission group comprises a first gear (12) and a second gear (13).

4. The intelligent concrete vibrating device under the steel mesh according to claim 3 is characterized in that: The module of the first gear (12) is 0.8, and the number of teeth is 30; the module of the second gear (13) is 0.8, and the number of teeth is 15.

5. The intelligent concrete vibrating device under the steel mesh according to claim 2 is characterized in that: The outer side of the third connecting rod (21) is fixedly connected to the vibrating mechanism via an auxiliary connecting piece (9) and a supporting plate (8).

6. The intelligent concrete vibrating device under the steel mesh according to claim 2 is characterized in that: A camera (2) is arranged outside the third connecting rod (21).

7. The intelligent concrete vibrating device under the steel mesh according to claim 6 is characterized in that: The invention also comprises a control module, which comprises a power supply, a Raspberry Pi 4B mainboard (5) and a Raspberry Pi 4B expansion board (6), wherein the Raspberry Pi 4B mainboard (5) is connected in series with the camera (2) via a wire and an interface; and the Raspberry Pi 4B expansion board (6) is plugged into the Raspberry Pi 4B mainboard (5) and connected in series with the bus servo interface via a wire.

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