A type of chiseling tool

Abstract

This invention relates to the field of construction equipment technology, specifically to a chiseling fixture, comprising a main shaft with mounting components at both ends. A transport device is connected to one mounting component, and a drive component is connected to the other. A transmission component is fitted to the output end of the drive component, and a rotating seat is rotatably mounted on the transmission component. Several radial chiseling components are mounted on the rotating seat. Each radial chiseling component includes a chisel head and a chisel head range adjustment mechanism. The chisel head range adjustment mechanism allows the chisel head to automatically adjust its chiseling radius according to the rotational speed of the rotating seat. The chisel head range adjustment mechanism includes a rotating shaft with a chisel head support mounted on it, which can rotate around the rotating shaft. This invention solves the problems of existing handheld chiseling equipment being limited by power output, having low efficiency, relying on manual operation, and easily leading to excessive labor intensity during prolonged operation.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, specifically to a roughening tool. Background Technology

[0002] In the construction industry, roughening equipment is a key pretreatment tool for achieving bonding between new and old concrete and enhancing coating adhesion. It is widely used in bridge reinforcement, tunnel lining, road resurfacing, and water conservancy projects. Its core function is to remove laitance from the concrete surface through mechanical or physical action, creating a rough, pitted surface to ensure the structural stability of subsequent construction. Therefore, the equipment's operating efficiency, processing quality, and environmental adaptability directly affect the project's progress and durability. Currently, the market for surface roughening equipment has formed a multi-type system, which can be divided into four main categories according to the operation method: handheld, push-type, walk-behind, and machine-mounted. Among them, handheld equipment (such as single-head and three-head roughening machines) has the advantage of flexible operation and is suitable for small-area operations such as partial roughening, facades, and ceilings. However, due to the limitation of power output, the roughening area per hour is only 30-50 square meters, which is relatively inefficient and dependent on manual operation. Long-term operation can easily lead to excessive labor intensity. Push-type and machine-mounted equipment are designed for large-area construction needs. For example, a 23-head push-type roughening machine can increase the efficiency to 100 square meters per hour through multi-head synchronous operation. Machine-mounted equipment can also use excavators or special trusses to handle high-difficulty work surfaces. However, these large pieces of equipment are bulky and lack maneuverability in tunnels and confined spaces. They are also prone to damage to the reinforced concrete protective layer due to impact overload. Summary of the Invention In order to solve the above-mentioned technical problems existing in the prior art, the present invention provides a chiseling tool.

[0003] To achieve the above objectives, the technical solution of the present invention is as follows: A chiseling fixture includes a spindle with mounting components at both ends. A transport device is connected to the mounting component at one end, and a drive component is connected to the mounting component at the other end. A transmission component is fitted to the output end of the drive component, and a rotating seat is rotatably fitted to the transmission component. Several radial chiseling components are mounted on the rotating seat. Each radial chiseling component includes a chisel and a chisel range adjustment mechanism. The chisel range adjustment mechanism enables the chisel to automatically adjust its chiseling radius according to the rotational speed of the rotating seat.

[0004] Furthermore, the chisel head range changing mechanism includes a rotating shaft, on which a chisel head support is mounted, and the chisel head support is rotatable around the rotating shaft; the rotating seat is also provided with an elastic element that cooperates with the chisel head support, and the elastic element provides elastic force to make the chisel head support move in the direction of overcoming the centrifugal force of the rotating seat.

[0005] Furthermore, the chisel head includes a chisel roller with chisels protruding radially toward the rotating seat. The chisels are used to chisel holes that are distributed in a circumferential path.

[0006] Furthermore, the chisel head support includes a limiting part and an outward expansion part. A first limiting post is provided on the path of the limiting part as it rotates inward. The first limiting post is used to control the maximum rotation diameter of the chisel roller when it is rotating.

[0007] Furthermore, the rotating base is also equipped with a mounting plate and a second limiting post. The side of the mounting plate is located on the path of the outward rotation of the outward part, and the top surface is higher than the bottom surface of the outward part. The second limiting post and the side of the mounting plate are located on the same vertical plane, so that the mounting plate and the second limiting post can simultaneously limit the outward part, and the chisel head bracket forms a stable storage state.

[0008] Furthermore, the elastic element is a torsion spring, which is sleeved on the rotating shaft and located on both sides of the limiting part. The end of the torsion spring extends into a tension frame, which engages with the surface of the limiting part to provide the limiting part with an elastic force in the direction of overcoming the centrifugal force of the rotating seat.

[0009] Furthermore, the elastic element is a torsion spring, which is sleeved on the rotating shaft and located on one side of the limiting part. The end of the torsion spring extends into a stop bar, which overlaps on the outward extension part to provide the chisel head support with elastic force in the direction of overcoming the centrifugal force of the rotating seat.

[0010] Furthermore, the rotating seat is also provided with an axial chisel assembly, which includes an axial chisel head and a mounting plate. The axial chisel head includes an axial chisel roller, and the axial chisel roller is provided with chisels protruding in the axial direction of the rotating seat. The chisels are used to chisel the end face of the anchor hole.

[0011] Furthermore, the mounting component is also equipped with a recognition camera, which contains a memory and a processor. The memory stores a method for recognizing the location of the anchor hole, which includes the following steps: The camera captures images of the target scene, calculates the distance between the anchor hole and the transport equipment in the target scene, and moves the transport equipment to the working position of the anchor hole. Take photos of the anchor fittings that match the anchor holes at the work location, calculate the position and size of the anchor holes, and move the roughening tool into the interior of the anchor holes.

[0012] Furthermore, the steps for recognizing the camera capturing images of the target scene and calculating the distance between the anchor holes and the transport equipment in the target scene are as follows: The captured target scene image is converted into a first point cloud image, and the first point cloud image is divided into three target planes; The intersection of the three target planes is taken as the origin O of the three-dimensional coordinate system. The straight-line distance between the origin O of the three-dimensional coordinate system and the position coordinates of the recognition camera projected on the XOY plane is calculated, and the straight-line distance is taken as the distance that the mobile device needs to move. Calculate the cross product and dot product of the normal vector of any target plane with the X coordinate axis of the recognition camera to obtain the position angle of the recognition camera relative to the anchor hole in the XOY plane. Use the position angle as the angle required for the mobile device to rotate.

[0013] Furthermore, the steps for photographing the anchor fittings to the anchor holes at the work location and calculating the position and size of the anchor holes are as follows: The captured anchor image is converted into a second point cloud map. The second point cloud map is then segmented into planes to extract the anchor plane and normal vector. Cluster the anchor planes to divide them into several clusters; Create bounding boxes for all clusters and identify point cloud maps with anchors; Filter the valid planar regions in the point cloud map with anchors, and align the valid planar regions to the XOY plane using a rotation matrix to obtain a 2D planar point cloud map; Extract the convex hull boundary of the 2D planar point cloud map and fit the optimal circle on the XOY plane; The optimal circle is mapped to a three-dimensional coordinate system through inverse transformation, and the center coordinates and radius of the anchor hole are calculated.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a chiseling fixture, which, by setting a specific radial chiseling component, causes the chiseling roller to tend to expand around the outer side of the bottom surface of the rotating seat under the action of centrifugal force. As the rotation speed increases, the centrifugal force on the chiseling roller gradually increases. When the centrifugal force is greater than the elastic tension of the torsion spring, the angle of expansion of the chiseling roller is larger, thereby forming a chiseling annular area with a gradually increasing diameter, which is composed of the outer circle of the chiseling rotation path. This area directly acts on the inner side of the circumference of the anchor hole at the beam end, thereby realizing the chiseling operation on the inner wall of the anchor hole.

[0015] By designing the first flange as a hollow cavity structure, the servo motor is housed within the cavity of the first flange, and the reducer is located inside the four extension rods. This effectively utilizes the internal space of the first flange, making the entire roughening fixture more compact. Simultaneously, the first flange also provides some protection for the servo motor, preventing it from being affected by external environmental interference and impacts, thus extending its service life. The sidewalls of the first flange also have multiple perforations, which can guide airflow to a certain extent, helping the servo motor to dissipate heat better and ensuring stable performance during long-term operation. Attached Figure Description

[0016] Figure 1 This is an overall structural diagram of Example 1; Figure 2 A structural diagram of the component identification part in Example 1; Figure 3 This is a structural diagram of the driving component part of Example 1; Figure 4 This is a structural diagram of the transmission component in Example 1; Figure 5 This is a schematic diagram of the connection between the drive shaft and the reducer in Example 1; Figure 6 This is a structural diagram of the rotating seat portion of Example 1; Figure 7 This is a structural diagram of the radial roughening assembly in Example 1; Figure 8 This is a structural diagram of the axial roughening assembly in Example 2; Figure 9 for Figure 8 Enlarged view of point A in the middle.

[0017] Figure label: 1. Spindle; 2. First flange; 3. Second flange; 4. Drive assembly; 5. Servo motor; 6. Reducer; 7. Transmission assembly; 8. Protective cover; 9. Connecting plate; 10. Straight slot hole; 11. Rotary seat; 12. Mounting plate; 13. Radial roughening assembly; 14. Torsion spring; 15. Roller bracket; 16. Roughening roller; 17. Third flange; 18. Recognition assembly; 19. Camera bracket; 20. Placement seat; 21. Recognition camera ; 22. Vacuum hose; 23. Extension rod; 24. Drive shaft; 25. Sleeve rod; 26. Irregular rod; 27. Slot; 28. Insert; 29. ​​Bearing seat; 30. Connecting ring; 31. Pressure cap; 32. Rotating shaft; 33. Limiting part; 34. Outward expansion part; 35. Tension frame; 36. First limiting post; 37. Inward concave part; 38. Second limiting post; 39. Stop bar; 40. Limiting groove; 41. Axial roughening assembly; 42. Mounting plate. Detailed Implementation

[0018] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0019] It should be noted that, unless otherwise specifically stated, the relative arrangement and numerical expressions of the components and steps described in these embodiments should not be construed as limiting the scope of the invention.

[0020] The following description of exemplary embodiments is merely illustrative and is not intended to limit the invention or its application or use in any way. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail herein, but where applicable, such techniques, methods, and apparatus should be considered part of this specification.

[0021] Example 1 like Figure 1 As shown, this embodiment provides a chiseling fixture, including a spindle 1. A first flange 2 is provided at the lower end of the spindle 1, and a second flange 3 is provided at the upper end. The spindle 1, the first flange 2, and the second flange 3 are integrally formed. The second flange 3 is used to connect with other mechanical equipment, enabling the chiseling fixture to be stably and efficiently fixed on the mechanical equipment to be used, ensuring that it will not loosen or shift due to vibration or external force during the chiseling operation. Furthermore, as the core component of the entire fixture, the spindle 1 can be made of high-hardness metal materials such as 30CrMnSiA alloy steel or 40CrNiMoA alloy steel, ensuring that the spindle 1 can withstand the vibration generated during the chiseling operation, guaranteeing the continuity and stability of the chiseling operation.

[0022] like Figure 3 As shown, a third flange 17 is fixedly connected to the lower end of the first flange 2. The lower end of the third flange 17 is fixedly connected to the connecting plate 9 via four rectangularly distributed extension rods 23. A drive assembly 4 is provided between the connecting plate 9 and the third flange 17. The drive assembly 4 includes a servo motor 5, and a reducer 6 is provided at the output end of the servo motor 5. The reducer 6 can be a planetary reducer. The planetary reducer adopts a meshing method of planets revolving around the sun, resulting in low operating noise and vibration, uniform power distribution, low meshing loss, and high transmission efficiency. Furthermore, within the same volume, the planetary reducer has a larger output torque, saving installation space.

[0023] The first flange 2 has a hollow cavity structure. The servo motor 5 is housed within the cavity of the first flange 2, and the reducer 6 is located inside the four extension rods 23. This design effectively utilizes the internal space of the first flange 2, making the entire roughening fixture more compact. Simultaneously, the first flange 2 also provides some protection for the servo motor 5, preventing it from being affected by external environmental interference and impacts, thus extending the service life of the servo motor 5. The sidewalls of the first flange 2 also have multiple perforations, which can guide airflow to a certain extent, helping the servo motor 5 to dissipate heat better and ensuring that the servo motor 5 maintains stable performance during long-term operation.

[0024] like Figure 4 and Figure 5As shown, a transmission assembly 7 is installed on the output shaft of the reducer 6. The transmission assembly 7 includes a transmission shaft 24, which is sleeved on the outside of the output shaft of the reducer 6. The transmission shaft 24 is integrally formed from a hollow sleeve 25 and a solid irregular rod 26. A recessed slot 27 is provided on the inner wall of the sleeve 25, and a protruding insert 28 is provided on the surface of the output shaft of the reducer 6. The insert 28 is adapted to the shape of the slot 27. During assembly, the insert 28 is first inserted into the slot 27 to ensure that the two are tightly engaged without any looseness; then the sleeve 25 is sleeved on the outside of the output shaft of the reducer 6 to make it firmly connected to the output shaft, forming a reliable transmission structure, ensuring the normal operation of the transmission function, and ensuring the stability of the tooling.

[0025] The drive shaft 24 is rotatably coupled to the connecting plate 9 via the bearing housing 29. A circular through hole is provided in the center of the connecting plate 9. The reducer 6 is fixedly mounted around the circular through hole via the connecting ring 30, and the transmission assembly 7 passes through the circular through hole. Figure 6 As shown, a rotating seat 11 is provided on the irregular rod 26. The rotating seat 11 is a cylindrical shell, and a straight slot 10 is opened in the middle of the top surface of the rotating seat 11. The straight slot 10 is adapted to the shape of the irregular rod 26, so that the drive shaft 24 can synchronously drive the rotating seat 11 to rotate. A pressure cap 31 is fixedly connected to the lower end of the drive shaft 24. The pressure cap 31 limits the rotation seat 11 and prevents the rotation seat 11 from shifting on the drive shaft 24.

[0026] like Figure 7 As shown, the bottom surface of the rotating base 11 is provided with an annular edge whose outer diameter is larger than that of the rotating base 11. The bottom surface of the annular edge is fixedly connected to the mounting plate 12 by bolts. Multiple sets of radial roughening assemblies 13 are provided between the mounting plate 12 and the annular edge. The radial roughening assembly 13 includes a rotating shaft 32, and the two ends of the rotating shaft 32 are fixedly connected to the mounting plate 12 and the annular edge, respectively. A roller bracket 15 is rotatably fitted on the rotating shaft 32. The roller bracket 15 consists of a limiting part 33 and an outwardly expanding part 34. The limiting part 33 is sleeved on the rotating shaft 32. The outwardly expanding part 34 is "U"-shaped, and a roughening roller 16 is rotatably fitted inside it. The surface of the roughening roller 16 is provided with two rows of roughening protruding radially along the rotating base 11. Located on both sides of the limiting part 33, a torsion spring 14 is also sleeved on the rotating shaft 32. The ends of the torsion springs 14 on both sides extend into a tension frame 35. The tension frame 35 is engaged with the surface of the limiting part 33, providing the limiting part 33 with elastic force toward the center of the bottom surface of the rotating seat 11.

[0027] In use, the servo motor 5 is started. The output torque generated by the servo motor 5 is first effectively amplified and its speed reduced by the reducer 6. Then, this optimized torque is transmitted to the drive shaft 24, which drives the rotating seat 11 to rotate. Under the action of centrifugal force, the chiseling roller 16 tends to expand outward around the bottom surface of the rotating seat 11 around the rotating shaft 32. As the rotation speed increases, the centrifugal force on the chiseling roller 16 gradually increases. When the centrifugal force is greater than the elastic tension of the torsion spring 14, the angle of expansion of the chiseling roller 16 is larger, thus forming a chiseling annular area with a gradually increasing diameter, which is composed of the outer circle of the chiseling rotation path. This area directly acts on the inner side of the circumference of the anchor hole at the beam end, thereby realizing the chiseling operation on the inner wall of the anchor hole.

[0028] like Figure 7 As shown, a first limiting post 36 is also fixedly connected between the rotating base 11 and the mounting plate 12. The first limiting post 36 is located on the predetermined path of the inward rotation of the limiting part 33 of the roller bracket 15, precisely controlling the maximum rotation diameter of the chisel roller 16 during its rotational movement. Through this structural layout, the first limiting post 36 can effectively limit the rotation range of the chisel roller 16, ensuring that it will not exceed the set safety limit during operation, thereby ensuring the stable operation of the tooling and the safety of operation.

[0029] like Figure 7 As shown, corresponding to the outward extension 34 of the roller bracket 15, the mounting plate 12 has a recessed portion 37. This allows the roller bracket 15 to be retracted and located inside the annular edge of the rotating seat 11, reducing the overall volume of the tooling in its non-working state and facilitating its storage, handling, and transfer between different work sites. Furthermore, this structural layout effectively prevents damage to the roller bracket 15 from external impacts when idle, further improving the durability and service life of the tooling. The top surface of the recessed portion 37 is higher than the bottom surface of the outward extension 34, causing the sidewall of the recessed portion 37 to block the outward extension 34 when the roller bracket 15 retracts under the elastic tension of the torsion spring 14, thus restricting the position of the retracted roller bracket 15.

[0030] like Figure 7As shown, a second limiting post 38 is fixedly connected to the annular edge of the rotating base 11. The second limiting post 38 and the concave portion 37 are located on the same vertical plane, so that the outwardly extended portion 34 of the roller bracket 15 can be jointly restricted by the second limiting post 38 and the sidewall of the concave portion 37 after being stored, further stabilizing the stored state of the roller bracket 15. Furthermore, the stable stored state of the roller bracket 15 allows the torsion springs 14 on both sides of the limiting portion 33 to receive more balanced force, avoiding premature fatigue or damage to the torsion springs 14 due to uneven force on one side, thus extending the service life of the torsion springs 14. At the same time, this structural design of joint restriction also ensures that the roller bracket 15 maintains a stable stored position even after being subjected to a certain degree of vibration or external impact, without easily shaking or shifting, thereby ensuring the reliability and safety of the chiseling tool in the non-working state.

[0031] A protective cover 8 is also provided between the bearing housing 29 and the connecting plate 9. The diameter of the protective cover 8 is the same as the maximum diameter of the chiseling roller 16 when it rotates, so that the protective cover 8 can effectively block the flying debris when the chiseling roller 16 is working, preventing the debris from scattering everywhere and avoiding damage to other parts of the tooling. The protective cover 8 is provided with a dust suction pipe 22 with an opening facing the radial chiseling assembly 13, which is used to absorb the dust generated by the chiseling operation inside the protective cover 8, preventing the dust from accumulating inside the protective cover 8 and affecting the chiseling effect and the working environment. This structural design not only improves the air quality at the work site and reduces the harm of dust to the operator's body, but also keeps the overall chiseling tooling clean, reduces the risk of failure caused by dust accumulation, and improves the operational stability and service life of the chiseling tooling.

[0032] like Figure 2 As shown, an identification component 18 is also provided on the first flange 2. The identification component 18 includes a camera bracket 19, which is fixedly connected to the first flange 2. A placement seat 20 is fixedly connected to the end of the camera bracket 19, and an identification camera 21 is fixedly connected inside the placement seat 20. The lens of the identification camera 21 faces the radial roughening component 13. The identification camera 21 is provided with a memory and a processor. The memory stores a method for identifying the location of the anchor hole, which includes the following steps: Vehicle localization: The point cloud image of the target captured by camera 21 is used to perform planar segmentation of the point cloud image, resulting in three target planes. Using the normal vectors M1, M2, and M3 of the three planes and the constant term d in the plane equations, the origin O of a three-dimensional coordinate system is calculated. This origin O is the intersection point of the three planes and is used for subsequent three-dimensional coordinate system transformations.

[0033] The cross product and dot product are calculated using the normal vector of the target plane and the coordinates of the recognition camera 21 to determine the angle between one of the target planes and the recognition camera 21 along the X-axis. Then, the angle between the target and the vehicle's forward direction is calculated based on the rotation angle of the main axis 1. The position of the target relative to the vehicle is obtained by the intersection of the angle and the three planes. Finally, the vehicle equipped with the chiseling tool is corrected to the working position.

[0034] Anchor hole identification: First, the rotation matrix of the current position of the identification camera 21 is obtained using the method in vehicle positioning. Then, based on the coordinates of each anchor hole, the position of each anchor hole relative to the vehicle is calculated. The identification camera 21 is then moved to the working position to take close-up pictures of the detailed point cloud of the anchor.

[0035] The RANSAC algorithm was used to segment the anchor point cloud data into planes, extracting the target plane and its corresponding normal vector. Then, the changes of these planes along the X, Y, and Z axes were calculated, and the point cloud data and normal vector of the plane containing the anchor were selected.

[0036] The DBSCAN algorithm is then used to cluster the point cloud of the intermediate plane, dividing the point cloud into multiple clusters. Bounding boxes are then created for multiple clusters, and PointNet++ is used to segment and identify the part of the point cloud with anchors. The RANSAC algorithm is used to fit the plane in the point cloud, and the effective plane regions are selected to calculate the plane normal vector.

[0037] By aligning the plane to the XOY plane using a rotation matrix, the 3D problem is reduced to a 2D circle fitting problem. The convex hull boundary of the planar point cloud is extracted, and the optimal circle is fitted on the 2D projection using the RANSAC algorithm to ensure robustness to noise and outliers. The fitting results (center coordinates and radius) are then mapped back to the original 3D space through an inverse transformation to complete the anchor hole positioning.

[0038] Example 2 The difference between Example 2 and Example 1 lies in the structure of the rotating base 11. For example... Figure 9As shown, the radial chiseling assembly 13 includes a rotating shaft 32, with both ends of the rotating shaft 32 fixedly connected to the mounting plate 12 and the edge of the annulus, respectively. A roller bracket 15 is rotatably fitted on the rotating shaft 32. The roller bracket 15 consists of a limiting part 33 and an outwardly extending part 34. The limiting part 33 is sleeved on the rotating shaft 32. The outwardly extending part 34 is U-shaped, and a chiseling roller 16 is rotatably fitted inside it. The surface of the chiseling roller 16 is arranged with two rows of chisels that protrude radially along the rotating seat 11. Located on one side of the limiting part 33, a torsion spring 14 is also sleeved on the rotating shaft 32. The end of the torsion spring 14 extends into a stop bar 39, which overlaps the outer side wall of the outwardly extending part 34, providing elastic force to the outwardly extending part 34 toward the center of the bottom surface of the rotating seat 11. A limiting groove 40 is provided at the joint between the outer extension 34 and the stop bar 39. The width of the limiting groove 40 is adapted to the diameter of the stop bar 39, which can ensure that the stop bar 39 slides stably within the limiting groove 40 without shifting or falling off.

[0039] In addition, such as Figure 8 As shown, the rotating base 11 is also provided with an axial roughening assembly 41, which includes a mounting plate 42. The mounting plate 42 is fixedly connected between the rotating base 11 and the mounting plate 12 perpendicular to the mounting disk 12. The mounting plate 42 is provided with a roughening roller 16, and the surface of the roughening roller 16 is arranged with two rows of roughening protruding along the axial direction of the rotating base 11. In use, the axial roughening assembly 41 rotates together with the rotating base 11, and the roughening roller 16 on the mounting plate 42 roughens the end face of the anchor hole as it rotates.

[0040] The above specific embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the protection scope of the present invention.

Claims

1. A chiseling fixture, comprising a spindle, with mounting components respectively disposed at both ends of the spindle, a transport device connected to one mounting component, and a drive component connected to the other mounting component, wherein a transmission component is disposed at the output end of the drive component, characterized in that, A rotating seat is rotatably fitted on the transmission assembly. Several radial chiseling assemblies are provided on the rotating seat. The radial chiseling assembly includes a radial chisel and a chisel range changing mechanism. The chisel range changing mechanism enables the radial chisel to automatically adjust the chiseling radius according to the rotation speed of the rotating seat. The chisel head range adjustment mechanism includes a rotating shaft, on which a chisel head support is mounted, and the chisel head support can rotate around the rotating shaft. The rotating seat is also equipped with an elastic element that cooperates with the chisel head support. The elastic element provides a spring force that causes the chisel head support to move in the direction that overcomes the centrifugal force of the rotating seat.

2. The chiseling tool according to claim 1, characterized in that, The radial chisel includes a radial chisel roller with chisels protruding radially toward the rotating seat. The chisels are used to chisel anchor holes that are distributed in a circumferential path.

3. The chiseling tool according to claim 1 or 2, characterized in that, The chisel head support includes a limiting part and an outward expansion part. A first limiting post is provided on the path of the limiting part as it rotates inward. The first limiting post is used to control the maximum rotation diameter of the chisel roller when it is rotating.

4. The chiseling tool according to claim 3, characterized in that, The rotating base is also equipped with a mounting plate and a second limiting post. The side of the mounting plate is located on the path of the outward rotation of the outward part, and the top surface is higher than the bottom surface of the outward part. The second limiting post and the side of the mounting plate are located on the same vertical plane, so that the mounting plate and the second limiting post can simultaneously limit the outward part, and the chisel head bracket forms a stable storage state.

5. The chiseling tool according to claim 3, characterized in that, The elastic element is a torsion spring, which is sleeved on the rotating shaft and located on both sides of the limiting part. The end of the torsion spring extends into a tension frame, which engages with the surface of the limiting part to provide elastic force to the chisel head bracket in the direction of overcoming the centrifugal force of the rotating seat.

6. The chiseling tool according to claim 3, characterized in that, The elastic element is a torsion spring, which is sleeved on the rotating shaft and located on one side of the limiting part. The end of the torsion spring extends into a stop bar, which overlaps on the outer extension part to provide elastic force to the chisel head support in the direction of overcoming the centrifugal force of the rotating seat.

7. The chiseling tool according to claim 2, characterized in that, The rotating seat is also equipped with an axial chisel assembly, which includes an axial chisel head and a mounting plate. The axial chisel head includes an axial chisel roller, and the axial chisel roller is provided with chisels protruding in the axial direction of the rotating seat. The chisels are used to chisel the end face of the anchor hole.

8. The chiseling tool according to claim 1, characterized in that, The mounting component also includes a recognition camera, which contains a memory and a processor. The memory stores a method for identifying the location of the anchor hole, which includes the following steps: The camera captures images of the target scene, calculates the distance between the anchor hole and the transport equipment in the target scene, and moves the transport equipment to the working position of the anchor hole. Take photos of the anchor fittings that match the anchor holes at the work location, calculate the position and size of the anchor holes, and move the roughening tool into the interior of the anchor holes.

9. The chiseling tool according to claim 8, characterized in that, The steps for identifying the camera capturing images of the target scene and calculating the distance between the anchor holes and the transport equipment in the target scene are as follows: The captured target scene image is converted into a first point cloud image, and the first point cloud image is divided into three target planes; The intersection of the three target planes is taken as the origin O of the three-dimensional coordinate system. The straight-line distance between the origin O of the three-dimensional coordinate system and the position coordinates of the recognition camera projected on the XOY plane is calculated, and the straight-line distance is taken as the distance that the mobile device needs to move. Calculate the cross product and dot product of the normal vector of any target plane with the X coordinate axis of the recognition camera to obtain the position angle of the recognition camera relative to the anchor hole in the XOY plane. Use the position angle as the angle required for the mobile device to rotate.

10. The chiseling tool according to claim 9, characterized in that, The steps for photographing the anchor fittings to the anchor holes at the work location and calculating the position and size of the anchor holes are as follows: The captured anchor image is converted into a second point cloud map. The second point cloud map is then segmented into planes to extract the anchor plane and normal vector. Cluster the anchor planes to divide them into several clusters; Create bounding boxes for all clusters and identify point cloud maps with anchors; Filter the valid planar regions in the point cloud map with anchors, and align the valid planar regions to the XOY plane using a rotation matrix to obtain a 2D planar point cloud map; Extract the convex hull boundary of the 2D planar point cloud map and fit the optimal circle on the XOY plane; The optimal circle is mapped to a three-dimensional coordinate system through inverse transformation, and the center coordinates and radius of the anchor hole are calculated.

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