A chiseling device suitable for dense steel bar narrow clearance

Abstract

The present application provides a chiseling device suitable for dense steel bars and narrow clearance, which is detachably fixed on the steel bars of the extension of the existing structure to realize the chiseling work on the chiseling surface of the existing structure; the chiseling device comprises a main frame, two symmetrical clamping mechanisms arranged on the main frame, and a chiseling mechanism between the two clamping mechanisms, wherein the two clamping mechanisms are clamped on the corresponding two steel bars respectively, and the chiseling mechanism is used for performing specific chiseling work. By configuring double clamping mechanisms on the main frame, the device can be directly and detachably anchored on the exposed steel bars of the existing structure, so that the device can flexibly work in the dense steel bar gap that cannot be reached by conventional equipment, effectively eliminating the construction blind area under complex working conditions; the installation stability and stress balance in the narrow space are ensured, the chiseling reaction force is directly borne by the frame and the steel bars, the direct harm of vibration to the human body is avoided, and the risk of occupational disease is significantly reduced.

Description

Technical Field

[0001] This invention relates to the field of construction machinery and automation equipment, and in particular to a roughening device suitable for narrow spaces with dense reinforcement. Background Technology

[0002] In the concrete pouring process of bridges, tunnels, and large foundation caps, construction joints (joint surfaces) inevitably arise during secondary pouring. To ensure the bonding strength between the old and new concrete, the surface of the existing concrete must be roughened before secondary pouring to remove surface laitance and create a rough surface. However, in many complex actual working conditions, such as when the reinforcement is extremely dense, or when the clearance between double rows of reinforcement or between the formwork and the reinforcement is extremely narrow, traditional construction methods face extremely difficult technical challenges.

[0003] On the one hand, conventional automated chiseling machines, limited by their large size and dimensions, are simply unable to reach into such narrow, deep gaps for mechanized operations. This means that such work still relies heavily on manual operation, with workers having to painstakingly insert small pneumatic picks or chisels into the confined space for blind operation. The intense vibrations of the tools themselves, combined with the adverse reaction forces, easily lead to worker fatigue and occupational hand diseases such as "arm vibration syndrome." Furthermore, the gravel and high-concentration dust generated in the confined space cannot effectively disperse, quickly accumulating and obscuring vision, resulting in frequent quality defects such as missed chiseling and insufficient depth under manual "blind chiseling," leading to extremely low overall construction efficiency. Therefore, a chiseling device suitable for densely reinforced steel structures in narrow spaces is proposed to solve the above problems. Summary of the Invention

[0004] The main objective of this invention is to provide a roughening device suitable for narrow spaces with dense reinforcing bars, solving the problem that conventional automated roughening machines are limited by their large size and shape, making it impossible for them to reach into such deep gaps with extremely small clearances for mechanized operations.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a roughening device suitable for dense steel bars in narrow spaces, the roughening device being detachably fixed to the steel bars extending from the existing structure, so as to realize the roughening work on the joint surface of the existing structure to be roughened. The chiseling device includes a main frame, on which two symmetrical clamping mechanisms are provided, and a chiseling mechanism located between the two clamping mechanisms. The two clamping mechanisms clamp onto two corresponding steel bars, and the chiseling mechanism is used to perform specific chiseling operations.

[0006] In a preferred embodiment, the chiseling device further includes a drive mechanism mounted on the main frame. The drive mechanism is used to synchronously adjust the distance between the two clamping mechanisms or to drive the chiseling mechanism to move laterally on the main frame.

[0007] In the preferred embodiment, the main frame includes two end plates, and two symmetrically distributed connecting plates and two guide rods are fixed between the two end plates, with the guide rods located on the upper side of the connecting plates; The drive mechanism includes a positive and negative threaded screw and a drive screw rotatably disposed between two end plates. The same end of the positive and negative threaded screw and the drive screw extends through the corresponding end plates to their outside. A switching drive device is provided on the outside of the end plates for driving the positive and negative threaded screw or the drive screw to rotate.

[0008] In the preferred embodiment, the switching drive device includes a first driven gear and a second driven gear disposed on the lead screw and the drive screw through end, respectively. A switching clearance is reserved between the first driven gear and the second driven gear. A support platform is disposed on the outer side of the end plate. A drive unit is fixedly mounted on the support platform. A transmission gear is disposed on the output shaft of the drive unit. A sliding keyway is arranged in an annular array on the output shaft of the drive unit. A sliding key block is disposed on the inner ring surface of the transmission gear and slides to engage with the sliding keyway. The transmission gear can switch the meshing relationship between the first driven gear and the second driven gear by sliding. A push-pull telescopic cylinder located on the side of the drive unit is also fixedly installed on the support platform. A U-shaped actuating element is provided on its output end to control the sliding of the transmission gear on the output shaft of the drive unit. The two side walls of the U-shaped actuating element clamp the transmission gear in it, and the side walls are rotatably provided with balls that contact the transmission gear.

[0009] In the preferred embodiment, the clamping mechanism includes a U-shaped frame, and the bottom of the U-shaped frame is provided with two first guide bushings and a first internal threaded shaft. The two first guide bushings are slidably mounted on two guide rods respectively, and the first internal threaded shaft is threadedly mounted on the corresponding threaded sections of the positive and negative threaded screws. The top of each of the two side walls of the U-shaped frame is provided with an extension arm extending in the clamping direction. An upper surrounding roller is provided between the two extension arms. A rotating rod is rotatably provided between the two side walls of the U-shaped frame. Two symmetrical hinged arms are fixed on the rotating rod. A lower surrounding roller is provided between the two hinged arms. A clamping telescopic cylinder is hinged to the inner side of the extension arm. The telescopic end of the clamping telescopic cylinder is hinged to the tail end of the corresponding hinged arm.

[0010] In the preferred embodiment, the chiseling mechanism includes a transverse seat that is slidably mounted on the main frame and connected to the drive screw. The side of the transverse seat is provided with a lifting mechanism for adjusting the height. The moving output end of the lifting mechanism carries a shock-absorbing mechanism for absorbing the impact of the operation. The chiseling machine is fixedly installed on the shock-absorbing support end of the shock-absorbing mechanism. The transverse shift seat includes a U-shaped seat, which is fitted from the bottom onto the outer side of two connecting plates. Second guide shafts are symmetrically fixed on the ends of the two side plates of the U-shaped seat. The second guide shafts form a reverse wrap around the connecting plates and are movably fitted onto the corresponding guide rods. A second internal threaded sleeve is fixed on the top of the bottom plate of the transverse shift seat, and the second internal threaded sleeve is threaded onto the drive screw.

[0011] In the preferred embodiment, the lifting mechanism includes two symmetrically arranged multi-stage lifting rods and a lifting frame located between the two multi-stage lifting rods. The lifting ends of the two multi-stage lifting rods are fixedly connected to the lifting frame. A multi-stage telescopic cylinder is fixedly installed on the side of one of the multi-stage lifting rods. A docking plate corresponding to the multi-stage telescopic cylinder is fixedly installed on the side of the lifting frame. The telescopic end of the multi-stage telescopic cylinder is connected to the docking plate. The multi-stage lifting rod specifically includes an inner rod, a middle sleeve rod, and an outer sleeve rod, which are sequentially fitted from the inside out. The inner rod has a connecting strip fixed on its side for connecting to the lifting frame. The middle sleeve rod and the outer sleeve rod both have receiving grooves on their sides that can accommodate the connecting strip and have an open bottom. The inner side of the middle sleeve rod and the outer sleeve rod also has telescopic grooves. The outer side of the top of the inner rod and the middle sleeve rod both have telescopic blocks that slide in cooperation with the corresponding telescopic grooves.

[0012] In the preferred embodiment, the lifting frame is specifically a U-shaped frame with grooves formed on it for installing a shock-absorbing mechanism; The shock absorption mechanism includes axial impact energy dissipation cylinders fixed at the four corners of the lifting frame, and a gravity potential energy constant pressure feedback unit fixed in the groove of the lifting frame. The axial impact energy dissipation cylinders are connected to the corresponding corners of the shaving machine through ball joints fixed on their telescopic ends. The energy dissipation oil ports on the four axial impact energy dissipation cylinders are connected in parallel through energy dissipation oil pipes and converge into the same conduit, which is then connected to the gravity potential energy constant pressure feedback unit. This unit absorbs the high-frequency impact kinetic energy of the shaving machine while using hydrostatic pressure to provide continuous rigid working support force for the shaving machine. At the same time, a diaphragm accumulator is installed at the confluence of the energy dissipation oil pipes. The gravitational potential energy constant pressure feedback unit includes a box fixed in the groove of the lifting frame. The top of the box is open and the bottom has a flow port for connecting fluid. Multiple potential energy guide rods extending upward are fixed on the inner bottom wall of the box. A gravity block for providing constant pressure load is fitted on the movable bushing of the potential energy guide rod. The cavity of the box below the gravity block forms an oil fluctuation cavity. The top of the potential energy guide rod is machined with an external thread section, and an adjusting nut is threaded on the thread section. A pressure spring is also fitted on the outside of the potential energy guide rod between the adjusting nut and the gravity block. The chipping machine operates by using multiple heads working at staggered times.

[0013] In the preferred embodiment, the top of the potential energy guide rod is higher than the potential energy guide rod, and a stabilizing cover that is fastened to the top of the box is movably installed on it. A clamping nut for pressing the stabilizing cover is threaded onto the top of the potential energy guide rod. The axial impact energy dissipation cylinder is a one-way piston cylinder with only one energy dissipation port at the tail. The energy dissipation oil pipe specifically includes a five-way connector and four branch pipes connected to the energy dissipation oil ports of each axial impact energy dissipation cylinder. The other end of each branch pipe is connected to one of the four input interfaces of the five-way connector. The remaining output interface of the five-way connector is connected to the first three-way connector. The diaphragm accumulator is fixed on one of the branch interfaces of the first three-way connector to absorb the high-frequency pressure pulses after the convergence. The other branch interface of the first three-way connector is fluidly connected to the gravitational potential energy constant pressure feedback unit through the summing branch pipe.

[0014] In the preferred embodiment, two symmetrical hinge seats are fixed on the side of the transverse shift seat. The outer side of the outer sleeve of the two multi-stage lifting rods is provided with a hinge shaft. The hinge shaft is hinged to the corresponding hinge seat. Two attitude support cylinders are hinged to the bottom of the transverse shift seat. The two attitude support cylinders correspond one-to-one with the two multi-stage lifting rods, and their telescopic ends are hinged to the bottom of the outer sleeve of the corresponding multi-stage lifting rod, forming a stable triangular support structure. The support oil ports on the two attitude support cylinders are connected in parallel through oil guide pipes and converge with the pipeline of the axial impact energy dissipation cylinder to the same conduit, and then connected to the gravitational potential energy constant pressure feedback unit. The attitude support cylinder is a double-acting hydraulic cylinder. Both the rod-side and rodless-side chambers are equipped with support ports. Parallel branch pipes are connected to both support ports. The other ends of the two parallel branch pipes are connected in parallel under the same pressure through a second tee connector. The third interface of the second tee connector is connected to an oil guide pipe. The oil guide pipes extending from the two attitude support cylinders are connected in parallel through a third tee connector. The output interface of the third tee connector is connected to a main oil guide pipe. The other end of the main oil guide pipe is connected to the first interface of a fourth tee connector. The converging branch pipe is connected to the second interface of the fourth tee connector. The third interface of the fourth tee connector is connected to the flow port of the gravitational potential energy constant pressure feedback unit through a converging pipe.

[0015] This invention provides a chiseling device suitable for narrow spaces with dense rebar. By configuring a double clamping mechanism on the main frame, it can be directly and detachably anchored to the exposed rebar of the existing structure, completely eliminating the reliance on large robotic arms or manual handling. This support structure allows the device to flexibly reach into the dense rebar gaps that conventional equipment cannot access, effectively eliminating blind spots in complex working conditions. At the same time, the integrated symmetrical clamping mechanism and chiseling mechanism ensure installation stability and force balance in narrow spaces. The chiseling reaction force is directly borne by the frame and rebar, avoiding direct injury to the human body from vibration and significantly reducing the risk of occupational diseases. More importantly, by incorporating a shock-absorbing mechanism into the chiseling mechanism, the device can provide stable propulsion force to ensure efficient demolition while accurately buffering high-frequency impact vibrations, effectively avoiding damage to the rebar and existing structure caused by vibration, perfectly balancing work efficiency and structural safety. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is an overall structural diagram of the present invention; Figure 2 This is a structural diagram of the chiseling device of the present invention; Figure 3 This is the present invention. Figure 2 Exploded structure diagram; Figure 4 This is a connection structure diagram of the main frame and the drive mechanism of the present invention; Figure 5 This is a structural diagram of the switching drive device of the present invention; Figure 6 This is the present invention. Figure 5 Top view of the structure; Figure 7 This is a structural diagram of the clamping mechanism of the present invention; Figure 8 This is the present invention. Figure 7 Another perspective on the structure diagram; Figure 9 This is a structural diagram of the chiseling mechanism of the present invention; Figure 10 This is the present invention. Figure 9 Another perspective on the structure diagram; Figure 11 This is the present invention. Figure 10 Exploded structure diagram; Figure 12 This is the present invention. Figure 11 Partial structural diagram; Figure 13 This is an exploded half-section view of the multi-stage lifting rod structure of the present invention; Figure 14 This is the present invention. Figure 12 Exploded structure diagram; Figure 15 This is the present invention. Figure 14 Another perspective on the structure diagram; Figure 16 This is a half-section structural diagram of the constant pressure feedback unit for gravitational potential energy of the present invention; Figure 17 This is a half-sectional view of the axial impact energy dissipation cylinder of the present invention; Figure 18 This is a half-sectional view of the posture support cylinder of the present invention.

[0017] In the diagram: 1. Joint surface to be roughened; 2. Reinforcing bar; 3. Roughening device; 4. Drive mechanism; 41. Positive and negative threaded screw; 42. Drive screw; 43. Switching drive device; 430. Support platform; 431. Drive unit; 432. First driven gear; 433. Second driven gear; 434. Sliding keyway; 435. Transmission gear; 436. Sliding key block; 437. Push-pull telescopic cylinder; 438. U-shaped actuating element; 439. Ball bearing; 5. Clamping mechanism; 50. U-shaped support frame; 51. First guide bushing. ; First internal threaded shaft 52; Extension arm 53; Upper surrounding roller 54; Rotating rod 55; Hinge arm 56; Lower surrounding roller 57; Clamping telescopic cylinder 58; Chiseling mechanism 6; Transverse moving seat 60; U-shaped seat 601; Second guide shaft 602; Second internal threaded sleeve 603; Hinge seat 604; Lifting mechanism 61; Multi-stage lifting rod 610; Outer sleeve rod 6101; Middle sleeve rod 6102; Inner rod 6103; Receiving groove 6104; Telescopic groove 6105; Telescopic block 6106; Connecting bar 2107; Lifting frame 612; Multi-stage telescopic cylinder 613; Hinge shaft 614; Docking plate 615; Shock absorption mechanism 62; Axial impact energy dissipation cylinder 620; Energy dissipation port 6200; Gravity potential energy constant pressure feedback unit 621; Housing 6210; Flow port 6211; Potential energy guide rod 6212; Gravity block 6213; Oil fluctuation chamber 6214; Adjusting nut 6215; Pressure spring 6216; Stabilizing cover 6217; 6218 clamping nut; 622 ball joint; 623 energy dissipation oil pipe; 6230 branch pipe; 6231 five-way connector; 6232 first tee connector; 6233 main branch pipe; 6234 four-way tee connector; 6235 main pipe; 624 diaphragm accumulator; 625 attitude support cylinder; 626 oil guide pipe; 6261 third tee connector; 6262 main oil guide pipe; 63 chiseling machine; 7 main frame; 70 end plate; 71 connecting plate; 72 guide rod. Detailed Implementation

[0018] like Figure 1-16 As shown, a chiseling device suitable for narrow spaces with dense reinforcing bars is provided. The chiseling device 3 is detachably fixed to the reinforcing bars 2 extending from the existing concrete structure to perform chiseling work on the joint surface 1 to be chiseled.

[0019] The chiseling device 3 specifically includes a main frame 7, on which two symmetrical clamping mechanisms 5 are provided, a chiseling mechanism 6 located between the two clamping mechanisms 5, and a driving mechanism 4 provided on the main frame 7. The two clamping mechanisms 5 are respectively clamped and locked onto the corresponding two steel bars 2, thereby fixing the main frame 7 onto the steel bars 2. The chiseling mechanism 6 is used to perform specific chiseling operations. The driving mechanism 4 is used to synchronously adjust the distance between the two clamping mechanisms 5 to adapt to the distance between the two steel bars 2 to be connected. At the same time, it can drive the chiseling mechanism 6 to move laterally on the main frame 7, thereby realizing chiseling work within a certain range without changing the installation position of the main frame 7.

[0020] With this design, the chiseling device 3 can be fixed to the steel bar 2 by the clamping mechanism 5, thus providing a stable mechanical support for the chiseling mechanism 6. At the same time, the drive mechanism 4 can dynamically adjust the spacing of the clamping mechanism 5 during the installation stage to adapt to the spacing of the steel bars 2 on site. During the operation stage, it can drive the chiseling mechanism 6 to slide laterally, achieving the effect of one drive structure serving two purposes. This significantly simplifies the space occupied by the device and reduces the weight of the whole machine, while maximizing the coverage of local operations without frequently changing the hanging position.

[0021] In the preferred embodiment, the main frame 7 adopts a lightweight frame structure, specifically including two end plates 70. Two symmetrically distributed connecting plates 71 and two guide rods 72 are fixed between the two end plates 70. The guide rods 72 are located on the upper or lower side of the connecting plates 71. In this embodiment, the guide rods 72 are located on the upper side of the connecting plates 71, thereby providing a lightweight and high-strength connecting carrier for the clamping mechanism 5 and the chiseling mechanism 6. While ensuring the overall structure of the equipment is compact, it meets the force requirements when the two work together, and a gap is formed between the two connecting plates 71.

[0022] In a preferred embodiment, the drive mechanism 4 includes two lead screws rotatably disposed between two end plates 70. The two lead screws are a forward and reverse thread lead screw 41 and a drive lead screw 42, respectively. In this embodiment, the forward and reverse thread lead screw 41 and the drive lead screw 42 are distributed vertically opposite each other and located in the gap formed in the middle of the main frame 7. The forward and reverse thread lead screw 41 located above is flush with the two guide rods 72. Bearings for rotatably mounting the forward and reverse thread lead screw 41 and the drive lead screw 42 are fixed on both end plates 70. The same end of the forward and reverse thread lead screw 41 and the drive lead screw 42 extends through the corresponding end plate 70 to its outside. A switching drive device 43 is provided on the outside of the end plate 70 for driving the forward and reverse thread lead screw 41 or the drive lead screw 42 to rotate.

[0023] The switching drive device 43 includes a first driven gear 432 and a second driven gear 433 disposed on the protruding ends of the forward and reverse threaded screws 41 and the drive screw 42, with a switching gap reserved between the first driven gear 432 and the second driven gear 433.

[0024] A support platform 430 is provided on the outer side of the end plate 70. A drive unit 431 is fixedly installed on the support platform 430. In this embodiment, the drive unit 431 is composed of a motor and a reducer transmission combination. A transmission gear 435 is slidably provided on the output shaft of the drive unit 431. The transmission gear 435 can switch the meshing relationship between the first driven gear 432 and the second driven gear 433 by sliding. A sliding keyway 434 is arranged in a ring on the output shaft of the drive unit 431. The length of the sliding keyway 434 meets the requirement of the transmission gear 435 switching between the first driven gear 432 and the second driven gear 433. A sliding key block 436 is provided on the inner ring surface of the transmission gear 435, which slides and engages with the sliding keyway 434. Thus, the transmission gear 435 can be driven to rotate by the drive unit 431 while switching between the first driven gear 432 and the second driven gear 433.

[0025] A push-pull telescopic cylinder 437 located on the side of the drive unit 431 is also fixedly installed on the support platform 430. The push-pull telescopic cylinder 437 can be an electric telescopic cylinder. A U-shaped actuating element 438 is provided on its output end for controlling the sliding of the transmission gear 435 on the output shaft of the drive unit 431. The two side walls of the U-shaped actuating element 438 clamp the transmission gear 435 therein, and the side walls are rotatably provided with balls 439 that contact the transmission gear 435 to reduce the contact friction between the two.

[0026] With this design, the extension and retraction of the push-pull telescopic cylinder 437 can control the U-shaped actuating element 438 to drive the transmission gear 435 to slide on the output shaft of the drive unit 431, thereby engaging with the first driven gear 432 and the second driven gear 433, and thus realizing the rotational drive of the positive and negative tooth screw 41 or the drive screw 42. It should be noted that the clearance between the first driven gear 432 and the second driven gear 433 is larger than the width of the transmission gear 435, so that the transmission gear 435 can achieve tooth alignment before engagement by rotating during the switching process.

[0027] In a preferred embodiment, the switching drive 43 also includes a protective housing fitted over the gear structure to hold the gear structure in place, which is not shown in the figure.

[0028] In addition, in order to prevent the positive and negative thread screws 41, drive screw 42 and guide rod 72 from being contaminated by dust during the chiseling process, they are all fitted with telescopic dust covers. Specifically, the drive screw 42 is fitted with two telescopic dust covers. The opposite ends of the two telescopic dust covers are fixed to the two sides of the chiseling mechanism 6, and the other ends are fixed to the two end plates 70. Three telescopic dust covers are fitted on the positive and negative thread screw 41. One of them is located between the two clamping mechanisms 5 and is fixed to both of them at both ends. The other two are located between the clamping mechanism 5 and the corresponding end plate 70, and are fixed to both of them at both ends. Four telescopic dust covers are fitted on the guide rod 72. Two of them are located between the chiseling mechanism 6 and the two clamping mechanisms 5, and are fixed at the ends. The other two are located between the clamping mechanism 5 and the corresponding end plate 70, and are fixed at the ends. This ensures dust protection while reducing weight. None of the above structural diagrams are shown.

[0029] In the preferred embodiment, the clamping mechanism 5 includes a U-shaped support 50. The bottom of the U-shaped support 50 is provided with two first guide bushings 51 and a first internal threaded shaft 52. The two first guide bushings 51 are slidably fitted onto two guide rods 72 respectively. The first internal threaded shaft 52 is threaded onto the corresponding threaded sections of the positive and negative threaded screws 41. It should be noted that the first internal threaded shafts 52 of the two clamping mechanisms 5 are threaded onto the threaded sections of the positive and negative threaded screws 41 in two directions respectively. Thus, by rotating the positive and negative threaded screws 41, the two clamping mechanisms 5 can be driven to move in opposite or disjointed directions, thereby achieving the effect of adjusting the distance between them.

[0030] The top of each of the two side walls of the U-shaped frame 50 is provided with an extension arm 53 extending in the clamping direction. An upper surrounding roller 54 is provided between the two extension arms 53. The clamping mechanism 5 can be hoisted onto the steel bar 2 through the upper surrounding roller 54. A rotating rod 55 is rotatably provided between the two side walls of the U-shaped frame 50 through a bearing. Two symmetrical hinged arms 56 are fixed on the rotating rod 55. A lower surrounding roller 57 is provided between the two hinged arms 56. A clamping telescopic cylinder 58 is hinged to the inner side of the extension arm 53. The telescopic end of the clamping telescopic cylinder 58 is hinged to the tail end of the corresponding hinged arm 56. The clamping telescopic cylinder 58 can be an electric telescopic cylinder.

[0031] With this design, the hinged arm 56 can be driven to rotate by the pushing control of the clamping telescopic cylinder 58, thereby achieving the clamping effect on the steel bar 2 through cooperation with the upper enclosing roller 54. Conversely, when it is necessary to release the clamp, the clamping telescopic cylinder 58 can be retracted.

[0032] It should be noted that, in order to avoid unnecessary interference between the hinge arm 56 and the reinforcing bar 2, the hinge arm 56 is V-shaped in this embodiment.

[0033] In the preferred embodiment, the chiseling mechanism 6 includes a transverse seat 60 slidably mounted on the main frame 7 and connected to the drive screw 42 for transmission, which is used to realize translation along the frame axis under the power drive of the screw. The side of the transverse seat 60 is provided with a lifting mechanism 61 for adjusting the height. The moving output end of the lifting mechanism 61 carries a shock-absorbing mechanism 62 for absorbing the impact of operation. The shock-absorbing support end of the shock-absorbing mechanism 62 is fixedly installed with a chiseling machine 63.

[0034] This design allows for adjustment of the chiseling range of the chiseling machine 63 via the movement of the transverse base 60 on the main frame 7 and the lifting mechanism 61. Simultaneously, the shock absorption mechanism 62 provides dynamic energy dissipation support for the chiseling machine 63 during high-frequency demolition operations, providing the necessary support force while reducing the rigid transmission of high-frequency vibrations to the subsequent lifting mechanism 61 and the main frame 7. This effectively prevents fatigue damage to the reinforcing steel 2, which serves as the suspension reference, or disruption of its anchorage in the concrete, ensuring the safety of the original structure and the stability of the overall device during installation. Furthermore, placing the lifting mechanism 61 on the side of the transverse base 60 not only allows the chiseling machine 63 to chisel the joint surface 1 located on the side of the main frame 7 but also cleverly utilizes lateral space, effectively offsetting the additional space required for the installation of the main frame 7, thus achieving a high degree of integration in the overall equipment layout.

[0035] Furthermore, the transverse sliding seat 60 includes a U-shaped seat 601, which is fitted from the bottom onto the outer side of the two connecting plates 71. The two side plates of the U-shaped seat 601 are symmetrically fixed with second guide shafts 602. The second guide shafts 602 form a reverse wrap around the connecting plates 71 and are movably fitted onto the corresponding guide rods 72, thereby enabling the transverse sliding seat 60 to slide laterally stably on the main frame 7.

[0036] A second internal threaded sleeve 603 is fixedly provided on the top of the base plate of the transverse shift seat 60. The second internal threaded sleeve 603 is threaded onto the drive screw 42, thereby driving the transverse shift seat 60 to move laterally along its axis by the rotation of the drive screw 42.

[0037] Furthermore, the lifting mechanism 61 includes two symmetrically arranged multi-stage lifting rods 610, and a lifting frame 612 located between the two multi-stage lifting rods 610. The lifting ends of the two multi-stage lifting rods 610 are fixedly connected to the lifting frame 612, thereby providing conditions for the lifting of the lifting frame 612. At the same time, the multi-stage lifting structure can effectively reduce the space occupancy rate.

[0038] One of the multi-stage lifting rods 610 has a multi-stage telescopic cylinder 613 fixedly installed on its side. The multi-stage telescopic cylinder 613 can be an electric multi-stage telescopic cylinder. The side of the lifting frame 612 is fixedly provided with a docking plate 615 corresponding to the multi-stage telescopic cylinder 613. The telescopic end of the multi-stage telescopic cylinder 613 is connected to the docking plate 615, so that the lifting frame 612 is raised and lowered by the telescopic control of the multi-stage telescopic cylinder 613.

[0039] The multi-stage lifting rod 610 specifically includes an inner rod 6103, a middle sleeve rod 6102, and an outer sleeve rod 6101, which are sequentially fitted from the inside out. The number of middle sleeve rods 6102 can be adjusted according to the lifting needs. In this embodiment, there is one middle sleeve rod 6102.

[0040] The inner rod 6103 has a connecting strip 2107 fixed on its side for connecting the lifting frame 612. The sides of the middle sleeve rod 6102 and the outer sleeve rod 6101 are provided with receiving grooves 6104 that can accommodate the connecting strip 2107 and have an open bottom, so as to meet the fully retracted state of the multi-stage lifting rod 610. The inner side of the middle sleeve rod 6102 and the outer sleeve rod 6101 is also provided with a telescopic groove 6105. The outer side of the top of the inner rod 6103 and the middle sleeve rod 6102 are provided with telescopic blocks 6106. The telescopic blocks 6106 slide with the corresponding telescopic grooves 6105 to limit the extension range of each rod and prevent detachment. The long strip connecting strip 2107 can effectively improve its connection range with the lifting frame 612 and ensure the stability of the connection.

[0041] The lifting frame 612 is specifically a U-shaped frame, and the groove it creates provides space for the installation of the shock absorption mechanism 62.

[0042] Meanwhile, in order to effectively suppress the vibration generated during the chiseling operation, the chiseling machine 63 adopts a multi-head staggered impact operation mode. This technology disperses the concentrated impact force by having each chiseling head strike alternately in sequence, thereby significantly reducing the high-frequency vibration transmitted to the machine body. Since this technology is existing, its specific structure will not be described in detail here.

[0043] The shock absorption mechanism 62 includes axial impact energy dissipation cylinders 620 fixed at the four corners of the lifting frame 612, and a gravity potential energy constant pressure feedback unit 621 fixed in the groove of the lifting frame 612 and located between the four axial impact energy dissipation cylinders 620.

[0044] The axial impact energy dissipation cylinder 620 is connected to the corresponding corner of the chisel 63 via a ball joint 622 fixed on its telescopic end. When the chisel operates in a multi-head staggered mode, the constantly changing striking points can cause slight shaking and tilting of the machine head. At this time, the ball joints at the four corners can automatically resolve these tilts in different directions, preventing lateral torque from being transmitted to the cylinder and ensuring that the cylinder only bears linear thrust. This effectively avoids the piston rod bending or damaging the seal due to lateral force, greatly improving the stability of the equipment during continuous striking.

[0045] The energy dissipation ports 6200 on the four axial impact energy dissipation cylinders 620 are connected in parallel through energy dissipation oil pipes 623 and converge into the same conduit, which is then connected to the gravity potential energy constant pressure feedback unit 621. This unit absorbs the high-frequency impact kinetic energy of the chisel 63 and uses the hydrostatic pressure to provide continuous rigid working support force for the chisel 63. At the same time, a diaphragm accumulator 624 is installed at the confluence of the energy dissipation oil pipes 623.

[0046] It should be noted that the diaphragm accumulator 624 is a commercially available product, so it will not be described in detail here.

[0047] With this design, when the axial impact energy dissipation cylinders 620 alternately discharge pulse oil due to staggered impacts, the diaphragm accumulator 624 can absorb the instantaneous high-frequency peak oil pressure at the confluence point nearby and quickly, playing a role in smoothing and buffering, effectively preventing high-frequency impacts from causing fatigue damage to hydraulic pipelines and seals. The buffered and stabilized oil then flows further into the gravity potential energy constant pressure feedback unit 621, which drives the internal gravity block to rise and fall smoothly to achieve low-frequency energy storage and constant pressure reset of the cylinders. Ultimately, this achieves graded absorption and digestion of high and low frequency impact energy, greatly improving the stability of the hydraulic system during continuous striking operations.

[0048] In this embodiment, the axial impact energy dissipation cylinder 620 is a one-way plunger cylinder with only one energy dissipation port 6200 at the tail. When the chipper 63 performs high-frequency demolition operations, the plunger is compressed and retracts, directly forcing the oil in the oil chamber to be discharged through the single energy dissipation port 6200 and pressed into the energy dissipation oil pipe 623 and the gravitational potential energy constant pressure feedback unit 621. Its structure is simple, and while ensuring the above-mentioned performance, it greatly simplifies the complexity of multi-cylinder pipeline wiring in the narrow space of dense steel bars.

[0049] The gravitational potential energy constant pressure feedback unit 621 includes a housing 6210 fixed in the groove of the lifting frame 612. The top of the housing 6210 is open, and the bottom has a flow port 6211 for connecting fluid. Multiple upwardly extending potential energy guide rods 6212 are fixed on the inner bottom wall of the housing 6210. In this embodiment, there are two potential energy guide rods 6212, symmetrically arranged on both sides of the flow port 6211. Movable bushings are fitted on the potential energy guide rods 6212 to provide constant pressure feedback. The pressure load 6213 allows the gravity block 6213 to rise and fall smoothly along the axial direction of the potential energy guide rod 6212. The cavity of the box 6210 located below the gravity block 6213 forms an oil undulation cavity 6214. The top of the potential energy guide rod 6212 is machined with an external thread section, and an adjusting nut 6215 is threaded on the thread section. A pressure spring 6216 is also fitted on the outside of the potential energy guide rod 6212, located between the adjusting nut 6215 and the gravity block 6213.

[0050] It should be noted that the oil fluctuation cavity 6214 contains a certain amount of oil.

[0051] With this design, the structure provides a stable gravity load through the gravity block 6213, maintaining hydrostatic pressure throughout the conduit. This hydrostatic pressure acts in the opposite direction on the axial impact energy dissipation cylinders 620, effectively ensuring the normal operation and force generation of the chisel. At the same time, the potential energy guide rod 6212 provides multi-point guidance and constraint for the gravity block, effectively ensuring the stability and smoothness of the gravity block 6213 during frequent lifting and lowering, preventing jamming and wear. In addition, the pressure spring 6216 at the top not only serves as an upper limit anti-impact function but also provides additional downward thrust, thereby significantly reducing the physical mass required by the gravity block 6213 itself, making the overall structure lighter and more compact. The pressure value of the pressure spring 6216 can be adjusted by rotating the adjusting nut 6215.

[0052] In the preferred embodiment, the top of the potential energy guide rod 6212 is higher than the potential energy guide rod 6212, and a stabilizing cover 6217 that is fastened to the top of the housing 6210 is movably installed on it. A clamping nut 6218 that presses the stabilizing cover 6217 is threadedly installed on the top of the potential energy guide rod 6212, thereby further improving the structural stability of the potential energy guide rod 6212.

[0053] In this embodiment, the energy dissipation oil pipe 623 specifically includes a five-way connector 6231 and four branch pipes 6230 connected to the energy dissipation oil ports 6200 of each axial impact energy dissipation oil cylinder 620; the other end of each branch pipe 6230 is respectively connected to four input interfaces of the five-way connector 6231, thereby assembling the four sets of axial impact energy dissipation oil cylinders 620 into a parallel flow collection structure. The remaining output port of the five-way connector 6231 is connected to the first three-way connector 6232. The diaphragm accumulator 624 is fixed on one of the branch ports of the first three-way connector 6232 to absorb the high-frequency pressure pulse after the convergence. The other branch port of the first three-way connector 6232 is fluidly connected to the gravity potential energy constant pressure feedback unit 621 through the converging branch pipe 6233 to transport the peak-shaving smooth oil flow to the downstream for potential energy accumulation.

[0054] Through the above design, the shock absorption mechanism absorbs the high-frequency transient vibrations generated by staggered impacts nearby through the four-corner ball joints 622 and the diaphragm accumulator 624, and adaptively mitigates the slight tilt of the machine head, effectively preventing the hydraulic cylinder from bending and being damaged due to lateral forces. At the same time, the core utilizes the gravity block 6213 to maintain hydrostatic pressure within the system, continuously providing a stable and sustained axial thrust to the chipping machine, ensuring normal force and efficiency in demolition operations. In addition, the multi-point guidance of the potential energy guide rod effectively ensures the smoothness and stability of the gravity block 6213 during frequent lifting and lowering, and the top-mounted pressure spring 6216 provides additional downward thrust while providing upper limit anti-overhead protection. Thus, while significantly reducing the physical mass of the gravity block 6213 itself and achieving a lightweight and compact design of the whole machine structure, it perfectly solves the technical contradiction of traditional shock absorption devices being unable to balance buffering energy absorption and rigid propulsion, comprehensively improving the stability and safety of the equipment during continuous high-frequency striking operations.

[0055] In the preferred embodiment, due to the extended stroke of the lifting mechanism 61, the chiseling machine 63 forms a long lever arm on the transverse seat 60. The resulting leverage effect easily causes an eccentric bending moment at the connection between the lifting mechanism 61 and the transverse seat 60. Therefore, the lifting mechanism 61 and the transverse seat 60 are connected by a hinge. Specifically, two symmetrical hinge seats 604 are fixed on the side of the transverse seat 60, and hinge shafts 614 are provided on the outer side of the outer sleeve rods 6101 of the two multi-stage lifting rods 610. The hinge shafts 614 are hinged to the corresponding hinge seats 604, so that the rotation of the lifting mechanism 61 around the hinge shafts 614 eliminates and releases the bending moment stress concentrated at the connection root due to the lever effect of the long lever arm.

[0056] In addition, the bottom of the transverse support 60 is hinged with two posture support cylinders 625. The two posture support cylinders 625 correspond one-to-one with the two multi-stage lifting rods 610, and their telescopic ends are hinged to the bottom of the outer sleeve rod 6101 of the corresponding multi-stage lifting rod 610, thus forming a stable triangular support structure.

[0057] The structure utilizes the attitude support cylinder 625 to provide active attitude support for the lifting mechanism 61, which effectively improves the stress state at the connection and eliminates the bending moment stress concentrated at the connection root.

[0058] In this embodiment, the posture support cylinder 625 is a double-acting hydraulic cylinder. Both the rod-side chamber and the rodless chamber inside the cylinder are provided with support oil ports 6251. Both support oil ports 6251 are connected to parallel branch pipes 6252. The other ends of the two parallel branch pipes 6252 are connected in parallel under the same pressure through a second tee connector 6253. The third interface of the second tee connector 6253 is connected to an oil guide pipe 626.

[0059] The oil guide pipes 626 extending from the two posture support cylinders 625 are connected in parallel through the third tee connector 6261, and the output interface of the third tee connector 6261 is connected to the main oil guide pipe 6262.

[0060] The other end of the main oil guide pipe 6262 is connected to the first interface of the fourth tee connector 6234. The main branch pipe 6233 is connected to the second interface of the fourth tee connector 6234. The third interface of the fourth tee connector 6234 is connected to the flow port 6211 of the gravitational potential energy constant pressure feedback unit 621 through the main pipe 6235.

[0061] It should be noted that the length of the oil guide pipe 626 meets the lifting range of the lifting mechanism 61.

[0062] This design, by unifying the pipelines of the axial impact energy dissipation cylinder 620 and the attitude support cylinder 625 into the gravitational potential energy constant pressure feedback unit 621, constructs an attitude adaptive and graded energy dissipation closed-loop system: the system shares the hydrostatic pressure maintained by the gravity block 6213 and the pressure spring 6216. Under normal conditions, the differential thrust generated by the area difference between the two chambers of the double-acting cylinder of the attitude support cylinder 625 forms a triangular anti-overturning support, and effectively offsets the cantilever bending moment through slight rotation; when the impact of the chiseling operation causes the static pressure to surge instantaneously, the high pressure is instantly fed back to the two chambers of the attitude support cylinder 625, causing its output thrust to surge synchronously and adaptively, forming a rapid stiffening and risk avoidance mechanism where the greater the off-center load, the stronger the support. At the same time, with the limiting push of the top spring, the stability and safety of high-frequency striking operations are significantly improved on the basis of significantly reducing the mass of the gravity block and achieving a lightweight and compact design of the whole machine.

[0063] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A roughening device suitable for narrow spaces with dense reinforcing bars, characterized in that: The chiseling device (3) is detachably fixed on the reinforcing bar (2) extending from the existing structure to achieve the chiseling work on the joint surface (1) of the existing structure to be chiseled. The chiseling device (3) includes a main frame (7), on which two symmetrical clamping mechanisms (5) are provided, and a chiseling mechanism (6) is located between the two clamping mechanisms (5). The two clamping mechanisms (5) are clamped on the corresponding two steel bars (2), and the chiseling mechanism (6) is used to perform specific chiseling operations.

2. The roughening device for densely packed reinforcing bars in narrow spaces according to claim 1, characterized in that: The chiseling device (3) also includes a drive mechanism (4) set on the main frame (7). The drive mechanism (4) is used to synchronously adjust the distance between the two clamping mechanisms (5) or drive the chiseling mechanism (6) to move laterally on the main frame (7).

3. The roughening device for densely packed reinforcing bars in narrow spaces according to claim 2, characterized in that: The main frame (7) includes two end plates (70), and two symmetrically distributed connecting plates (71) and two guide rods (72) are fixed between the two end plates (70), and the guide rods (72) are located on the upper side of the connecting plates (71); The drive mechanism (4) includes a positive and negative thread screw (41) and a drive screw (42) rotatably disposed between two end plates (70). The same end of the positive and negative thread screw (41) and the drive screw (42) extends through the corresponding end plate (70) to its outside. A switching drive device (43) is provided on the outside of the end plate (70) for driving the positive and negative thread screw (41) or the drive screw (42) to rotate.

4. The roughening device for densely packed reinforcing bars in narrow spaces according to claim 3, characterized in that: The switching drive device (43) includes a first driven gear (432) and a second driven gear (433) provided on the through ends of the positive and negative toothed screws (41) and the drive screw (42). A switching gap is reserved between the first driven gear (432) and the second driven gear (433). A support platform (430) is provided on the outer side of the end plate (70). A drive unit (431) is fixedly installed on the support platform (430). A transmission gear (435) is provided on the output shaft of the drive unit (431). A sliding keyway (434) is arranged in a ring on the output shaft of the drive unit (431). A sliding key block (436) is provided on the inner ring surface of the transmission gear (435) and slides in cooperation with the sliding keyway (434). The transmission gear (435) can switch the meshing relationship between the first driven gear (432) and the second driven gear (433) by sliding. A push-pull telescopic cylinder (437) located on the side of the drive unit (431) is also fixedly installed on the support platform (430). A U-shaped actuating element (438) is provided on its output end for controlling the transmission gear (435) to slide on the output shaft of the drive unit (431). The two side walls of the U-shaped actuating element (438) clamp the transmission gear (435) therein, and the side walls are rotatably provided with balls (439) that contact the transmission gear (435).

5. The roughening device according to claim 3, suitable for narrow spaces with dense reinforcement, is characterized in that: The clamping mechanism (5) includes a U-shaped frame (50). The bottom of the U-shaped frame (50) is provided with two first guide bushings (51) and a first internal thread shaft (52). The two first guide bushings (51) are slidably mounted on two guide rods (72), and the first internal thread shaft (52) is threadedly mounted on the corresponding threaded sections of the positive and negative thread screws (41). The top of the two side walls of the U-shaped stand (50) are provided with extension arms (53) extending in the clamping direction. An upper surrounding roller (54) is provided between the two extension arms (53). A rotating rod (55) is rotatably provided between the two side walls of the U-shaped stand (50). Two symmetrical hinged arms (56) are fixed on the rotating rod (55). A lower surrounding roller (57) is provided between the two hinged arms (56). A clamping telescopic cylinder (58) is hinged to the inner side of the extension arm (53). The telescopic end of the clamping telescopic cylinder (58) is hinged to the tail end of the corresponding hinged arm (56).

6. The roughening device according to claim 3, suitable for narrow spaces with dense reinforcement, is characterized in that: The chiseling mechanism (6) includes a transverse seat (60) that is slidably mounted on the main frame (7) and connected to the drive screw (42). The side of the transverse seat (60) is provided with a lifting mechanism (61) for adjusting the height. The moving output end of the lifting mechanism (61) carries a shock-absorbing mechanism (62) for absorbing the impact of the operation. The shock-absorbing support end of the shock-absorbing mechanism (62) is fixedly mounted with a chiseling machine (63). The transverse shift seat (60) includes a U-shaped seat (601), which is fitted from the bottom onto the outer side of the two connecting plates (71). The two side plates of the U-shaped seat (601) are symmetrically fixed with second guide shafts (602). The second guide shafts (602) form a reverse wrap around the connecting plates (71) and are movably fitted onto the corresponding guide rods (72). The top of the bottom plate of the transverse shift seat (60) is fixed with a second internal threaded sleeve (603), which is threaded onto the drive screw (42).

7. The roughening device according to claim 6, suitable for narrow spaces with dense reinforcement, is characterized in that: The lifting mechanism (61) includes two symmetrically arranged multi-stage lifting rods (610) and a lifting frame (612) located between the two multi-stage lifting rods (610). The lifting ends of the two multi-stage lifting rods (610) are fixedly connected to the lifting frame (612). A multi-stage telescopic cylinder (613) is fixedly installed on the side of one of the multi-stage lifting rods (610). A docking plate (615) corresponding to the multi-stage telescopic cylinder (613) is fixedly installed on the side of the lifting frame (612). The telescopic end of the multi-stage telescopic cylinder (613) is connected to the docking plate (615). The multi-stage lifting rod (610) specifically includes an inner rod (6103), a middle sleeve rod (6102), and an outer sleeve rod (6101) that are sequentially fitted from the inside out. The inner rod (6103) has a connecting strip (2107) fixed on its side for connecting the lifting frame (612). The middle sleeve rod (6102) and the outer sleeve rod (6101) are both provided with receiving grooves (6104) that can accommodate the connecting strip (2107) and have an open bottom. The middle sleeve rod (6102) and the outer sleeve rod (6101) are also provided with telescopic grooves (6105) on their inner sides. The inner rod (6103) and the middle sleeve rod (6102) are both provided with telescopic blocks (6106) on their outer sides. The telescopic blocks (6106) slide in cooperation with the corresponding telescopic grooves (6105).

8. The roughening device for densely packed reinforcing bars in narrow spaces according to claim 7, characterized in that: The lifting frame (612) is specifically a U-shaped frame with a groove for installing the shock absorption mechanism (62); The shock absorption mechanism (62) includes axial impact energy dissipation cylinders (620) fixed at the four corners of the lifting frame (612) and a gravity potential energy constant pressure feedback unit (621) fixed in the groove of the lifting frame (612). The axial impact energy dissipation cylinders (620) are connected to the corresponding corners of the shaving machine (63) through ball joints (622) fixed on their telescopic ends. The energy dissipation oil ports (6200) on the four axial impact energy dissipation cylinders (620) are connected in parallel through energy dissipation oil pipes (623) and converge into the same conduit, and then connected to the gravity potential energy constant pressure feedback unit (621) to absorb the high-frequency impact kinetic energy of the shaving machine (63) while using the hydrostatic pressure to provide continuous rigid working support force for the shaving machine. At the same time, a diaphragm accumulator (624) is provided at the pipe junction of the energy dissipation oil pipes (623). The gravitational potential energy constant pressure feedback unit (621) includes a box (6210) fixed in the groove of the lifting frame (612). The top of the box (6210) is open and the bottom has a flow port (6211) for connecting fluid. Multiple potential energy guide rods (6212) extending upward are fixed on the inner bottom wall of the box (6210). A gravity block (6213) for providing constant pressure load is fitted on the movable bushing of the potential energy guide rod (6212). The cavity of the box (6210) below the gravity block (6213) forms an oil fluctuation cavity (6214). The top of the potential energy guide rod (6212) is machined with an external thread section, and an adjusting nut (6215) is threaded on the thread section. A pressure spring (6216) is also fitted on the outside of the potential energy guide rod (6212) between the adjusting nut (6215) and the gravity block (6213). The chipping machine (63) operates by multi-head staggered peak striking.

9. A roughening device suitable for narrow spaces with dense reinforcing bars according to claim 8, characterized in that: The top of the potential energy guide rod (6212) is higher than the potential energy guide rod (6212), and a stabilizing cover (6217) that is fastened to the top of the box (6210) is movably installed on it. A clamping nut (6218) that clamps the stabilizing cover (6217) is threaded on the top of the potential energy guide rod (6212). The axial impact energy dissipation cylinder (620) is a one-way piston cylinder with only one energy dissipation port (6200) at the tail end. The energy dissipation oil pipe (623) includes a five-way connector (6231) and four branch pipes (6230) connected to the energy dissipation oil ports (6200) of each axial impact energy dissipation cylinder (620). The other end of each branch pipe (6230) is connected to one of the four input interfaces of the five-way connector (6231). The remaining output interface of the five-way connector (6231) is connected to the first three-way connector (6232). The diaphragm accumulator (624) is fixed on one of the branch interfaces of the first three-way connector (6232) to absorb the high-frequency pressure pulse after the convergence. The other branch interface of the first three-way connector (6232) is connected to the flow port (6211) of the gravitational potential energy constant pressure feedback unit (6211) through the summing branch pipe (6233).

10. A roughening device suitable for narrow spaces with dense reinforcing bars according to claim 9, characterized in that: Two symmetrical hinge seats (604) are fixed on the side of the transverse seat (60). The outer side of the outer sleeve (6101) of the two multi-stage lifting rods (610) is provided with a hinge shaft (614). The hinge shaft (614) is hinged to the corresponding hinge seat (604). Two attitude support cylinders (625) are hinged to the bottom of the transverse seat (60). The two attitude support cylinders (625) correspond one-to-one with the two multi-stage lifting rods (610), and their extension ends are hinged to the bottom of the outer sleeve (6101) of the corresponding multi-stage lifting rod (610), forming a stable triangular support structure. The support oil ports (6251) on the two attitude support cylinders (625) are connected in parallel through the oil guide pipe (626) and converged with the pipeline of the axial impact energy dissipation cylinder (620) to the same conduit, and then connected to the gravitational potential energy constant pressure feedback unit (621). The posture support cylinder (625) is a double-acting hydraulic cylinder. Both the rod-side and rodless-side chambers are equipped with support ports (6251). Parallel branch pipes (6252) are connected to both support ports (6251). The other ends of the two parallel branch pipes (6252) are connected in parallel under the same pressure via a second tee connector (6253). The third interface of the second tee connector (6253) is connected to an oil guide pipe (626). The oil guide pipes (626) extending from each of the two posture support cylinders (625) are connected to the third... The three-way connector (6261) is connected in parallel. The output interface of the third three-way connector (6261) is connected to the main oil guide pipe (6262). The other end of the main oil guide pipe (6262) is connected to the first interface of the fourth three-way connector (6234). The branch pipe (6233) is connected to the second interface of the fourth three-way connector (6234). The third interface of the fourth three-way connector (6234) is connected to the flow port (6211) of the gravitational potential energy constant pressure feedback unit (621) through the branch pipe (6235).

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