Vibrating robot

Abstract

The utility model discloses a vibrating robot, which belongs to the technical field of construction equipment and comprises a mounting body. The mechanical arm is movably connected with the mounting main body and is suitable for moving relative to the mounting main body in the height direction; the connecting piece is rotationally connected with the mechanical arm and suitable for rotating relative to the mechanical arm in the vertical plane, and the extending direction of the connecting piece is perpendicular to the extending direction of the mechanical arm. Vibrating rod assemblies are arranged at the two ends, in the extending direction of the connecting piece, of the connecting piece correspondingly, and the two vibrating rod assemblies can selectively move in the extending direction of the connecting piece correspondingly. According to the vibrating robot, the mechanical arm is designed to move in the height direction, the connecting piece can rotate in the vertical plane, the vibrating robot can cover a large operation range, the vibrating work can be more accurate and effective by adjusting the distance between the two vibrating rod assemblies, and the working efficiency is improved. And therefore, the vibrating process is more uniform, and the compactness and quality of concrete can be improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to construction instrument technical field, concretely relates to a vibrating robot. BACKGROUND

[0002] In related art, in the building construction process, the pouring and vibrating of concrete are the key steps to ensure the structural strength and durability. The traditional concrete vibrating usually relies on manual operation of a vibrating rod, which not only has high labor intensity and low efficiency, but also is difficult to ensure the consistency and uniformity of the vibrating. In addition, for working surfaces of different widths and shapes, a single position fixed vibrating rod or a fixed interval multi-vibrating rod system often cannot meet the demand, resulting in the possibility of under-vibration or over-vibration in local areas, which affects the quality of the concrete. SUMMARY

[0003] The utility model aims at at least solving one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a vibrating robot.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] The utility model provides a vibrating robot, which comprises: a mounting body; a mechanical arm movably connected with the mounting body, the mechanical arm being adapted to move relative to the mounting body in the height direction; a connecting piece rotatably connected with the mechanical arm, the connecting piece being adapted to rotate relative to the mechanical arm in the vertical plane, the extension direction of the connecting piece being perpendicular to the extension direction of the mechanical arm; and a vibrating rod assembly provided at each end of the extension direction of the connecting piece, the two vibrating rod assemblies being selectively movable in the extension direction of the connecting piece.

[0006] According to the vibrating robot of the utility model, the mechanical arm is designed to be movable in the height direction, and the connecting piece is rotatable in the vertical plane, so that the vibrating robot can cover a larger operating range, and the design that the vibrating rod assembly is movable on the connecting piece further enhances the flexibility and applicability of the vibrating robot. Specifically, by adjusting the distance between the two vibrating rod assemblies, the vibrating work can be more accurate and effective, so that the vibrating process is more uniform, which helps to improve the compactness and quality of the concrete.

[0007] Further, the vibrating rod assembly comprises: a moving plate movably connected with the connecting piece, a first sliding part being provided at one end of the moving plate close to the mechanical arm, the connecting piece being provided with a second sliding part, the first sliding part and the second sliding part being in sliding fit; and a vibrating rod body provided at one end of the moving plate away from the mechanical arm.

[0008] Further, one of the first sliding part and the second sliding part is configured as a sliding groove, the extending direction of the sliding groove is parallel to the extending direction of the connecting piece, and the other of the first sliding part and the second sliding part is configured as a sliding block, the sliding block is movably accommodated in the sliding groove.

[0009] Further, the connecting piece comprises a horizontal plate and two vertical plates, the horizontal plate is rotationally connected with the mechanical arm, the two vertical plates extend in the thickness direction, the two vertical plates are respectively arranged on both sides of the horizontal plate in the width direction, and the two vertical plates are respectively provided with the sliding groove on the side facing each other.

[0010] Further, the horizontal plate and the two vertical plates jointly define a mounting space, and the vibrating robot further comprises a driving assembly arranged in the mounting space and connected with the connecting piece, the driving assembly is provided with a driving end connected with the at least one moving plate, and the driving assembly is configured to drive the at least one moving plate to move towards or away from the mechanical arm.

[0011] Further, the driving assembly comprises a stator and a rotor, the stator is arranged in the mounting space and is provided with a working channel, the extending direction of the working channel is parallel to the extending direction of the connecting piece, the rotor comprises a connecting part and a driving part arranged coaxially, the connecting part is rotationally arranged in the working channel, the connecting part is provided with the driving part at both ends in the axial direction, the driving part is located outside the working channel, the outer peripheral wall of the driving part is provided with a first thread, and two driving rods are respectively arranged corresponding to the two driving parts, the driving rod is provided with a connecting channel penetrating in the axial direction, the inner peripheral wall of the connecting channel is provided with a second thread matched with the first thread, and the driving rod is connected with the moving plate.

[0012] Further, the mechanical arm comprises a first arm and a second arm, the first arm is movably connected with the mounting body and is adapted to move relative to the mounting body in the height direction, one end of the second arm is rotationally connected with the first arm, the second arm is adapted to rotate relative to the first arm in the horizontal plane, and the other end of the second arm is rotationally connected with the connecting piece.

[0013] Further, the mounting body comprises a mounting platform and a transmission crawler wheel, the top of the mounting platform is provided with a stand extending in the height direction, the stand is movably connected with the first arm, and the transmission crawler wheel is rotationally arranged at the bottom of the mounting platform.

[0014] The other advantages, objects, and features of the present application will become apparent from the following specification, and it is intended to be covered by the following claims, not to be limited to the preferred embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0015] For the purposes of the present application, the following drawings are provided:

[0016] Fig. 1 is a schematic view of a vibrating robot of the present application;

[0017] Fig. 2 is a schematic view of a connecting piece, a driving assembly, and a movable plate of the present application;

[0018] Fig. 3 is a sectional view of the driving assembly of the present application.

[0019] The reference signs in the drawings are as follows:

[0020] 1. Vibrating robot

[0021] 10. Mounting body; 11. Mounting platform; 12. Column; 13. Transmission crawler wheel

[0022] 21. First arm; 22. Second arm

[0023] 30. Connecting piece; 31. Cross plate; 32. Vertical plate; 321. Slide groove

[0024] 40. Vibrating rod assembly; 41. Moving plate; 42. Vibrating rod body

[0025] 50. Driving assembly; 51. Stator; 52. Rotor; 53. Driving rod DETAILED DESCRIPTION

[0026] In order to make the objects, technical solutions, and advantages of the present application clearer, the following will further describe the present application in detail with reference to the embodiments and drawings, and the schematic embodiments and their descriptions of the present application are only used to explain the present application, and not to limit the present application.

[0027] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without these specific details. In other instances, well-known structures, circuits, materials or methods have not been described in detail in order to avoid obscuring the present application.

[0028] Reference throughout this specification to "one embodiment", "an embodiment", "one example", or "an example" means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the application. Thus, appearances of the phrases "in one embodiment", "in an embodiment", "in one example", or "in an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics can be combined in any suitable

[0029] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

[0030] Embodiment one:

[0031] As shown in Figs. 1-3 The present application provides a vibrating robot 1, comprising: a mounting body 10, a mechanical arm, a connecting piece 30 and a vibrating rod assembly 40, the mechanical arm is movably connected with the mounting body 10, the mechanical arm is adapted to move in the height direction relative to the mounting body 10, the connecting piece 30 is rotatably connected with the mechanical arm, the connecting piece 30 is adapted to rotate in the vertical plane relative to the mechanical arm, the extension direction of the connecting piece 30 is perpendicular to the extension direction of the mechanical arm, the vibrating rod assembly 40 is arranged at both ends of the extension direction of the connecting piece 30 respectively, and the two vibrating rod assemblies 40 are selectively movable in the extension direction of the connecting piece 30.

[0032] In some embodiments, the mounting body 10 is the basic support structure of the entire vibrating robot 1, the mechanical arm is movably connected with the mounting body 10, the mechanical arm can move up and down relative to the mounting body 10 in the height direction, so that the vibrating robot 1 operates at different working heights, thereby adapting to the concrete vibrating work of different heights, the connecting piece 30 is rotatably connected with the mechanical arm, the connecting piece 30 can rotate relative to the mechanical arm in the vertical plane to meet the demand of different inclination of the working surface. In addition, the extension direction of the connecting piece 30 is perpendicular to the extension direction of the mechanical arm, for example, the mechanical arm extends in the length direction, and the connecting piece 30 extends in the width direction.

[0033] The connecting piece 30 is provided with a vibrating rod assembly 40 at both ends in the self-extending direction, and the two vibrating rod assemblies 40 can move along the direction of the connecting piece 30, that is, the two vibrating rod assemblies 40 can move towards or away from each other, so as to adjust the distance between the two vibrating rod assemblies 40 as needed, and further more flexibly cope with different construction scenes.

[0034] According to the vibrating robot 1 of the utility model, by designing the mechanical arm to be movable along the height direction and enabling the connecting piece 30 to rotate in the vertical plane, the vibrating robot 1 can cover a larger operation range, and the design that the vibrating rod assembly 40 can move on the connecting piece 30 further enhances the flexibility and applicability of the vibrating robot 1, specifically, by adjusting the distance between the two vibrating rod assemblies 40, the vibrating work can be more accurate and effective, so that the vibrating process is more uniform, which helps to improve the compactness and quality of the concrete.

[0035] Therefore, due to the height adjustability of the mechanical arm and the distance adjustability between the two vibrating rod assemblies 40, the vibrating robot 1 can quickly adapt to different working environments and conditions, reduces the time of manual adjustment, improves the overall work efficiency, and no matter facing narrow space or wide area, the vibrating robot 1 can complete the task by adjusting its own configuration, showing strong adaptability, of course, through precise position control and flexible angle adjustment function, the vibrating process is more uniform, which helps to improve the compactness and quality of the concrete.

[0036] Embodiment two:

[0037] In this embodiment, on the basis of embodiment one, the vibrating rod assembly 40 comprises: a moving plate 41 and a vibrating rod body 42, the moving plate 41 is movably connected with the connecting piece 30, the moving plate 41 is provided with a first sliding part at one end close to the mechanical arm, the connecting piece 30 is provided with a second sliding part, the first sliding part and the second sliding part are in sliding cooperation, and the vibrating rod body 42 is arranged at one end of the moving plate 41 away from the mechanical arm.

[0038] In some embodiments, the moving plate 41 and the connecting piece 30 are connected by sliding, that is, one end of the moving plate 41 (the side close to the mechanical arm) is provided with a first sliding part, the first sliding part cooperates with the second sliding part on the connecting piece 30, so that the whole moving plate 41 can freely slide along the extending direction of the connecting piece 30.

[0039] The vibrating rod body 42 is installed at one end of the moving plate 41 away from the mechanical arm, when the moving plate 41 slides along the connecting piece 30, the vibrating rod body 42 also moves with the moving plate 41, so as to adjust the position of the vibrating rod body 42 relative to the connecting piece 30.

[0040] According to some embodiments of the present utility model, one of the first sliding part and the second sliding part is configured as a sliding groove 321, the extension direction of the sliding groove 321 is parallel to the extension direction of the connecting piece 30, and the other of the first sliding part and the second sliding part is configured as a sliding block, and the sliding block is movably accommodated in the sliding groove 321.

[0041] In some embodiments, the first sliding part is configured as a sliding groove 321, the extension direction of the sliding groove 321 is parallel to the extension direction of the connecting piece 30, at this time, the sliding groove 321 is arranged on the moving plate 41, the connecting piece 30 is provided with a sliding block, and the sliding block is movably arranged in the sliding groove 321; in other embodiments, the first sliding part is configured as a sliding block, at this time, the connecting piece 30 is provided with a sliding groove 321, the extension direction of the sliding groove 321 is parallel to the extension direction of the connecting piece 30 itself, and the sliding block is movably accommodated in the sliding groove 321.

[0042] It can be understood that the inner peripheral wall of the sliding groove 321 can limit the outer peripheral wall of the sliding block, so that the sliding block can stably move along the extension direction of the sliding groove 321, and further, the moving plate 41 and the vibrating rod body 42 can stably move along the extension direction of the connecting piece 30, so that the two vibrating rod bodies 42 can stably move towards or away from each other, so as to stably adjust the distance between the two vibrating rod bodies 42.

[0043] Embodiment three:

[0044] This embodiment is based on embodiment two, and the connecting piece 30 comprises a horizontal plate 31 and a vertical plate 32, the horizontal plate 31 is rotationally connected with the mechanical arm, the vertical plate 32 is configured to extend in the thickness direction, two vertical plates 32 are respectively arranged on both sides of the horizontal plate 31 in the width direction of the horizontal plate 31, and one side of each of the two vertical plates 32 facing each other is provided with a sliding groove 321; wherein the moving plate 41 is provided with two corresponding sliding blocks.

[0045] In some embodiments, the horizontal plate 31 and the two vertical plates 32 jointly define a mounting space, one side of each of the two vertical plates 32 facing each other is provided with a sliding groove 321, that is, two side walls opposite to each other of the mounting space are respectively provided with a sliding groove 321, the moving plate 41 is provided with two sliding blocks, and the two sliding blocks correspond to the two sliding grooves 321 respectively, so that the two sliding blocks are movably accommodated in the corresponding two sliding grooves 321, at this time, both sides of the moving plate 41 in the width direction thereof can be supported, so that the connection between the moving plate 41 and the connecting piece 30 is more stable, and thus the installation of the vibrating rod body 42 is more stable.

[0046] According to some embodiments of the present application, the horizontal plate 31 and the two vertical plates 32 jointly define an installation space, and the vibrating robot 1 further comprises: a driving assembly 50, which is arranged in the installation space and connected with the connecting piece 30, and the driving assembly 50 is provided with a driving end, the driving end is connected with the at least one moving plate 41, and the driving assembly 50 is adapted to drive the at least one moving plate 41 to move towards or away from the mechanical arm.

[0047] In some embodiments, the driving assembly 50 is arranged in the installation space formed by the horizontal plate 31 and the two vertical plates 32, so as to facilitate the protection of the driving assembly 50 from the external environment, and at the same time, the volume of the assembly formed by the connecting piece 30 and the driving assembly 50 is smaller.

[0048] Through the work (which can be electric, hydraulic or other forms of power) of the driving assembly 50, the position adjustment of the moving plate 41 can be accurately controlled, so as to realize the position adjustment of the vibrating rod body 42, and then adapt to different construction requirements.

[0049] Therefore, due to the existence of the driving assembly 50, the movement of the vibrating rod body 42 becomes more automated and accurate, and the position can be quickly adjusted according to the specific construction requirements, and the automatic adjustment reduces the time required for manual adjustment, and improves the overall work efficiency.

[0050] According to some embodiments of the present application, the driving assembly 50 comprises: a stator 51, a rotor 52 and two driving rods 53, the stator 51 is arranged in the installation space, the stator 51 is provided with a working channel, the extension direction of the working channel is parallel to the extension direction of the connecting piece 30, the rotor 52 comprises a connecting part and a driving part arranged coaxially, the connecting part is rotatably arranged in the working channel, the connecting part is provided with the driving part at both ends in the axial direction, the driving part is located outside the working channel, the outer peripheral wall of the driving part is provided with a first thread, the two driving rods 53 correspond to the two driving parts respectively, the driving rod 53 is provided with a connecting channel penetrating in the axial direction, the inner peripheral wall of the connecting channel is provided with a second thread, the second thread cooperates with the first thread, and the driving rod 53 is connected with the moving plate 41.

[0051] In some embodiments, the stator 51 is arranged in the mounting space and is provided with a working channel, the direction of the working channel is parallel to the extension direction of the connecting piece 30, the working channel provides a rotating space for the rotor 52, the rotor 52 is composed of a connecting part and a driving part arranged coaxially, the connecting part is rotatably arranged in the working channel of the stator 51, both ends of the connecting part are respectively provided with a driving part, the driving part is located outside the working channel, the outer peripheral wall of the driving part is provided with a first thread, two driving rods 53 are respectively corresponding to the two driving parts, and the driving rod 53 and the corresponding driving part are connected through threads. Specifically, each driving rod 53 is provided with an axial through connecting channel, the inner peripheral wall of the connecting channel is provided with a second thread, when the rotor 52 rotates, the driving rod 53 will move along the axial direction due to the cooperation of the first thread and the second thread, and since one end of the driving rod 53 is connected with the moving plate 41, the axial movement of the driving rod 53 will directly cause the movement of the moving plate 41 (and the vibrator rod body 42 mounted thereon).

[0052] It can be understood that when the rotor 52 rotates, the two driving rods 53 can be driven to move towards or away from each other at the same time, so as to realize the simultaneous driving of the two vibrator rod bodies 42 to move towards or away from each other, so as to realize more efficient adjustment of the distance between the two vibrator rod bodies 42.

[0053] Embodiment four:

[0054] Based on the embodiment one, the mechanical arm includes: a first arm 21 and a second arm 22, the first arm 21 is movably connected with the mounting body 10, the first arm 21 is adapted to move in the height direction relative to the mounting body 10, one end of the second arm 22 is rotatably connected with the first arm 21, the second arm 22 is adapted to rotate in the horizontal plane relative to the first arm 21, and the other end of the second arm 22 is rotatably connected with the connecting piece 30.

[0055] It can be understood that the first arm 21 is movably connected with the mounting body 10 to allow the first arm 21 to move up and down in the height direction relative to the mounting body 10, so that the vibrator robot 1 can adapt to different working surfaces, one end of the second arm 22 is rotatably connected with the first arm 21, and the other end of the second arm 22 is rotatably connected with the connecting piece 30 (i.e. the part carrying the vibrator rod assembly 40).

[0056] The second arm 22 can rotate in the horizontal plane relative to the first arm 21 to give the vibrator robot 1 the expansion flexibility in the horizontal direction, and the connecting piece 30 can rotate in the vertical plane relative to the second arm 22 to give the vibrator robot 1 the expansion flexibility in the vertical plane, so that the above arrangement makes the vibrator rod assembly 40 have higher degrees of freedom, so as to adapt to different vibrator working environments.

[0057] According to some embodiments of the utility model, the installation main body 10 includes: an installation platform 11 and a transmission caterpillar wheel 13, the top of installation platform 11 is provided with the column 12 extending in the height direction, the column 12 is movably connected with the first arm 21, the transmission caterpillar wheel 13 is rotatably arranged at the bottom of installation platform 11.

[0058] It can be understood that through the movable connection between the first arm 21 and the column 12, the operator can adjust the height of the mechanical arm according to the construction needs, to ensure that the vibrating rod assembly 40 can accurately reach the working position, and the design of the transmission caterpillar wheel 13 enables the vibrating robot 1 to freely move on the construction site. The transmission caterpillar wheel 13 can adapt to the complex and changeable environment of the construction site, because the transmission caterpillar wheel 13 not only can cross small obstacles, but also can maintain stability and maneuverability on soft soil surface.

[0059] Finally, it should be pointed out that the above preferred embodiments are only used to illustrate the technical solutions of the utility model and are not limiting. Although the utility model has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the utility model.

Claims

1. A vibrating robot, characterized in that, The application relates to a vibrating machine robot. The vibrating machine robot comprises: a mounting body; a mechanical arm movably connected with the mounting body, the mechanical arm being adapted to move in a height direction relative to the mounting body; a connecting piece rotatably connected with the mechanical arm, the connecting piece being adapted to rotate in a vertical plane relative to the mechanical arm, the extending direction of the connecting piece being perpendicular to the extending direction of the mechanical arm; 2. The vibrating robot of claim 1, wherein, a vibrating rod assembly, the connecting piece being provided with the vibrating rod assembly at both ends in the extending direction of the connecting piece, the two vibrating rod assemblies being selectively movable in the extending direction of the connecting piece. The vibrating rod assembly comprises: a moving plate movably connected with the connecting piece, the moving plate being provided with a first sliding part at one end close to the mechanical arm, the connecting piece being provided with a second sliding part, the first sliding part being in sliding cooperation with the second sliding part; 3. The vibrating robot of claim 2, wherein, a vibrating rod body provided at one end of the moving plate away from the mechanical arm.

4. The vibrating robot of claim 3, wherein, One of the first sliding part and the second sliding part is configured as a sliding groove, the extending direction of the sliding groove being parallel to the extending direction of the connecting piece, the other of the first sliding part and the second sliding part being configured as a sliding block, the sliding block being movably accommodated in the sliding groove. The connecting piece comprises: a horizontal plate rotatably connected with the mechanical arm; two vertical plates configured to extend in a thickness direction, the two vertical plates being provided at both sides of the horizontal plate in the width direction of the horizontal plate, and the two vertical plates being provided with the sliding grooves at the sides facing each other; and 5. The vibrating robot of claim 4, wherein, the moving plate is provided with the sliding blocks corresponding to the two sliding grooves. The horizontal plate and the two vertical plates jointly define a mounting space, and the vibrating machine robot further comprises:

6. The vibrating robot of claim 5, wherein, a driving assembly provided in the mounting space and connected with the connecting piece, the driving assembly being provided with a driving end connected with at least one moving plate, the driving assembly being adapted to drive at least one moving plate to move towards or away from the mechanical arm. The driving assembly comprises: a stator provided in the mounting space, the stator being provided with a working channel, the extending direction of the working channel being parallel to the extending direction of the connecting piece; a rotor comprising a connecting part and a driving part coaxially arranged, the connecting part being rotatably arranged in the working channel, the connecting part being provided with the driving part at both ends in the axial direction, the driving part being located outside the working channel, and the outer peripheral wall of the driving part being provided with a first thread; 7. The vibrating robot of claim 1, wherein, two driving rods corresponding to the two driving parts, the driving rods being provided with a connecting channel penetrating in the axial direction, the inner peripheral wall of the connecting channel being provided with a second thread matched with the first thread, and the driving rods being connected with the moving plate. The mechanical arm comprises: a first arm movably connected with the mounting body, the first arm being adapted to move in a height direction relative to the mounting body; 8. The vibrating robot of claim 7, wherein, a second arm having one end rotatably connected with the first arm, the second arm being adapted to rotate in a horizontal plane relative to the first arm, and the other end of the second arm being rotatably connected with the connecting piece. The mounting body comprises: An installation platform, a top of which is provided with a column extending in a height direction, the column being movably connected with the first arm; A driving crawler wheel rotatably arranged at a bottom of the installation platform.

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