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A platform for research: civil engineering, architecture and urbanism
Concrete vibration operation control method and device and vibration robot
The invention discloses a concrete vibration operation control method and device and a vibration robot, the concrete vibration operation control method is applied to the vibration robot, the vibration robot comprises a vibration trolley, a driving device and a vibrator, and the concrete vibration operation control method comprises the steps that a current signal value of the driving device is obtained, under the condition that the current signal value of the driving device exceeds the current threshold value, at least one of the vibrating horizontal position and the vibrating depth of the vibrator is adjusted, that is, if it is detected that the current signal value of the driving device exceeds the current threshold value, it is proved that the vibrator touches a steel bar frame or a template, and movement is blocked; at the moment, at least one of the vibrating horizontal position and the vibrating depth of the vibrator can be adjusted, after the vibrating operation position of the vibrator is adjusted, it can be guaranteed that the vibrating operation is conducted smoothly, the phenomena of vibration missing, insufficient vibrating depth and continuous collision with a formwork are avoided, and construction specifications can be met easily.
本发明公开一种混凝土振捣作业控制方法、控制装置及振捣机器人，混凝土振捣作业控制方法应用于振捣机器人，振捣机器人包括振捣小车、驱动装置和振捣器，混凝土振捣作业控制方法包括：获取驱动装置的电流信号值，在驱动装置的电流信号值超过电流阈值的情况下，调整振捣器的振捣水平位置与振捣深度中的至少一者，即若是检测到驱动装置的电流信号值超过电流阈值，则证明振捣器碰到了钢筋架或者模板，运动受阻，此时可以对振捣器的振捣水平位置与振捣深度中的至少一者进行调整，在对振捣器的振捣作业位置进行调整之后，可以保证振捣作业顺利进行，不会出现漏振、振捣深度不够以及继续碰到模板的现象，有利于符合施工规范。
Concrete vibration operation control method and device and vibration robot
The invention discloses a concrete vibration operation control method and device and a vibration robot, the concrete vibration operation control method is applied to the vibration robot, the vibration robot comprises a vibration trolley, a driving device and a vibrator, and the concrete vibration operation control method comprises the steps that a current signal value of the driving device is obtained, under the condition that the current signal value of the driving device exceeds the current threshold value, at least one of the vibrating horizontal position and the vibrating depth of the vibrator is adjusted, that is, if it is detected that the current signal value of the driving device exceeds the current threshold value, it is proved that the vibrator touches a steel bar frame or a template, and movement is blocked; at the moment, at least one of the vibrating horizontal position and the vibrating depth of the vibrator can be adjusted, after the vibrating operation position of the vibrator is adjusted, it can be guaranteed that the vibrating operation is conducted smoothly, the phenomena of vibration missing, insufficient vibrating depth and continuous collision with a formwork are avoided, and construction specifications can be met easily.
本发明公开一种混凝土振捣作业控制方法、控制装置及振捣机器人，混凝土振捣作业控制方法应用于振捣机器人，振捣机器人包括振捣小车、驱动装置和振捣器，混凝土振捣作业控制方法包括：获取驱动装置的电流信号值，在驱动装置的电流信号值超过电流阈值的情况下，调整振捣器的振捣水平位置与振捣深度中的至少一者，即若是检测到驱动装置的电流信号值超过电流阈值，则证明振捣器碰到了钢筋架或者模板，运动受阻，此时可以对振捣器的振捣水平位置与振捣深度中的至少一者进行调整，在对振捣器的振捣作业位置进行调整之后，可以保证振捣作业顺利进行，不会出现漏振、振捣深度不够以及继续碰到模板的现象，有利于符合施工规范。
Concrete vibration operation control method and device and vibration robot
混凝土振捣作业控制方法、控制装置及振捣机器人
WANG HANSONG (author) / FU LING (author) / YIN LI (author) / LIU YANBIN (author)
2023-03-21
Patent
Electronic Resource
Chinese
Control system and method for automatic vibration of concrete vibration robot
| European Patent Office | 2021