Integrated plug-in vibrator capable of automatic obstacle avoidance
By integrating a servo controller and a PLC controller, the automatic obstacle avoidance insert vibrator solves the problems of complex structure, high cost, signal delay and high failure rate in the existing technology, and achieves efficient and safe obstacle avoidance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 成都天维恒创智能科技有限公司
- Filing Date
- 2025-09-30
- Publication Date
- 2026-07-24
AI Technical Summary
Existing automatic obstacle avoidance insertion vibratory compactors are complex in structure and expensive. Furthermore, they suffer from high sensor failure rates, severe signal delays, and numerous cables that are susceptible to interference, all of which affect construction quality and safety.
The obstacle avoidance system is integrated into the drive unit of the vibratory rod. A servo controller and a PLC controller are used to realize local signal judgment and decision-making, eliminating the need for external sensors and cables. Obstacle avoidance is achieved by using a servo electric slide and a rotary motor, reducing delay and mechanical damage.
The simplified structure reduced costs, improved the reliability and response speed of the obstacle avoidance system, reduced line faults and mechanical damage, and enhanced construction safety.
Smart Images
Figure CN224550131U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of concrete vibration technology, specifically relating to an integrated immersion vibrator that can automatically avoid obstacles. Background Technology
[0002] In the construction of tunnel secondary lining concrete pouring using a trolley, it is necessary to vibrate the concrete to prevent voids, uneven pouring, and insufficient compaction. The vibrating device is the equipment that directly affects the pouring quality. Practice has shown that immersion vibrators can meet the vibration requirements. However, because immersion vibrators require the vibrator rod to be inserted into the concrete, it is necessary to avoid contact with reinforcing steel bars in the direction of the vibrator's extension and retraction, otherwise, the reinforcing steel mesh may be damaged.
[0003] To address this issue, existing technologies have designed vibrators capable of automatic obstacle avoidance. For example, application number 202510698932.6 discloses "An Automatic Obstacle Avoidance Insertion Vibrator and Vibration Method," which specifically discloses installing the vibrator rod on a rotatable power source. The power source drives the vibrator to rotate, thus achieving obstacle avoidance. However, this vibrator requires an external "obstacle avoidance monitoring unit" to achieve automatic obstacle avoidance. This "obstacle avoidance monitoring unit" requires an external current detection module to monitor the current changes of the telescopic and rotary power sources in real time. This results in a complex and costly structure for the entire vibrator. Furthermore, the harsh construction environment of tunnels leads to a high failure rate and easy malfunction of sensors (according to the 2024 "Reliability Report of Tunnel Construction Equipment"). Moreover, this process, which requires the signal to be processed by an external PLC before triggering execution, introduces a delay of 200-500ms. Most importantly, at the construction site of the secondary lining trolley, there are numerous cables that are prone to interference, and exposed wiring harnesses are also prone to loosening and aging. Utility Model Content
[0004] The purpose of this invention is to solve the problems in the background technology and provide an integrated insert vibrator that can automatically avoid obstacles. This vibrator eliminates the need for external sensors and associated cables, and integrates the entire obstacle avoidance system into the drive unit of the vibrator rod. There is no need to worry about the impact of the environment on the obstacle avoidance system. At the same time, it can realize local judgment and decision-making of overload signals, reduce latency, and enhance safety.
[0005] The objective of this utility model is achieved through the following technical solution: An integrated insert vibrator with automatic obstacle avoidance includes a base, a turntable, a servo-electric slide, a vibrating rod, and a servo-rotary motor. A circular opening is machined in the center of the base. A rotatable turntable is coaxially mounted below the circular opening. The servo-rotary motor is eccentrically mounted on the turntable. The output shaft of the servo-rotary motor passes through the turntable and is connected to a gear. An internal gear ring meshing with the gear is mounted on the upper part of the circular opening. The servo-rotary motor can adjust the rotation angle of the turntable within the circular opening by rotation. A cover plate is installed on the base to seal the circular opening. The servo-electric slide is mounted... At the bottom of the turntable, the extension and retraction direction of the servo electric slide is perpendicular to the bottom surface of the turntable. A vibrating rod that passes eccentrically through the turntable and the cover plate is installed on the mounting base of the servo electric slide. A housing frame that encloses the servo electric slide, the vibrating rod and the servo rotary motor is also installed on the bottom surface of the turntable. A partition separating the servo rotary motor and the servo electric slide is installed on the housing frame. A servo controller and a PLC controller are installed on the side wall of the partition near the bottom of the servo rotary motor. The PLC controller is connected to the servo electric slide and the servo rotary motor respectively through the two servo controllers.
[0006] The cover plate is equipped with a sealing ring that mates with the vibrating rod.
[0007] The lower part of the machine frame is equipped with a support base plate that supports the bottom of the servo electric slide. A switch is installed on the bottom surface of the support base plate. The outer side of the machine frame is covered with a shell, and a control button is installed on the shell on one side of the switch.
[0008] The beneficial effects of the integrated insert vibrator with automatic obstacle avoidance provided by this utility model are: (1) By setting up a frame and installing an integrated servo controller and PLC controller inside the frame, the detection failure caused by the outdoor setting of independent sensors can be avoided. At the same time, by using a servo electric slide table and servo selection motor with a servo system and utilizing overload feedback, the independent current detection module can be reduced, making the entire vibrator structure more streamlined. (2) By using the built-in servo controller and PLC controller, it can effectively prevent the problem of long signal delay caused by line aging and signal interference. At the same time, the PLC controller can realize the real-time judgment and decision of the motor overload signal. (3) The integrated structure eliminates the cost of purchasing and installing independent sensors and reduces the complexity of later maintenance. At the same time, the integrated design can reduce mechanical damage caused by overload or collision of the vibrator and reduce the maintenance frequency. Attached Figure Description
[0009] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0010] Figure 1 This is a structural schematic diagram provided for an embodiment of the present utility model.
[0011] Figure 2 This is a schematic diagram of the axial cross-section structure provided for an embodiment of the present utility model.
[0012] Figure 3 This is a schematic diagram of the internal structure provided for an embodiment of the present utility model.
[0013] Figure 4 This is an installation diagram of the servo controller and PLC controller provided in an embodiment of the present invention.
[0014] The markings in the diagram are: 1. Base; 11. Circular opening; 12. Internal gear ring; 13. Cover plate; 2. Turntable; 3. Servo electric slide; 4. Vibrator; 5. Servo rotary motor; 51. Gear; 6. Machine cover frame; 61. Partition plate; 62. Support base plate; 63. Switch; 7. Servo controller; 8. PLC controller; 9. Housing; 91. Control button. Detailed Implementation
[0015] like Figures 1-4As shown, the integrated insert vibrator with automatic obstacle avoidance provided in this embodiment includes a base 1, a turntable 2, a servo-electric slide table 3, a vibrating rod 4, and a servo rotary motor 5. A circular opening 11 is machined in the center of the base 1, and bolt holes for connection to the secondary lining trolley are machined on the outer side of the base 1. A rotatable turntable 2 is coaxially mounted at the lower part of the circular opening 11. The servo rotary motor 5 is eccentrically mounted on the turntable 2. The output shaft of the servo rotary motor 5 passes through the turntable 2 and is connected to a gear 51. A gear 51 is mounted on the upper part of the circular opening 11. The meshing internal gear ring 12 and the servo rotary motor 5 can adjust the rotation angle of the turntable 2 within the circular opening 11 by rotation. A cover plate 13 sealing the circular opening 11 is installed on the base 1. The cover plate 13 and the base 1 are connected by a rotary sealing ring to prevent concrete leakage. The servo electric slide 3 is installed at the bottom of the turntable 2. The extension and retraction direction of the servo electric slide 3 is perpendicular to the end face of the turntable 2. A vibrator 4 eccentrically passes through the turntable 2 and the cover plate 13 is installed on the mounting base of the servo electric slide 3. A vibrator 4 is installed on the cover plate 13 to vibrate the... A sealing ring is fitted to the tamping rod 4 to prevent concrete from seeping into the circular opening 11 between the cover plate 13 and the tamping rod 4. A machine frame 6, which encloses the servo-electric slide table 3, the tamping rod 4, and the servo-rotary motor 5, is also installed on the bottom surface of the turntable 2. The machine frame 6 is composed of welded angle steel. The bottom surface of the cover plate 13 protrudes outward from the outside of the base 1. The machine frame 6 is fixedly connected to the cover plate 13. A partition plate 61, separating the servo-rotary motor 5 and the servo-electric slide table 3, is installed on the machine frame 6. The partition plate 61 is located near the lower part of the servo-rotary motor 5. A servo controller 7 and a PLC controller 8 are installed on the side wall of the machine. The PLC controller 8 is connected to the servo electric slide 3 and the servo rotary motor 5 respectively through the two servo controllers 7. The servo controllers 7 are connected to the servo electric slide 3 and the servo rotary motor 5 through encoding lines. A support base plate 62 supporting the bottom of the servo electric slide 3 is installed at the lower part of the machine frame 6. A switch 63 is installed on the bottom surface of the support base plate 62. The outer side of the machine frame 6 is covered with a shell 9. A control button 91 is installed on the shell 9 on one side of the switch 63.
[0016] The method of using this utility model is as follows: First, the base 1 is installed on the secondary lining trolley through bolt holes. During concrete pouring, the servo electric slide 3 controls the vibrator 4 to extend into the concrete for vibration. If the vibrator 4 encounters the reinforcing mesh and is obstructed, the servo electric slide 3 will be overloaded. At this time, the torque required for rotation increases. The servo electric slide 3 transmits this overload signal to the servo controller 7 through the encoder line. The servo controller 7 then transmits the data to the PLC controller 8. After receiving this signal, the PLC controller 8 controls the servo electric slide 3 to retract according to the set program, and then controls the servo rotary motor 5 to rotate. When the servo rotary motor 5 rotates at a certain angle, it rotates relative to the internal gear ring 12 through the gear 51, causing the turntable 2 to rotate 30°, 45°, 60°, etc. along the base 1. At this time, the extended end of the vibrator 4 avoids the steel mesh, thereby achieving the purpose of avoiding the steel bars. Since the servo controller 7 and the PLC controller 8 are both located inside the machine frame 6, their wires are short and their response speed is fast. They can compress the process of the traditional PLC processing current threshold signal from 200~500ms to 50ms, and there is no need to worry about the loosening of connectors or aging of lines caused by external line exposure.
[0017] 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 modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.
Claims
1. An integrated insert vibratory compactor with automatic obstacle avoidance, characterized in that: The system includes a base (1), a turntable (2), a servo-electric slide (3), a vibrating rod (4), and a servo-electric rotary motor (5). The base (1) has a circular opening (11) machined in the middle. A rotatable turntable (2) is coaxially mounted on the lower part of the circular opening (11). The servo-electric rotary motor (5) is eccentrically mounted on the turntable (2). The output shaft of the servo-electric rotary motor (5) passes through the turntable (2) and is connected to a gear (51). An internal gear ring (12) that meshes with the gear (51) is mounted on the upper part of the circular opening (11). The servo-electric rotary motor (5) can adjust the rotation angle of the turntable (2) within the circular opening (11) by rotating. A cover plate (13) is installed on the base (1) to seal the circular opening (11). The servo-electric slide (3) is mounted on the turntable (2). At the bottom, the extension direction of the servo electric slide (3) is perpendicular to the end face of the turntable (2). The mounting base of the servo electric slide (3) is equipped with a vibrating rod (4) that passes eccentrically through the turntable (2) and the cover plate (13). The bottom surface of the turntable (2) is also equipped with a housing frame (6) that wraps the servo electric slide (3), the vibrating rod (4) and the servo rotary motor (5). The housing frame (6) is equipped with a partition (61) that separates the servo rotary motor (5) and the servo electric slide (3). The partition (61) is equipped with a servo controller (7) and a PLC controller (8) on the side wall of the partition (61) near the servo rotary motor (5). The PLC controller (8) is connected to the servo electric slide (3) and the servo rotary motor (5) through the two servo controllers (7) respectively.
2. The integrated insert vibrator with automatic obstacle avoidance as described in claim 1, characterized in that: The cover plate (13) is equipped with a sealing ring that mates with the vibrating rod (4).
3. The integrated insert vibrator with automatic obstacle avoidance as described in claim 1, characterized in that: The lower part of the frame (6) is equipped with a support base plate (62) that supports the bottom of the servo electric slide (3). A switch (63) is installed on the bottom surface of the support base plate (62). The frame (6) is wrapped with a shell (9). A control button (91) is installed on the shell (9) on one side of the switch (63).