CN115749285A - Concrete on-site automatic pouring system and construction method thereof - Google Patents
Concrete on-site automatic pouring system and construction method thereof Download PDFInfo
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- CN115749285A CN115749285A CN202211374386.3A CN202211374386A CN115749285A CN 115749285 A CN115749285 A CN 115749285A CN 202211374386 A CN202211374386 A CN 202211374386A CN 115749285 A CN115749285 A CN 115749285A
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Abstract
The invention discloses a concrete on-site automatic pouring system and a construction method thereof. The track is arranged at the top of the template, and the walking mechanical device comprises a walking mechanism and a mechanical arm; the telescopic cantilever rod is arranged on the walking mechanical device; the distance meter is arranged at the end part of the telescopic cantilever rod and used for measuring the concrete pouring height in the template; the controller is internally preset with the position of a concrete pouring section and concrete pouring parameters. This gating system can measure the interior concrete placement height of template through the distancer to with in the controller each layer of predetermined concrete placement height, the final placement height carry out the comparison, judge whether the concrete removes to next section of pouring, thereby control running gear walking, realize concrete automatic pouring, improve the degree of automation of construction, and make concrete slurry evenly distributed, effectively guarantee concrete construction quality.
Description
Technical Field
The invention relates to a concrete on-site automatic pouring system and a construction method thereof, belonging to the technical field of concrete construction.
Background
At present, large-volume concrete templates mainly comprise integral large templates and combined large templates, after the templates are supported, steel columns arranged in advance in the large-volume concrete, a large number of bound threaded steel bars and stirrups are added, so that the sight of the on-site concrete casting is dim, the on-site concrete casting usually depends on visual inspection and experience to judge the distribution condition of the concrete in a surrounded template cavity, and then whether a material distribution port is moved is determined, but the concrete in the on-site template is smooth, is difficult to judge whether the concrete is uniform due to dim light and obstruction of steel plates and reinforcing bars, the specific position is uneven and unclear, workers can only operate on the casting route according to experience and feel, the concrete is shifted until obvious material pushing is generated, or a vibrating rod is evacuated, and although the concrete can be self-compacted, the concrete is subjected to joint reinforcement and untimely treatment to cause material piling and hollow bulging, so that the later-stage quality of the concrete is influenced. During on-site pouring, large-volume concrete pouring amount is large, continuous and uninterrupted construction is needed, a two-shift and three-shift mode is generally adopted during manual pouring, a scaffold operation platform can be supported at the periphery of a pouring formwork, the workload is large, a large amount of overhead workload exists, the on-site space arrangement is narrow, the working environment is poor, and the like.
Therefore, there is a need to develop an automatic concrete on-site pouring system and a construction method thereof.
Disclosure of Invention
The application provides a concrete on-site automatic pouring system and a construction method thereof, which are used for solving the problems that the pouring strength is high, continuous construction is difficult, workers are difficult to judge when to move a distributing pipe and the like during large-volume concrete pouring.
In order to solve the technical problems, the invention comprises the following technical scheme:
a concrete on-site automatic pouring system comprises a template, a track, a walking mechanical device and a controller;
the track is arranged at the top of the template and arranged along the length direction of the template;
the walking mechanical device comprises a walking mechanism and a mechanical arm; the travelling mechanism can travel along the track, and the mechanical arm is used for supporting the distributing pipe;
the telescopic cantilever rod is arranged on the walking mechanical device; the distance measuring instrument is arranged at the end part of the telescopic cantilever rod and is used for measuring the concrete pouring height in the template;
the position of a concrete pouring section and the final concrete pouring height H are preset in the controller Z The method comprises the following steps of (1) pouring the layer number M, the pouring height L of each layer and a concrete height difference control parameter delta H in a template; and controlling the travelling mechanism to automatically travel and pour concrete according to the pouring height measured by the distance measuring instrument.
Furthermore, the template is provided with a corner, and the track comprises a first straight track section, a second straight track section and a corner connecting section; the corner connecting section is arranged at a corner of the template, and the first straight rail section and the second straight rail section are respectively arranged on the templates at two sides of the corner connecting section;
and a rotating mechanism is arranged below the corner connecting section, and when the travelling mechanism moves to the corner connecting section through the first straight rail section, the rotating mechanism can drive the corner connecting section and the travelling mechanical device to rotate, so that the travelling mechanism rotates to the direction of the second straight rail section, and the travelling mechanism crosses the corner of the template.
Further, the last 5G camera device that is provided with of walking mechanical device uploads information such as the concrete cloth condition, cloth machine position to remote monitoring terminal.
Correspondingly, the application also provides a construction method of the concrete on-site automatic pouring system, which comprises the following steps:
step one, hoisting the template in place, installing and fixing the template, installing a track and a walking mechanical device at the top of the template, fixing a material distribution pipe at one end of the walking mechanical device, installing a telescopic cantilever rod on the walking device, and arranging a distance meter at the end part of the telescopic cantilever rod;
step two, dividing the pouring area into a plurality of pouring sections, and arranging the positions of the concrete pouring sections and the final pouring height H in the controller Z And a pouring layerCounting M, pouring height L of each layer and a concrete height difference control parameter delta H in the template;
thirdly, the controller controls the traveling mechanism to travel along the track, and the telescopic cantilever rod stretches and contracts and measures the concrete pouring height through the distance meter; controlling the walking speed of the walking mechanism at the corresponding position according to the elevation measured by the distance measuring instrument, and controlling the distribution amount of the concrete so that the casting height difference of the concrete meets the requirement;
step four, after the M-th layer of one casting section is cast, the controller controls the walking mechanical device to walk to the next casting section, the step three is repeated to complete the M-th layer of concrete casting until all casting areas are cast to the M-th layer, wherein M =1,2, \ 8230, M;
step five, pouring the concrete of all pouring sections to H Z And then, finishing construction.
Further, in the third step, in the process that the controller controls the traveling mechanism to travel along the track and pour concrete, the mechanical arm controls the material distribution pipe to move and pour in an S-shaped track; when the position reaches the boundary of the pouring section, the controller controls the traveling mechanism to travel reversely, and the mechanical arm controls the distributing pipe to move and pour in a reverse S-shaped track;
an S-shaped pouring path and a reverse S-shaped pouring path are used as a complete path; each layer of the concrete placement process includes one or more complete paths.
Furthermore, the template is provided with a corner, the track comprises a first straight rail section, a second straight rail section and a corner connecting section, the corner connecting section is arranged at the corner of the template, the first straight rail section and the second straight rail section are respectively arranged on the template at two sides of the corner connecting section, and a rotating mechanism is arranged below the corner connecting section;
in the fourth step, when the controller controls the walking mechanical device to walk to the next pouring section and meet the corner of the template, the walking mechanism walks to the corner connecting section along the first straight rail section and then brakes and clamps the corner connecting section, the rotating mechanism can drive the corner connecting section and the walking mechanical device to rotate together, the walking mechanism rotates to the direction of the second straight rail section, and the walking mechanism walks along the second straight rail section after being restarted.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the application provides a concrete site automatic casting system can measure the interior concrete placement height of template through the distancer to with in the controller each layer of predetermined concrete placement height, the final placement height carry out the comparison, judge whether the concrete removes to next section of pouring, thereby control running gear walking, realize concrete automatic casting. And the distance measuring instrument is arranged on the telescopic cantilever rod, a waveform monitoring path can be formed, and the measuring precision can meet the construction requirement by adjusting the wavelength of the waveform. The concrete on-site automatic pouring system is simple in structure and convenient to operate, can be assembled on site, can realize continuous and automatic pouring of concrete on site, improves the automation degree of construction, greatly reduces the on-site labor intensity, enables concrete slurry to be uniformly distributed, effectively guarantees the construction quality of concrete, and improves the on-site construction efficiency.
Drawings
FIG. 1 is a schematic structural diagram of an automatic on-site concrete pouring system according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a rail and a U-shaped fastener according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a guide rail at a corner of a template according to an embodiment of the present invention.
The numbers in the figures are as follows:
1-a distributing pipe;
10-a template;
20-track; 21-a U-shaped clasp 21; 22-a first straight rail section; 23-a second straight rail section; 24-corner connecting sections; 25-a rotation mechanism;
30-a walking mechanism; 31-a running gear; 32-a robotic arm; 33-a hydraulic clamp;
40-telescoping cantilever bar; 42-a distance meter.
Detailed Description
The concrete on-site automatic pouring system and the construction method thereof provided by the invention are further described in detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent in conjunction with the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Example one
As shown in fig. 1, the automatic on-site concrete pouring system provided in this embodiment includes a formwork 10, a track 20, a traveling mechanism 30, and a controller.
As shown in fig. 1, the rail 20 is disposed on the top of the form 10 and along the length of the form 10. Typically the form includes a face panel, a back edge and a frame, and the track 20 is secured to the upper frame of the form 10. Further, as shown in fig. 1 and fig. 2, a U-shaped fastener 21 is disposed below the rail 20, and the U-shaped fastener 21 is fastened to the top of the formwork 10, so that the rail 20 can be quickly installed and fixed. The U-shaped fastener 21 and the top of the template 10 can be connected through a bolt or can be directly welded and fixed.
As shown in fig. 1, the walking mechanism 30 includes a walking mechanism 31 and a robot arm 32. The travelling mechanism 31 can travel along the rail 20, and the mechanical arm 32 is used for supporting the distributing pipe 1. The walking mechanical device 30 is provided with a telescopic cantilever rod 40, the end of the telescopic cantilever rod 40 is provided with a distance meter 42, the distance meter 42 is used for measuring the concrete pouring height in the formwork 10, and the telescopic cantilever rod can adjust the measuring point position of the distance meter 42 through stretching. The telescopic cantilever rod telescopic superposition travelling mechanism 31 travels along the track 20 to form a waveform measuring point. When concrete is poured, the walking mechanism 31 walks slowly, the wave length of the waveform can be adjusted by controlling the stretching speed of the telescopic cantilever rod, and measurement is more accurate. For example, the cross section of the rail 20 is T-shaped or i-shaped, the traveling mechanism includes a driving motor, a transmission mechanism and a roller set, the roller set may be a buckle wheel, the roller set is buckled on a flange plate of the rail, and the driving motor drives the roller set to move along the rail through the transmission mechanism, so that the traveling mechanism moves along the rail. The buckling mode between the roller group and the flange plate can be realized by the prior art, and is not described again here. The mechanical arm adopts current multi freedom arm, and the mechanical arm front end is provided with hydraulically operated fixture, and hydraulically operated fixture centre gripping distributing pipe 1, and distributing pipe 1 bottom can set up the elephant nose head, sets up the cloth of being convenient for of elephant nose head.
The position of a concrete pouring section and the final concrete pouring height H are preset in the controller Z The number of pouring layers M, the pouring height L of each layer and a concrete height difference control parameter delta H in the template 10; and controlling the travelling mechanism 31 to automatically travel and pour concrete according to the pouring height measured by the distance measuring instrument 42. The controller is used for acquiring the concrete pouring height H measured by the distance measuring instrument 42 1 And calculating the average casting height H p When H is present p When the distance L is reached, the controller controls the travelling mechanism 31 to travel to the next pouring section along the track 20 to pour concrete; when H of all segments p All reach H Z And then, pouring the concrete.
The concrete on-site automatic pouring system provided by the embodiment can measure the concrete pouring height in the template 10 through the distance meter 42, and compare the concrete pouring height with the pouring height of each layer of concrete preset in the controller and the final pouring height to judge whether the concrete moves to the next pouring section, so that the travelling mechanism 31 is controlled to travel, and the automatic pouring of the concrete is realized. And the distance measuring instrument 42 is arranged on the telescopic cantilever rod, a waveform monitoring path can be formed, and the measuring precision can meet the construction requirement by adjusting the wavelength of the waveform. The concrete on-site automatic pouring system is simple in structure and convenient to operate, can be assembled on site, can realize continuous and automatic pouring of concrete on site, improves the automation degree of construction, greatly reduces the on-site labor intensity, enables concrete slurry to be uniformly distributed, effectively guarantees the construction quality of concrete, and improves the on-site construction efficiency.
In one embodiment, the form 10 is provided with corners, and the track 20 includes a first straight track section 22, a second straight track section 23, and corner connecting sections 24. The corner connecting section 24 is arranged at a corner of the formwork 10, and the first straight rail section 22 and the second straight rail section 23 are respectively arranged on the formwork 10 at two sides of the corner connecting section 24. The rotating mechanism 25 is arranged below the corner connecting section 24, and when the traveling mechanism 31 moves onto the corner connecting section 24 through the first straight rail section 22, the rotating mechanism 25 can drive the corner connecting section 24 and the traveling mechanical device 30 to rotate, so that the traveling mechanism 31 rotates to the direction of the second straight rail section 23, and the traveling mechanism 31 crosses the corner of the formwork 10.
In a specific embodiment, a 5G camera device is arranged on the walking mechanical device 30, and information such as concrete distribution condition and the position of the distributing machine is uploaded to a remote monitoring terminal, so that the field condition can be conveniently checked remotely in real time, and the system safety is improved.
Example two
The construction method of the automatic concrete pouring system in situ provided by the embodiment is further described with reference to fig. 1 to 3 and the embodiment. The construction method comprises the following steps:
firstly, hoisting the template 10 in place, installing and fixing, installing a track 20 and a walking mechanical device 30 on the top of the template 10, fixing a material distribution pipe 1 at one end of the walking mechanical device 30, installing a telescopic cantilever rod 40 on the walking device, and arranging a distance meter 42 at the end part of the telescopic cantilever rod 40;
step two, dividing the pouring area into a plurality of pouring sections, and arranging the positions (the starting point and the end point) of the concrete pouring sections and the final pouring height H in the controller Z The number of pouring layers M, the pouring height L of each layer and a concrete height difference control parameter delta H in the template 10;
step three, the controller controls the travelling mechanism 31 to travel along the track 20, the telescopic cantilever rod 40 is telescopic, and the concrete pouring height is measured through the distance meter 42; controlling the traveling speed of the traveling mechanism 31 at the corresponding position according to the elevation measured by the distance meter 42, and controlling the distribution amount of concrete so that the casting height difference of the concrete meets the requirement;
step four, after the M-th layer of one casting section is cast, the controller controls the walking mechanical device 30 to walk to the next casting section, the step three is repeated to complete the M-th layer of concrete casting until all casting areas are cast to the M-th layer, wherein M =1,2, \ 8230, M;
step five, pouring the concrete of all the pouring sections to H Z When the construction is finished。
In a specific embodiment, in the third step, during the process that the controller controls the traveling mechanism 31 to travel along the rail 20 and pour concrete, the mechanical arm 32 controls the material distribution pipe 1 to move and pour concrete in an S-shaped track; and when the pouring section boundary is reached, the controller controls the traveling mechanism 31 to travel reversely, and the mechanical arm 32 controls the distributing pipe 1 to move, so that pouring is carried out in a reverse S-shaped track. Each layer of concrete pouring process at least comprises one S-shaped pouring path and one reverse S-shaped pouring path, and the height difference of the concrete can be easily controlled after the concrete flows.
In a specific embodiment, the formwork 10 is provided with a corner, the rail 20 includes a first straight rail section 22, a second straight rail section 23 and a corner connecting section 24, the corner connecting section 24 is provided at the corner of the formwork 10, the first straight rail section 22 and the second straight rail section 23 are respectively provided on the formwork 10 at two sides of the corner connecting section 24, and a rotating mechanism 25 is provided below the corner connecting section 24. In the fourth step, when the controller controls the traveling mechanical device 30 to travel to the next pouring section and meet the corner of the formwork 10, the traveling mechanism 31 travels to the corner connecting section 24 along the first straight rail section 22, the corner connecting section 24 is braked and clamped tightly, the rotating mechanism 25 can drive the corner connecting section 24 and the traveling mechanical device 30 to rotate together, the traveling mechanism 31 rotates to the direction of the second straight rail section 23, and the traveling mechanism 31 travels along the second straight rail section 23 after being restarted.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An on-site automatic concrete pouring system is characterized in that,
the concrete on-site automatic pouring system comprises a template, a track, a walking mechanical device and a controller;
the track is arranged at the top of the template and arranged along the length direction of the template;
the walking mechanical device comprises a walking mechanism and a mechanical arm; the travelling mechanism can travel along the track, and the mechanical arm is used for supporting the distributing pipe;
the telescopic cantilever rod is arranged on the walking mechanical device; the distance measuring instrument is arranged at the end part of the telescopic cantilever rod and is used for measuring the concrete pouring height in the template;
the position of a concrete pouring section and the final concrete pouring height H are preset in the controller Z The method comprises the following steps of (1) pouring the layer number M, the pouring height L of each layer and a concrete height difference control parameter delta H in a template; and controlling the travelling mechanism to automatically travel and pour concrete according to the pouring height measured by the distance meter.
2. The automatic in-situ concrete pouring system according to claim 1,
the template is provided with corners, and the track comprises a first straight track section, a second straight track section and a corner connecting section; the corner connecting section is arranged at a corner of the template, and the first straight rail section and the second straight rail section are respectively arranged on the templates at two sides of the corner connecting section;
and when the travelling mechanism moves to the corner connecting section through the first straight rail section, the rotating mechanism can drive the corner connecting section and the travelling mechanical device to rotate, so that the travelling mechanism rotates to the direction of the second straight rail section, and the travelling mechanism crosses the corner of the template.
3. The automatic concrete in-situ gating system of claim 1,
be provided with 5G camera device on the walking mechanical device, upload information such as concrete distribution condition, cloth machine position to remote monitoring terminal.
4. A method for constructing an automatic concrete pouring system for construction site according to claim 1, comprising the steps of:
step one, hoisting the template in place, installing and fixing the template, installing a track and a walking mechanical device at the top of the template, fixing a material distribution pipe at one end of the walking mechanical device, installing a telescopic cantilever rod on the walking device, and arranging a distance meter at the end part of the telescopic cantilever rod;
step two, dividing the pouring area into a plurality of pouring sections, and arranging the positions of the concrete pouring sections and the final pouring height H in the controller Z The method comprises the following steps of (1) pouring the layer number M, the pouring height L of each layer and a concrete height difference control parameter delta H in a template;
thirdly, the controller controls the traveling mechanism to travel along the track, the telescopic cantilever rod stretches and contracts, and the concrete pouring height is measured through the optical distance meter; controlling the traveling speed of the traveling mechanism at the corresponding position according to the elevation measured by the distance meter, and controlling the distribution amount of concrete so that the casting height difference of the concrete meets the requirement;
step four, after the M-th layer of one casting section is cast, the controller controls the walking mechanical device to walk to the next casting section, the step three is repeated to complete the M-th layer of concrete casting until all casting areas are cast to the M-th layer, wherein M =1,2, \ 8230, M;
step five, pouring the concrete of all pouring sections to H Z And (5) finishing construction.
5. The method of constructing an automatic concrete pouring system in situ according to claim 4,
in the third step, in the process that the controller controls the travelling mechanism to travel along the track and pour concrete, the mechanical arm controls the material distributing pipe to move and pour the concrete in an S-shaped track; when the position reaches the boundary of the pouring section, the controller controls the traveling mechanism to travel reversely, and the mechanical arm controls the material distribution pipe to move to pour in a reverse S-shaped track;
an S-shaped pouring path and a reverse S-shaped pouring path are used as a complete path; each layer of the concrete placement process includes one or more complete paths.
6. The method of constructing an automatic concrete pouring system in situ according to claim 4,
the template is provided with a corner, the track comprises a first straight rail section, a second straight rail section and a corner connecting section, the corner connecting section is arranged at the corner of the template, the first straight rail section and the second straight rail section are respectively arranged on the template at two sides of the corner connecting section, and a rotating mechanism is arranged below the corner connecting section;
in the fourth step, when the controller controls the walking mechanical device to walk to the next pouring section and meet the corner of the template, the walking mechanism walks to the corner connecting section along the first straight rail section and then brakes and clamps the corner connecting section, the rotating mechanism can drive the corner connecting section and the walking mechanical device to rotate together, the walking mechanism rotates to the direction of the second straight rail section, and the walking mechanism walks along the second straight rail section after being restarted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211374386.3A CN115749285A (en) | 2022-11-04 | 2022-11-04 | Concrete on-site automatic pouring system and construction method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211374386.3A CN115749285A (en) | 2022-11-04 | 2022-11-04 | Concrete on-site automatic pouring system and construction method thereof |
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| CN115749285A true CN115749285A (en) | 2023-03-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117005691A (en) * | 2023-08-08 | 2023-11-07 | 河北吉达重工机械股份有限公司 | Concrete spreader |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117005691A (en) * | 2023-08-08 | 2023-11-07 | 河北吉达重工机械股份有限公司 | Concrete spreader |
| CN117005691B (en) * | 2023-08-08 | 2024-01-30 | 河北吉达重工机械股份有限公司 | Concrete spreader |
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