CN106437162A - Concrete cast-in-place robot suitable for special-shaped surface - Google Patents
Concrete cast-in-place robot suitable for special-shaped surface Download PDFInfo
- Publication number
- CN106437162A CN106437162A CN201611127502.6A CN201611127502A CN106437162A CN 106437162 A CN106437162 A CN 106437162A CN 201611127502 A CN201611127502 A CN 201611127502A CN 106437162 A CN106437162 A CN 106437162A
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- working chamber
- walking
- mould
- sensor
- concrete cast
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention discloses a concrete cast-in-place robot suitable for a special-shaped surface. The concrete cast-in-place robot comprises a forming die, a distributing mechanism, a walking working cavity and a squeezing device. The right side of the forming die is provided with the squeezing device, the right side of the squeezing device is provided with the walking working cavity, a hydraulic cylinder is horizontally arranged in the walking working cavity and connected with a hydraulic station, the upper end of the squeezing device is provided with a storage hopper, a frame at the left end of the storage hopper is provided with the distributing mechanism, the storage hopper is connected with a walking track through a connecting piece, and the walking track is horizontally arranged on the top surface of the walking working cavity. A servo vibration box is arranged in the forming die. A linear displacement sensor is arranged at the right end of the hydraulic station. The hydraulic station and the linear displacement sensor are connected with an integrated console. According to the concrete cast-in-place robot, the concrete pouring thickness and strength are uniform, the flatness and straightness are good, and the concrete cast-in-place robot is particularly suitable for concrete pouring of the special-shaped surface and has the advantages of being high in production efficiency, saving time and labor and being capable of greatly reducing human cost.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of concrete cast-in-situ robot suitable for Special-Shaped Surface, belongs to
Concrete cast-in-situ equipment technical field.
Background technology
Concrete cast-in-situ construction technology is a kind of concrete construction process by the placing on the spot of engineering position.As scene fills
Concrete is built often by the climatic factor such as wind and rain, temperature and humidity, site condition, transportation range, planform and locations of structures
Impact, therefore, the aspect such as preparation in raw material, stirring technique, way of transportation, placing mode, maintenance process, will be according to reality
Border situation and possible condition, are taken appropriate measures respectively, so that concrete is avoided or subtract during prepare, be molded into hardening
The interference of few various unfavorable conditions and destruction.Domestic existing concrete cast-in-situ equipment is gradually improved, but in production shaped face
Thickness is yet suffered from when (U-type groove, ladder-type trough, bridge floor, concrete road surface) and intensity is uneven, flatness and linearity are poor
Defect, during artificial operating cost, arduously, production efficiency is relatively low.
Content of the invention
In order to solve the weak point existing for above-mentioned technology, the invention provides a kind of concrete suitable for Special-Shaped Surface
Cast-in-place robot.
In order to solve above technical problem, the technical solution used in the present invention is：A kind of concrete suitable for Special-Shaped Surface
Cast-in-place robot, including mould, it also includes material-feeding mechanism, walking working chamber, compacted device；The right side of mould sets
It is equipped with compacted device；The right side of compacted device is provided with walking working chamber；Walking work intracavity is horizontally disposed hydraulic cylinder；Hydraulic pressure
Cylinder is connected with Hydraulic Station；Hydraulic Station is arranged at the right part upper end of walking working chamber；
The upper end of compacted device is provided with storage bin hopper；Material-feeding mechanism, right-hand member frame is provided with the left end frame of storage bin hopper
On be provided with level-sensing device；Storage bin hopper is connected with traveling crawler by connector；Traveling crawler is horizontally placed on walking working chamber
Top surface on；
The upper end of hydraulic cylinder, lower end are provided with guide post；The right-hand member of guide post be fixed on walking work intracavity, left end according to
Secondary from walking working chamber, pass and be fixed on mould by locking nut in compacted device；It is provided with mould
Servo vibration case；
The right-hand member of servo vibration case is provided with vibrating sensor；Humidity sensor is fixedly installed on the right flank of mould
Device and density sensor, humidity sensor is arranged at the top of density sensor；Speed is provided with the left wall of walking working chamber
Sensor；Velocity sensor, density sensor may be contained within the lower end of guide post；
The right-hand member of Hydraulic Station is provided with linear displacement transducer；Hydraulic Station, vibrating sensor, humidity sensor, density are passed
Sensor, velocity sensor are all connected with integrated control station by transmitting device；Integrated control station is also connected with generating set；
Generating set is arranged at the left part upper end of mould.
The left side of mould is provided with joint-cutting knife.The right side of walking working chamber is provided with whole actual load and puts.Walking working chamber
Bottom surface on be provided with secondary apparatus for leveling.
Oiliness bearing is all equipped with guide post；Oiliness bearing is arranged on the left surface of walking working chamber.
The present invention has the advantages that casting concrete thickness and even intensity, flatness and linearity are good, is particularly suitable for
Concreting to shaped face, with production efficiency height, saves time, laborsaving, the advantage of human cost can be greatly lowered.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is electric control structure figure.
Fig. 3 is hydraulic principle schematic diagram.
Fig. 4 is electronic schematic diagram.
In figure：1st, generating set；2nd, joint-cutting knife；3rd, mould；4th, servo vibration case；5th, material-feeding mechanism；6th, storage bin hopper；
7th, level-sensing device；8th, integrated control station；9th, Hydraulic Station；10th, whole actual load is put；11st, locking nut；12nd, oiliness bearing；13rd, guide post；
14th, hydraulic cylinder；15th, secondary apparatus for leveling；16th, traveling crawler；17th, humidity sensor；18th, velocity sensor；19th, density sensing
Device；20th, vibrating sensor；21st, linear displacement transducer；22nd, compacted device；23rd, walking working chamber 24, main oil pump；25th, secondary oil
Pump；26th, fltting speed；27th, propulsion cylinder；28th, pressure switch；29th, rammed earth pressure；30th, rammed earth cylinder；31st, joint-cutting cylinder；32nd, send out
Motor；33rd, main switch；34th, shortcoming pressure phase protection；35th, AC-DC conversion；36th, accumulator；37th, constant voltage circuit；38th, lock is opened
Close；39th, private takes driver；40th, ac driver；41st, diesel engine；42nd, generating set Diesel Driven motor；43rd, electromotor
Group diesel engine stop drives solenoid；44th, fltting speed control hydraulic proportion valve；45th, consolidation control hydraulic proportion valve；
46th, control device；47th, main oil pump motor；48th, auxiliary oil pump motor；49th, private takes electromagnetic shaker；50th, blanking motor is aided in；51st, push away
Dynamic cylinder；52nd, joint-cutting cylinder；53rd, rammed earth cylinder.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As shown in figure 1, the present invention includes mould 3, it also includes material-feeding mechanism 5, walking working chamber 23, compacted device
22；The right side of mould 3 is provided with compacted device 22；The right side of compacted device 22 is provided with walking working chamber 23；Walking work
Make to be horizontally disposed with chamber 23 and have hydraulic cylinder 14；Hydraulic cylinder 14 is connected with Hydraulic Station 9；Hydraulic Station 9 is arranged at walking working chamber 23
Right part upper end；After Hydraulic Station 9 starts, hydraulic cylinder 14 can be driven to work, so as to drive compacted device 22 or so to run, pour out
Adapt to the shaped face of mould.
The upper end of compacted device 22 is provided with storage bin hopper 6；Material-feeding mechanism 5, right-hand member is provided with the left end frame of storage bin hopper 6
Level-sensing device 7 is provided with frame；Material-feeding mechanism 5 is uniform with cloth, the as many advantage of each feeding amount.Level-sensing device 7 can be right
The height of material is detected.Storage bin hopper 6 is connected with traveling crawler 16 by connector；Traveling crawler 16 is horizontally placed on row
Walk on the top surface of working chamber 23；
The upper end of hydraulic cylinder 14, lower end are provided with guide post 13；The right-hand member of guide post 13 is fixed on walking working chamber 23
Interior, left end is passed and is fixed on mould 3 by locking nut 11 successively from walking working chamber 23, compacted device 22；
When hydraulic cylinder 14 starts, back and forth movement is done by guide post 13 and drives compacted device 22 to clamp with mould 3 or loosen.
Servo vibration case 4 is provided with mould 3；The right-hand member of servo vibration case 4 is provided with vibrating sensor 20；Pass through
Vibrating sensor 20 controls the vibration amplitude of servo vibration case 4, so as to drive storage bin hopper 6 uniformly to vibrate, makes blanking effect more preferable.
Humidity sensor 17 and density sensor 19, humidity sensor 17 is fixedly installed on the right flank of mould 3
It is arranged at the top of density sensor 19；Humidity sensor 17 and density sensor 19 are respectively used to the wet of Monitoring and Controlling concrete
Degree and compacted density.Velocity sensor 18 is provided with the left wall of walking working chamber 23；Velocity sensor 18, density sensor 19
May be contained within the lower end of guide post 13；
The right-hand member of Hydraulic Station 9 is provided with linear displacement transducer 21, for controlling the linearity of walking；Hydraulic Station 9, vibration
Sensor 20, humidity sensor 17, density sensor 19, velocity sensor 18 are all by transmitting device and 8 phase of integrated control station
Connection；Integrated control station 8 is also connected with generating set 1；Generating set 1 is arranged at the left part upper end of mould 3.
The left side of mould 3 is provided with joint-cutting knife 2.The right side of walking working chamber 23 is provided with whole actual load and puts 10, whole reality
Device 10 is with whole function that is real, removing remaining soil.Secondary apparatus for leveling 15 is provided with the bottom surface of walking working chamber 23.Guide post
Oiliness bearing 12 is all equipped with 13；Oiliness bearing 12 is arranged on the left surface of walking working chamber 23.
Shut down from the startup of generating set 1, to formed product by the PLC host computer control on integrated control station 8, PLC master
Machine can be realized by operation button, sensor signal and remote control with interacting for equipment, and the ruuning situation of equipment passes through people
Machine interface is set and is shown, as shown in Figure 2.The present invention has airborne operation, short range remote operation, remote monitoring activities three
Plant optional mode of operation；Setting up short range remote mode of operation can make operator not affected to carry out adjustment equipment by sight line
Energy；The labor force that remote monitoring activities mode can effectively mitigate care provider is set up, while can also strengthen answering scene
The manipulation ability of urgent thing feelings.Additionally, the present invention can be connected with multimedia equipment, engineering archiveization management is realized；By in equipment
On set up multi-faceted Airborne camera, can see in remote monitoring and look into, at the same remote port can matching computer and PLC main frame realize
Online transfer parameter setting in PLC at any time, sensor parameter value, can the ancillary equipment such as networked printer, effectively recording numerical value can
Put on record for production from now on and refer to.
As shown in figure 4, the electrical principle of the present invention is：
1) working power being provided by stand-by power supply (accumulator) to PLC main frame, completes with PLC host-initiated generating set
Afterwards, PLC main frame is fed back to according to shortcoming pressure phase sequence relay signal, PLC main frame is connected to after confirming that generating set is working properly, from
Dynamic Switching power is to generating set, and stand-by power supply is charged for future use.
2) start major-minor oil pump, the work of major-minor oil pump is while also by respective in addition to the protection by shortcoming pressure phase sequence relay
Overload protection institute chain, these all carry out systematization control by PLC main frame.
3) vibration amplitude of servo vibration case is set according to the formula of raw material, the situation of job site, while being aided with wet
Degree sensor, vibrating sensor are finely tuning.
4) blanking system is aided in, and formula according to raw material, level-sensing device, humidity sensor are automatically adjusting.
5) forward operation, according to vibrating sensor, hydraulic cylinder is spacing, remembers long rotary encoder control propulsion ratio throttling
Valve, double end valve；Infrared induction control crawler belt brakes to realize.
6) lancing operation, according to pre-set parameter, remembers long rotary encoder value of feedback come the control action time, according to position
Sense to control joint-cutting depth.
7) rammed earth operation, by rammed earth pressure setup control proportional pressure valve, feeds back signal to PLC by pressure switch
Confirm the degree of compaction of ground.
9) operation signal is sent by short range remote operation by wireless remote control button, by reception of wireless signals plate letter
Number it is given to PLC main frame to operate.
10) remote monitoring activities, PLC main frame sets up LAN by mixed-media network modules mixed-media through wireless router, and scene PLC is joined
Number signal and actuating signal pass to on-site working (monitoring) room PLC main frame, and office can be provided to scene by guarding PLC main frame
Early warning and emergency shutdown are processed, and field conditions are beamed back office again by LAN by the CCTV camera that installs on equipment,
Office can pass through the equipment such as computer printer record scene.
As shown in figure 3, the hydraulic principle of the present invention is：
1) Double-hydraulic circuit system is adopted；
2), in hydraulic circuit system one, chief pumpman passes through overflow valve control system pressure, passing ratio choke valve control after making
Propulsion cylinder speed processed, by the O-shaped valve control direction of double end；
3), in hydraulic circuit system two, chief pumpman lifts joint-cutting cylinder, the speed of rammed earth cylinder after making by air bottle type accumulator
Spend and control overflow valve control system pressure；Passing ratio pressure valve controls sudden-pressure relay to control the dynamics of rammed earth cylinder, double
O-shaped valve controls rammed earth cylinder direction；Control the joint-cutting precision of joint-cutting cylinder by one-way throttle valve, the O-shaped valve of double end controls joint-cutting cylinder
Direction；
4) oil-feed of Double-hydraulic circuit system all using filter screen arrange in pairs or groups manual switch valve, fuel-displaced be aided with water-cooled through heat exchanger,
Air-cooled；
5), in hydraulic circuit system two, working connection check valve plays directional pressure protection and reduces pump start motor load.
The operation principle of the present invention is：Starter-generator group 1 and Hydraulic Station 9, feed to level-sensing device 7 toward in storage bin hopper 6
Position, for precise control feeding quantity, material-feeding mechanism 5 is started cloth by the control of humidity sensor 17, and whole real machine structure 10 is simultaneously
Work, material is sent to compacted device 22, and velocity sensor 18 controls the speed of service of compacted device 22, and vibrating sensor 20 is controlled
The amplitude of servo vibration case 4 processed, linear displacement transducer 21 is controlled the linearity of walking and is corrected by traveling crawler 16 in time
Direction, when walking to predetermined apart from when joint-cutting is completed by 2 action of joint-cutting knife.
The present invention compared with conventional art, have in shaped face concrete cast-in-situ thickness and even intensity, flatness and
The good advantage of linearity；Automatic Control, operation more save time, laborsaving, production efficiency can be increased substantially and reduce manpower
This；The concrete cast-in-situ that mould can achieve difference Special-Shaped Surface is changed, adaptability is very strong.
Above-mentioned embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, and this technology is led
Change, remodeling, interpolation or replacement that the technical staff in domain is made in the range of technical scheme, also belong to this
Bright protection domain.
Claims (5)
1. a kind of concrete cast-in-situ robot suitable for Special-Shaped Surface, including mould (3), it is characterised in that：It also includes
Material-feeding mechanism (5), walking working chamber (23), compacted device (22)；The right side of mould (3) is provided with compacted device
(22)；The right side of compacted device (22) is provided with walking working chamber (23)；It is horizontally disposed with walking working chamber (23)
There is hydraulic cylinder (14)；Hydraulic cylinder (14) are connected with Hydraulic Station (9)；Hydraulic Station (9) are arranged at walking working chamber
(23) right part upper end；
The upper end of compacted device (22) is provided with storage bin hopper (6)；Cloth is provided with the left end frame of storage bin hopper (6)
Level-sensing device (7) is provided with mechanism (5), right-hand member frame；Described storage bin hopper (6) are connected with traveling crawler (16) by connector
Connect；Traveling crawler (16) are horizontally placed on the top surface of walking working chamber (23)；
The upper end of hydraulic cylinder (14), lower end are provided with guide post (13)；The right-hand member of guide post (13) is fixed and is expert at
Walk in working chamber (23), left end is passed and successively by locking nut (11) from walking working chamber (23), compacted device (22)
It is fixed on mould (3)；Servo vibration case (4) is provided with mould (3)；
The right-hand member of servo vibration case (4) is provided with vibrating sensor (20)；Fixing on the right flank of mould (3)
Humidity sensor (17) and density sensor (19) is provided with, humidity sensor (17) is arranged at the upper of density sensor (19)
Side；Velocity sensor (18) is provided with the left wall of walking working chamber (23)；Velocity sensor (18), density sensing
Device (19) may be contained within the lower end of guide post (13)；
The right-hand member of Hydraulic Station (9) is provided with linear displacement transducer (21)；Hydraulic Station (9), vibrating sensor (20),
Humidity sensor (17), density sensor (19), velocity sensor (18) are all connected with integrated control station (8) by transmitting device
Connect；Integrated control station (8) are also connected with generating set (1)；Generating set (1) is arranged at mould (3)
Left part upper end.
2. the concrete cast-in-situ robot suitable for Special-Shaped Surface according to claim 1, it is characterised in that：The shaping mould
The left side of tool (3) is provided with joint-cutting knife (2).
3. the concrete cast-in-situ robot suitable for Special-Shaped Surface according to claim 1, it is characterised in that：The walking work
The right side for making chamber (23) is provided with whole actual load and puts (10).
4. the concrete cast-in-situ robot suitable for Special-Shaped Surface according to claim 1 or 3, it is characterised in that：The row
Secondary apparatus for leveling (15) is provided with the bottom surface for walking working chamber (23).
5. the concrete cast-in-situ robot suitable for Special-Shaped Surface according to claim 1, it is characterised in that：The guide post
(13) oiliness bearing (12) is all equipped with；Oiliness bearing (12) are arranged on the left surface of walking working chamber (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611127502.6A CN106437162A (en) | 2016-12-09 | 2016-12-09 | Concrete cast-in-place robot suitable for special-shaped surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611127502.6A CN106437162A (en) | 2016-12-09 | 2016-12-09 | Concrete cast-in-place robot suitable for special-shaped surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106437162A true CN106437162A (en) | 2017-02-22 |
Family
ID=58216961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611127502.6A Pending CN106437162A (en) | 2016-12-09 | 2016-12-09 | Concrete cast-in-place robot suitable for special-shaped surface |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222512A (en) * | 2018-03-16 | 2018-06-29 | 武汉理工大学 | The intelligence manufacture method of aggregate interlocking type concrete |
| CN112962969A (en) * | 2021-04-07 | 2021-06-15 | 曹丽亚 | Door frame grouting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222512A (en) * | 2018-03-16 | 2018-06-29 | 武汉理工大学 | The intelligence manufacture method of aggregate interlocking type concrete |
| CN112962969A (en) * | 2021-04-07 | 2021-06-15 | 曹丽亚 | Door frame grouting method |
| CN112962969B (en) * | 2021-04-07 | 2022-12-06 | 新疆龙城建设工程有限公司 | Door frame grouting method |
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Application publication date: 20170222 |
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