Flat vibrating robotTechnical Field
The invention relates to the field of building equipment, in particular to a flat-plate vibrating robot.
Background
At present, the vibrating mode of pouring concrete plates in civil engineering is mainly realized through a handheld vibrating rod and a flat vibrator, and the concrete construction condition is that a constructor inserts the handheld vibrating rod into concrete for vibrating, or the constructor drags the flat vibrator to finish pouring vibrating work of the concrete plates. Secondly, automatic vibrating equipment is adopted to perform manual intervention in a single environment for vibrating.
The traditional construction vibration mode has the following defects of 1. Large manual requirement, low construction efficiency, unstable quality and large human factor, and 2. Single vibration mode, and can not use different concrete types and construction environments.
Disclosure of Invention
The invention provides a flat plate type vibrating robot for solving the technical problems of insufficient vibration and low construction efficiency of a large-area concrete slab pouring vibrating rod.
In order to achieve the above purpose, the technical solution of the present invention is as follows:
the utility model provides a flat vibrating robot, includes vibrating bottom plate, vibrating motor, power control case, driving control case and independent drive arrangement, and vibrating bottom plate and vibrating motor pass through bolted connection, and power control case and driving control case all are connected with vibrating bottom plate, install acquisition facility on the vibrating motor, drive the incasement and install wireless receiving conveyer, wireless receiving conveyer receives motor real-time working current and operating time data and send control command from acquisition facility.
As the preferable technical scheme, a vibration reduction system is arranged between the power control box and the vibrating bottom plate, and a vibration reduction device is arranged between the driving control box and the vibrating bottom plate.
As the preferable technical scheme, the independent driving device comprises a self-adaptive independent suspension lifting device, an independent driving wheel hub, a hydraulic motor and a detachable wheel rod, wherein the independent driving wheel hub is connected with the self-adaptive independent suspension lifting system, the self-adaptive independent suspension lifting system is connected with the vibrating bottom plate, and the hydraulic motor is in transmission connection with the independent driving wheel hub.
As the preferable technical scheme, a hexagonal mango wheel is formed by an independent driving hub and six peripheral detachable wheel bars.
As the preferable technical scheme, the number of the hydraulic motors and the hexagonal mango wheels is four, and the hexagonal mango wheels are distributed in pairs on the left side and the right side of the robot.
As the preferable technical scheme, the self-adaptive independent suspension lifting device comprises four hydraulic cylinders which are in one-to-one correspondence with the hexagonal mango wheels, and the hydraulic cylinders are in transmission connection with the hexagonal mango wheels to realize the extension and retraction of the hexagonal mango wheels.
As the preferable technical scheme, a displacement sensor and a pressure sensor are arranged on the hydraulic cylinder.
As the preferable technical scheme, the driving control box is provided with an unmanned control system, and the unmanned control system is integrated with a laser radar, a GNSS positioning system, an inertial navigation system, a camera, a millimeter wave radar and an industrial control computer.
Compared with the prior art, the flat plate type vibrating robot has the beneficial effects that:
(1) The unmanned and autonomous decision-making technology enables the vibrating equipment to autonomously complete the vibrating task under the condition of unmanned operation, so that the labor cost is saved and the construction efficiency is improved.
(2) Through the control of the current and the working time, the uniform compaction of the concrete is ensured through uniform automatic vibration, and the construction quality is improved;
(3) The multi-wheel driving wheel independent driving and self-adaptive active suspension lifting device is adopted, so that the vibrating robot can climb over complex environments such as steel bars, the capability of passing through an uneven working surface is improved, and the application range is enlarged.
Drawings
Fig. 1 is a schematic view of the overall structure of a flat type vibrating robot of the present invention;
fig. 2 is a schematic structural view of a hexagonal wheel in the flat type vibrating robot of the present invention.
In the figure, the base plate is vibrated, the motor is vibrated, the power control box is driven, the driving control box is driven, the independent driving device is driven, the self-adaptive independent suspension lifting device is driven, the independent driving wheel hub is driven, the hydraulic motor is driven, and the wheel rod is detached.
Detailed Description
The technical scheme of the invention is further described below with reference to the specific embodiments:
as shown in fig. 1, a flat-plate vibrating robot comprises a vibrating base plate 1, a vibrating motor 2, a power control box 3, a driving control box 4 and an independent driving device 5, wherein the vibrating base plate 1 and the vibrating motor 2 are connected through bolts, the power control box 3 and the driving control box 4 are connected with the vibrating base plate 1, a vibration reduction system is arranged between the power control box 3 and the vibrating base plate 1, and a vibration reduction device is arranged between the driving control box 4 and the vibrating base plate 1. The vibration motor 2 is provided with acquisition equipment for acquiring real-time working current and working time data of the vibration motor 2, and the driving control box 4 is internally provided with a wireless receiving and transmitting device which can send and receive control instructions and working current and time reports through mobile phone programs.
The flat plate type vibrating robot adopts a classical flat plate type vibrating machine structure, and the structure mainly comprises a vibrating bottom plate 1 and a vibrating motor 2, so that the vibrating probability and the vibrating time during vibrating can be accurately controlled and monitored, and the quality of concrete vibrating is improved.
The independent driving device 5 comprises an adaptive independent suspension lifting device 501, an independent driving wheel hub, a hydraulic motor 503 and a detachable wheel rod 504, wherein the independent driving wheel hub is connected with an adaptive independent suspension lifting system, the adaptive independent suspension lifting system is connected with the vibrating base plate 1, and the hydraulic motor 503 is in transmission connection with the independent driving wheel hub 502.
As shown in fig. 2, a separate drive hub 502 and peripheral six removable wheel bars 504 form a hexagonal wheel. The detachable wheel rod 504 can be replaced at will according to working conditions, and the inner side of the wheel is provided with an arc elastic hub, so that the tire cannot damage the steel bars when crossing the steel bar mesh. The hexagonal mango wheel can be matched and replaced according to the thickness required by the working surface.
The number of the hydraulic motors 503 and the number of the hexagonal mango wheels are four, the four hexagonal mango wheels are respectively and independently driven by the four hydraulic motors 503, the four hydraulic motors 503 are divided into two groups, the two hydraulic motors 503 on the left side are one group, the two hydraulic motors on the right side are one group, the power is provided by the constant-power variable plunger pumps controlled by two electrohydraulic proportions respectively, and the current divider is utilized for current division. In order to ensure the stability of the vehicle in straight running, the traction balance of the four hydraulic motors 503 is ensured, and meanwhile, the flow is automatically distributed on the basis of ensuring the balance traction by utilizing a hydraulic resistance control technology. When one or more hydraulic motors 503 idle due to the fact that the working surface is too slippery or falls into a pit, the power of the hydraulic motors 503 is cut off and is automatically distributed to other hexagonal wheels, so that each hydraulic motor 503 needs to be independently controlled, the running state (including parameters such as motor rotation speed, oil inlet and outlet pressure and the like) is monitored in real time, and a control system correspondingly adjusts according to the parameters.
The flat vibrating robot adopts the four-wheel independent driving device 5, and can realize the accessible passing through complex construction site roads such as wading working surfaces, reinforcing steel bars grids and the like. In order to ensure the application range of the robot, besides adopting the hexagonal wheel, the robot is required to have balanced traction force for each driving wheel under various complex working surface conditions. In order to ensure the running safety of the vibrating robot, the robot is required not to tip over when passing through a slope working surface, the robot is required to have enough traction force when passing through a smooth working surface, and the robot is required to have better smoothness when passing through an uneven working surface.
The self-adaptive independent suspension lifting device 501 comprises four hydraulic cylinders which are in one-to-one correspondence with the hexagonal wheels, and the hydraulic cylinders are in transmission connection with the hexagonal wheels to realize the extension and retraction of the hexagonal wheels. Each hydraulic cylinder is provided with a displacement sensor and a pressure sensor, and the control system monitors the state of each hydraulic cylinder at any time so as to ensure that the robot has good trafficability under different working surface conditions. When the robot runs on a flat working surface, the four hydraulic cylinders are all retracted, the hydraulic system is used for realizing passive suspension, the ground clearance of the robot is minimized, the gravity center of the robot is reduced to improve the safety of the robot during high-speed running, when the robot passes through the uneven working surface, the control system detects the state of each hexagonal wheel, if a pit is arranged in front of the robot, the control cylinder extends outwards until the hexagonal wheel is reliably contacted with the ground, the height of the chassis of the trolley is improved, and if a raised obstacle is detected in front of the robot, the control cylinder is sequentially retracted, and the reliable contact of the hexagonal wheels with the ground is ensured in the process. If one crawler wheel exceeds the adjustment range of the oil cylinder due to too deep pit, the control system also needs to cut off the power of the crawler wheel and distribute the power to other driving wheels. When the automatic control device works, the chassis height can be automatically adjusted according to the working environment so as to adapt to the working environment.
The flat plate type vibrating robot is provided with an intelligent vibrating system, and the intelligent vibrating system is a key link for ensuring the vibrating construction quality. The intelligent vibrating system needs to quickly and accurately sense various parameters in the vibrating process, such as position information of vibrating equipment, compactness of concrete and the like. Through integrating multiple sensors and data analysis technology, the intelligent vibrating system can monitor and control vibrating operation in real time, and finally a comprehensive quality monitoring platform is formed. The intelligent vibrating system integrates a GPS positioning module, an angle sensor (or a gyroscope), a laser radar, an ultrasonic distance meter, a hydraulic sensor and other devices. The vibration position information, the distance, the depth, the inclination angle and other data can be automatically acquired, and the accuracy and the consistency of the vibration operation are ensured. The current acquisition equipment is arranged on the vibrating motor 2, the vibrating state is monitored in real time, the running state of the equipment is judged through current change, data are transmitted to the driving control box 4 through the wireless receiving and transmitting device, and the working state and time of the vibrating motor 2 are displayed in real time.
The unmanned control system is installed to the driving control box 4, and unmanned control system integration has laser radar, GNSS positioning system, inertial navigation system, camera, millimeter wave radar and industrial control computer etc. through upper and lower computer control architecture realization unmanned. The user can freely switch between unmanned and manual driving modes, and flexibility is ensured. The point cloud data is used for map creation and real-time positioning, so that dependence on satellite signals and the performance of inertial equipment can be effectively reduced, and the positioning accuracy and reliability are improved.
The present embodiment is further explained by the present invention and is not limited thereto, and those skilled in the art can make modifications to the present embodiment without inventiveness as required after reading the present specification, but are protected by patent laws within the scope of the appended claims.