A suspended intelligent vibrating robot

Abstract

The utility model discloses a kind of suspension type intelligent vibrating robot, including the suspension system supported in the area to be vibrated above, the reel type vibrating mechanism moving along with suspension system horizontal direction, for controlling vibrating mechanism movement control system.Reinforcement of control system's electric control module sends instruction, suspension system drives reel type vibrating mechanism to move to corresponding position, reel motor drives reel rotation, make the vibrating rod around reel descend to specified height, servo motor according to received instruction, vibrating rod is vibrated with specified intensity;Reel type vibrating mechanism includes adjusting device, adjusting device rotates, makes vibrating rod translate a vibrating unit, without multiple adjustment suspension system position, it can complete the vibrating work in certain area, improve construction efficiency.Control system has visual vibrating effect feedback system, vibrating effect can be fed back in real time in the mode of three-dimensional cloud picture, so that construction quality is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of concrete construction technology, and in particular to a suspended intelligent vibratory compaction robot. Background Technology

[0002] Concrete vibration removes air from the concrete through mechanical vibration, promoting uniform distribution of aggregates and full filling of the slurry. Currently, common vibration methods are divided into manual vibration and machine vibration. Manual vibration has problems such as low efficiency, unstable concrete quality, and risks associated with working at heights. Existing machine vibration also has significant limitations. When vibrating concrete in corner areas such as steel mesh, formwork ties, transverse joints, and waterstops under the foundation of high-rise buildings, collision accidents are very likely to occur. Furthermore, the position of the vibration robot needs to be constantly adjusted during the operation, resulting in low efficiency and the inability to provide real-time feedback on the vibration effect, which affects the construction progress and quality. Utility Model Content

[0003] Purpose of the utility model: The purpose of this utility model is to provide a suspended intelligent vibratory compaction robot with high construction efficiency and high construction quality.

[0004] Technical solution: The present invention discloses a suspended intelligent vibration robot, including a suspension system 1 supported above the area to be vibrated, a reel-type vibration mechanism 2 that moves horizontally with the suspension system, and a control system 3 for controlling the movement of the reel-type vibration mechanism. The reel-type vibration mechanism 2 includes an adjustment device 21, which can vibrate different areas without changing the position of the reel-type vibration mechanism. The control system 3 has a visual vibration effect feedback system.

[0005] Furthermore, the suspension system 1 includes a longitudinal beam 101 erected above the area to be vibrated, a crossbeam 102 located below and intersecting the longitudinal beam, a suspension moving clamp 4 connected at the upper end to the longitudinal beam and at the lower end to the crossbeam, and a lateral moving assembly 5 suspended below the crossbeam and capable of sliding along the crossbeam. The suspension moving clamp 4 includes a longitudinal moving assembly 41 slidably connected to the longitudinal beam and capable of sliding along the longitudinal beam, a fixing plate 42 connected to the bottom of the longitudinal moving assembly, and a clamping bracket 43 connected at the upper end to the fixing plate and at the lower end to the crossbeam.

[0006] Preferably, the longitudinal moving assembly 41 includes a first rail wheel 411 that is rolledly connected to the longitudinal beam, a rail wheel support 412, and a first shaft 413 that is used to cooperate with the rail wheel at one end and fixed on the rail wheel support at the other end; the transverse moving assembly 5 includes a second rail wheel 511 that is rolledly connected to the transverse beam, a Y-shaped connecting plate 512, and a second shaft 513, the second shaft passing through the Y-shaped connecting plate and connected to the second rail wheel at both ends, and the bottom of the Y-shaped connecting plate is connected to a reel-type vibrating mechanism.

[0007] Furthermore, the reel-type vibratory compaction mechanism 2 includes an inverted U-shaped frame 22 connected to the suspension system at the top, two parallel reels 23 located inside the frame, a vibratory rod 24 wound around the reels and passing through an adjustment device, and a reel motor 25 located inside the reels for driving the reels to wind up and down the vibratory rod. A servo motor 26 is connected to the end of the vibratory rod, and the reels are connected by a rotating shaft 27. The adjustment device 21 is rotatably connected to the rotating shaft 27. One end of the adjustment device extending outside the reels has a hole 211 through which the vibratory rod can pass, and the hole 211 is located diagonally below the reels. Wear-resistant components are provided at the contact points between the inverted U-shaped frame 22, the hole 211, and the vibratory rod.

[0008] Furthermore, the control system 3 is located on the side of the inverted U-shaped frame, including a signal transceiver module for remotely controlling the vibratory robot and an electrical control module for controlling the robot's vibration position, vibration time, and vibration accuracy. A visual vibration effect feedback system is integrated within the signal transceiver module. This module divides the vibration area into three-dimensional finite element methods, sets the vibration intensity value for each area, compares it with the actual vibration intensity, and categorizes the comparison results by different colors to form a three-dimensional quality cloud map.

[0009] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: (1) It does not require multiple adjustments to the position of the suspension system. It only requires rotating the adjustment device to move the vibrator one vibrating unit to complete the vibration operation in a certain area, thus improving construction efficiency; (2) The vibration effect is monitored in real time in the form of a three-dimensional cloud map, which greatly improves the construction quality; (3) The vibrator can extend and retract flexibly, which can achieve precise control of the vibration depth and ensure that the vibrator can be effectively stored inside the reel when not in operation; (4) The anti-wear component fixes and protects the vibrator, reduces the wear of the vibrator in long-term use, and extends the service life of the equipment; (5) Combined with remote operation of the control system, it enables unmanned construction, is simple to operate, and has high safety. Attached Figure Description

[0010] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0011] Figure 2 This is a side view of the present invention.

[0012] Figure 3 This is a schematic diagram of the structure of the suspended moving clamp of this utility model;

[0013] Figure 4 This is a schematic diagram of the longitudinal moving component of this utility model;

[0014] Figure 5 This is a schematic diagram of the structure of the lateral movement component of this utility model;

[0015] Figure 6 This is a schematic diagram of the structure of the reel-type vibrating mechanism of this utility model;

[0016] Figure 7 This is a schematic diagram of the inverted U-shaped frame of this utility model;

[0017] Figure 8 This is a schematic diagram of the structure of the reel of this utility model;

[0018] Figure 9 This is a schematic diagram of the structure of the adjusting device of this utility model. Detailed Implementation

[0019] The technical solution of this utility model will be further described below with reference to the accompanying drawings.

[0020] like Figure 1 , Figure 2 As shown, this utility model discloses a suspended intelligent vibrating robot, including a suspension system 1, a reel-type vibrating mechanism 2, and a control system 3. During operation, the suspension system 1 can fix the reel-type vibrating mechanism 2 above the area to be vibrated, and the robot moves longitudinally and laterally according to instructions. Figure 1-5 As shown, the suspension system 1 includes a longitudinal beam 101 erected above the area to be vibrated. The longitudinal beam is an I-beam structure, and a suspension moving clamp 4 is provided on the flange of the I-beam. The suspension moving clamp 4 includes a longitudinal moving component 41 that is slidably connected to the longitudinal beam and can slide along the longitudinal beam, a fixed plate 42 connected to the bottom of the longitudinal moving component, and a clamping bracket 43 whose upper end is connected to the fixed plate and whose lower end is connected to the crossbeam. The lower end of the clamping bracket 43 is connected to the crossbeam 102, and a transverse moving component 5 that can slide along the crossbeam is suspended below the crossbeam. The longitudinal moving component 41 includes a first rail wheel 411 that is rolledly connected to the longitudinal beam, a rail wheel support 412, and a first rotating shaft 413 whose one end is used to cooperate with the rail wheel and whose other end is fixed to the rail wheel support. The transverse moving component 5 includes a second rail wheel 511 that is rolledly connected to the crossbeam, a Y-shaped connecting plate 512, and a second rotating shaft 513. The second rotating shaft passes through the Y-shaped connecting plate and is connected to the second rail wheel at both ends. A connecting hole for connecting the reel-type vibrating mechanism 2 is opened at the bottom of the Y-shaped connecting plate. There can be multiple transverse moving components 5 and reel-type vibrating mechanisms 2, with the same number of both.

[0021] When the track wheel 411 rotates on the longitudinal beam 1, it drives the rotating shaft 413 to rotate. Since the rotating shaft is fixedly connected to the track wheel support 412, the rotation of the rotating shaft 413 pushes the longitudinal moving component 41 to move longitudinally on the longitudinal beam 1, thereby achieving precise control of the longitudinal movement of the suspended moving clamp 4. At the same time, the movement of the longitudinal moving component 41 will drive the clamping bracket 43 to move longitudinally. The clamping bracket 43 plays the role of fixing and suspending the crossbeam 2, which can ensure that the reel vibrator is suspended and moves longitudinally on the longitudinal beam 1, so that the reel vibrator can operate in the air and achieve disturbance-free and pressure-free vibration. When the second track wheel 511 rotates on the crossbeam 2, it will drive the second shaft 513 to rotate. Since the second shaft 513 is threadedly connected to the Y-type connecting plate 512, the rotation of the second shaft 513 will push the lateral moving component 5 to move laterally on the crossbeam 2. Through the Y-type connecting plate, the reel-type vibrating mechanism 2 will move synchronously, thereby achieving precise control of the vibration position. Since multiple lateral moving components 5 can be connected on the crossbeam 2, and the lateral moving components 5 are connected to the reel-type vibrating mechanism 2, multiple reel-type vibrating mechanisms 2 can work simultaneously, improving the vibration efficiency.

[0022] like Figure 6-9 As shown, the reel-type vibratory compaction mechanism 2 includes an adjustment device 21, an inverted U-shaped frame 22 whose top is connected to the connecting hole at the bottom of the Y-shaped connecting plate, two parallel reels 23 located inside the frame, a vibratory rod 24 wound on the reels and passing through the adjustment device, a reel motor 25 located inside the reels and used to drive the reels to extend and retract the vibratory rod, and a servo motor 26 connected to the end of the vibratory rod. The reels are connected to each other via a rotating shaft 27. The reel-type vibratory compaction mechanism 2 also includes components related to the movement of the reels 23. The reels allow the vibratory rod to extend and retract flexibly, thereby achieving precise control of the compaction depth and ensuring that the vibratory rod can be effectively stored inside the reels when not in use. Multiple supporting square steel bars 231 are fixedly connected inside the reel 23. The supporting square steel bars are fixedly connected to bearings 232. The bearings are rotatably connected to a rotating shaft 27. One end of the rotating shaft 27 is fixedly connected to a gear disc 271. The gear disc is fixedly connected to a gear 252. The bottom of the reel is fixedly connected to a motor bracket 233. A circular through hole extending to the outside is opened on one side of the motor bracket 233. A servo motor 47 is fixedly connected to the outer wall of the circular through hole. The servo motor is connected to the tail of the vibrating rod. The reel motor 25 is mounted on the motor bracket 233. One side of the reel motor is fixedly connected to a gear 251. Gear 251 is rotatably connected to gear 252. The reel rotates under the action of gears 1 and 2.

[0023] The adjusting device 21 is fitted onto the rotating shaft 27 via a support ring 212. The support ring 212 is fixedly connected to the round hole at the bottom of the connecting plate 213. A longitudinal square steel 214 is fixedly connected to the middle of the bottom of the connecting plate 213. The longitudinal square steel 214 is fixedly connected to the top of the transverse square steel 215. The two sides of the transverse square steel 215 are fixedly connected to holes 211 through which the vibrator can pass. A wear-resistant component 216 is provided in the middle of the hole 211. The wear-resistant component is in the shape of a roller and is made of flexible material. It serves to fix and protect the vibrator 24, reducing the wear of the vibrator 24 during long-term use and extending the service life of the equipment. The hole 211 is located diagonally below the reel. Since a reel-type vibrating mechanism has two reels side by side, there are two holes 211. The vibrator is lowered as the reel rotates and enters the hole 211 vertically.

[0024] The inverted U-shaped frame 22 includes a pin 221, which engages with the connecting hole at the bottom of the Y-shaped connecting plate to achieve connection. A rectangular plate 222 is located at the center of the top of the inverted U-shaped frame, and the pin 221 is located on the rectangular plate 222. A rectangular fixing frame 223 is located around the rectangular plate 222. Four vertical square steel bars 224 are fixedly connected to the bottom of the rectangular fixing frame. A rectangular plate 226 is fixedly connected to the middle of the vertical square steel bars. Two support rings 227 are fixedly connected to the bottom of the rectangular plate 226. Polygonal fixing frames 225 are fixedly connected to the bottom sides of the rectangular fixing frame 223. An anti-wear component 228 is located inside the polygonal fixing frame 225, and the anti-wear component 228 contacts and connects to the outer wall of the vibrator.

[0025] Control system 3 is located on the side of the inverted U-shaped frame, including a signal transceiver module for remotely controlling the vibratory robot and an electrical control module for controlling the robot's vibration position, vibration time, and vibration accuracy. A visual vibration effect feedback system is integrated within the signal transceiver module. During vibration, the concrete component unit is automatically divided into three-dimensional finite elements with defined rows, columns, and layers. Each three-dimensional finite element is assigned a vibration strength value attribute. Based on on-site vibration data and the vibration quality evaluation model, the vibration strength value of each finite element is calculated in real time. During vibration, the system can display information such as the vibration status, depth, location, and duration of the vibration points in real time. To intuitively represent the vibration quality inside the concrete component, the three-dimensional components are set to a semi-transparent display mode, and each three-dimensional finite element is assigned a color based on its vibration strength value, forming a three-dimensional quality cloud map. Four typical vibration quality states—excellent, under-vibrated, over-vibrated, and not vibrated—are represented by smooth transition colors (green for excellent, yellow for under-vibrated, blue for over-vibrated, and gray for not vibrated)—to indicate the vibration quality status. In addition, it provides two quality display functions: "View Section" and "View Demonstration". "View Section" can display the vibration status of units at different locations; "View Demonstration" provides two quality display functions.

[0026] During operation, there is no need to adjust the position of the suspension system multiple times. Simply rotate the adjustment device to move the vibrator one vibration unit to complete the vibration operation in a certain area, which improves construction efficiency. The vibration effect is monitored and fed back in real time in the form of a three-dimensional cloud map, which greatly improves the construction quality. The vibration animation of the entire surface can be displayed. Combined with remote operation of the control system, it enables unmanned construction, which is simple to operate and highly safe.

Claims

1. A suspended intelligent vibratory robot, comprising a suspension system (1) supported above the area to be vibrated, characterized in that, It also includes a reel-type vibratory mechanism (2) that moves horizontally with the suspension system and a control system (3) for the movement of the reel-type vibratory mechanism. The reel-type vibratory mechanism (2) includes an adjustment device (21) that can vibrate different areas without changing the position of the reel-type vibratory mechanism. The control system (3) has a visual vibration effect feedback system.

2. The suspended intelligent vibratory robot according to claim 1, characterized in that, The suspension system (1) includes a longitudinal beam (101) erected above the area to be vibrated, a crossbeam (102) below the longitudinal beam and intersecting with the longitudinal beam, a suspension moving clamp (4) with the upper end connected to the longitudinal beam and the lower end connected to the crossbeam, and a lateral moving component (5) suspended below the crossbeam and capable of sliding along the crossbeam.

3. The suspended intelligent vibratory robot according to claim 2, characterized in that, The suspended moving clamp (4) includes a longitudinal moving component (41) that is slidably connected to the longitudinal beam and can slide along the longitudinal beam, a fixing plate (42) connected to the bottom of the longitudinal moving component, and a clamping bracket (43) whose upper end is connected to the fixing plate and whose lower end is connected to the crossbeam.

4. The suspended intelligent vibratory robot according to claim 3, characterized in that, The longitudinal moving assembly (41) includes a first rail wheel (411) that is rolledly connected to the longitudinal beam, a rail wheel support (412), and a first shaft (413) that is used to cooperate with the rail wheel at one end and fixed on the rail wheel support at the other end.

5. The suspended intelligent vibratory robot according to claim 2, characterized in that, The lateral moving component (5) includes a second rail wheel (511) that is rolled to the crossbeam, a Y-shaped connecting plate (512) and a second rotating shaft (513). The second rotating shaft passes through the Y-shaped connecting plate and is connected to the second rail wheel at both ends. The bottom of the Y-shaped connecting plate is connected to a reel-type vibrating mechanism.

6. The suspended intelligent vibratory robot according to claim 1, characterized in that, The reel-type vibratory mechanism (2) includes an inverted U-shaped frame (22) connected to the top of the suspension system, two side-by-side reels (23) located inside the frame, a vibratory rod (24) wound around the reels and passing through the adjustment device, and a reel motor (25) located inside the reels and used to drive the reels to wind up and down the vibratory rod. The end of the vibratory rod is connected to a servo motor (26), and the reels are connected to each other by a rotating shaft (27).

7. The suspended intelligent vibratory robot according to claim 6, characterized in that, The adjusting device (21) is rotatably connected to the rotating shaft (27). One end of the adjusting device extending out of the reel is provided with a hole (211) through which the vibrating rod can pass. The hole is located diagonally below the reel.

8. The suspended intelligent vibratory robot according to claim 7, characterized in that, The inverted U-shaped frame (22), the hole (211), and the contact parts with the vibrating rod are all equipped with anti-wear components.

9. The suspended intelligent vibratory robot according to claim 1, characterized in that, The control system (3) is located on the side of the inverted U-shaped frame and includes a signal transceiver module that can remotely control the vibrating robot and an electrical control module that controls the vibrating position, vibrating time and vibrating accuracy of the vibrating robot.

10. The suspended intelligent vibratory robot according to claim 1, characterized in that, The visualization vibration effect feedback system divides the vibration area into three-dimensional finite elements, sets the vibration intensity value for each area, compares it with the actual vibration intensity, and classifies the comparison results with different colors to form a three-dimensional quality cloud map.

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