An automatic water chiseling device for the flange of precast beams on expressways

Abstract

An automatic water chiseling device for the flange of precast beams on expressways, comprising a chiseling mechanism. The chiseling mechanism includes a flange beam clamping mechanism, a chiseling head mounting frame, and a guide rod. The flange beam clamping mechanism includes a frame-shaped mounting frame, a first upper jaw, a second upper jaw, a first lower jaw, and a second lower jaw. The middle part of the top plate in the frame-shaped mounting frame is connected to the traveling mechanism through a position adjustment mechanism. On both sides of the top plate, there are respectively a first upper jaw and a second upper jaw whose front ends can be fitted to the upper surface of the flange beam. On the first vertical plate and the second vertical plate in the frame-shaped mounting frame, there are respectively a first lower jaw and a second lower jaw whose front ends can be fitted to the lower surface of the flange beam. Both ends of the guide rod are fixedly connected to the first vertical plate and the second vertical plate respectively. The chiseling head mounting frame is slidably arranged on the guide rod. This device not only greatly reduces the labor intensity and improves the chiseling efficiency, but also has uniform chiseling and good chiseling quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of scarifying equipment, and particularly relates to an automatic water scarifying device for the flange of a precast beam on an expressway, which is applicable to improving the scarifying efficiency and quality and greatly reducing the labor intensity. Background Art

[0002] In recent years, in the construction of expressway bridges, small and medium-span precast prestressed concrete bridges have been widely used in the field of urban bridges due to their advantages such as simple structure, clear force, fast construction speed, low cost, and less impact on road traffic. Precast prestressed concrete beams (span of 20 - 40m) and small box girders (span of 25 - 40m) are common structural forms for small and medium-span bridges. The precast beams are also divided into middle beams and side beams. When middle beams are combined with middle beams or middle beams are combined with side beams, in order to enhance the adhesion during combination, there is a process of scarifying the flange of the precast beam after the precast beam is finished. The traditional process is to manually hold an electric hammer for scarifying. Manual scarifying requires holding the scarifying machine by hand for a long time and continuously changing positions. Not only will the high vibration frequency of the electric hammer and daily scarifying cause damage to the human arm bones and muscles, but also the inaccurate control of the scarifying trajectory due to manual operation leads to uneven scarifying and poor scarifying quality. Therefore, the existing technology has problems such as low scarifying efficiency, poor scarifying quality, high labor intensity, and great harm to the human body after long-term use. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above problems existing in the prior art, and provide an automatic water scarifying device for the flange of a precast beam on an expressway with high scarifying efficiency, uniform scarifying, and capable of greatly reducing the labor intensity.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] An automatic water scarifying device for the flange of a precast beam on an expressway, the scarifying device includes a traveling mechanism, a position adjusting mechanism, and a scarifying mechanism;

[0006] The scarifying mechanism includes a flange beam clamping mechanism and a scarifying head positioning mechanism. The flange beam clamping mechanism includes a frame-shaped mounting bracket, a first upper jaw, a second upper jaw, a first lower jaw, and a second lower jaw. The frame-shaped mounting bracket includes a top plate, a first vertical plate, and a second vertical plate. The middle of the top plate is connected to the traveling mechanism through a position adjustment mechanism. The two sides of the top plate are respectively fixedly connected to the tops of the first vertical plate and the second vertical plate. The bottoms of the first vertical plate and the second vertical plate are respectively movably connected to the rear ends of the first lower jaw and the second lower jaw. The front ends of the first lower jaw and the second lower jaw can both be attached to the lower surface of the flange beam. The rear ends of the first upper jaw and the second upper jaw are respectively connected to the two sides of the top plate. The front ends of the first upper jaw and the second upper jaw can both be attached to the upper surface of the flange beam. The scarifying head positioning mechanism includes a scarifying head mounting bracket and a guide rod. The two ends of the guide rod are respectively fixedly connected to the first vertical plate and the second vertical plate. The scarifying head mounting bracket is slidably arranged on the guide rod for mounting the scarifying head.

[0007] The scarifying head positioning mechanism further includes a servo lead screw. The two ends of the servo lead screw are respectively fixedly connected to the first vertical plate and the second vertical plate. A slider that can slide along the guide rod is arranged on the servo lead screw. The scarifying head mounting bracket is mounted on the slider.

[0008] Upper positioning plates that can be attached to the upper part of the scarifying surface of the flange beam are arranged at the front ends of the first upper jaw and the second upper jaw. Lower positioning plates that can be attached to the lower part of the scarifying surface of the flange beam are arranged at the front ends of the first lower jaw and the second lower jaw.

[0009] The position adjustment mechanism includes a robotic arm. The robotic arm includes a first robotic arm and a second robotic arm. The first robotic arm includes a first inner sleeve and a first outer sleeve arranged vertically. The second robotic arm includes a second inner sleeve and a second outer sleeve arranged horizontally. The bottom of the first outer sleeve is fixedly connected to the traveling mechanism. The top of the first outer sleeve is inserted and matched with the bottom of the first inner sleeve. The top of the first inner sleeve is connected to the rear end of the second outer sleeve. The front end of the second outer sleeve is inserted and matched with the rear end of the second inner sleeve. The front end of the second inner sleeve is connected to the middle of the top plate. A first hydraulic cylinder whose telescopic end is connected to the first inner sleeve is arranged on the first outer sleeve. A second hydraulic cylinder whose telescopic end is connected to the second inner sleeve is arranged on the second outer sleeve.

[0010] A first hydraulic motor is arranged at the top of the first inner sleeve. The output end of the first hydraulic motor is connected to the rear end of the second outer sleeve.

[0011] The position adjustment mechanism further includes a vertical mounting plate. The bottom of the vertical mounting plate is movably connected to the middle of the rear end of the top plate. A hinge-type hydraulic cylinder is installed at the front end of the vertical mounting plate. The telescopic end of the hinge-type hydraulic cylinder is movably connected to the middle of the front end of the top plate. The rear end of the vertical mounting plate is connected to the front end of the second inner sleeve.

[0012] A second hydraulic motor is provided at the front end of the second inner sleeve. The output end of the second hydraulic motor is connected to the rear end of the vertical mounting plate.

[0013] The scarifying head is the water outlet of a high-pressure water press provided on the traveling mechanism.

[0014] A U-shaped frame for installing the scarifying head is provided on the scarifying head mounting frame.

[0015] The middle of the first lower jaw is connected to the telescopic end of a first electric push rod provided on the first vertical plate. The middle of the second lower jaw is connected to the telescopic end of a second electric push rod provided on the second vertical plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. An automatic water chiseling device for the flange of a precast beam on an expressway according to the present invention includes a traveling mechanism, a position adjusting mechanism, and a chiseling mechanism. The chiseling mechanism includes a flange beam clamping mechanism and a chiseling head positioning mechanism. The flange beam clamping mechanism includes a frame-shaped mounting bracket, a first upper jaw, a second upper jaw, a first lower jaw, and a second lower jaw. The frame-shaped mounting bracket includes a top plate, a first vertical plate, and a second vertical plate. The middle of the top plate is connected to the traveling mechanism through the position adjusting mechanism. The two sides of the top plate are respectively connected to the tops of the first vertical plate and the second vertical plate. The bottoms of the first vertical plate and the second vertical plate are respectively movably connected to the rear ends of the first lower jaw and the second lower jaw. The front ends of the first lower jaw and the second lower jaw can both be attached to the lower surface of the flange beam. The rear ends of the first upper jaw and the second upper jaw are respectively fixed to the two sides of the top plate. The front ends of the first upper jaw and the second upper jaw can both be attached to the upper surface of the flange beam. The chiseling head positioning mechanism includes a chiseling head mounting bracket and a guide rod. The two ends of the guide rod are respectively fixed to the first vertical plate and the second vertical plate. The chiseling head mounting bracket is slidably arranged on the guide rod and is used for mounting the chiseling head. The working principle of this device is as follows: First, the entire automatic water chiseling device is moved to the beam storage area through the traveling mechanism. Then, the chiseling mechanism is moved to the flange beam through the position adjusting mechanism. Next, the first lower jaw and the second lower jaw in the chiseling mechanism are controlled to open. Subsequently, the first lower jaw and the second lower jaw are controlled to close, and in cooperation with the first upper jaw and the second upper jaw, the flange beam is clamped. Finally, the chiseling head on the chiseling head mounting bracket is controlled to automatically chisel the chiseling surface of the flange beam along the guide rod. On the one hand, compared with the traditional manual hand-held chiseling, this device greatly reduces the labor intensity and improves the chiseling efficiency. On the other hand, after the flange beam is clamped and positioned by the flange beam clamping mechanism and then chiseled, the chiseling is more uniform and the chiseling trajectory is controllable, thereby improving the chiseling quality. Therefore, the present invention not only greatly reduces the labor intensity and improves the chiseling efficiency, but also has uniform chiseling and good chiseling quality.

[0018] 2. In the automatic water chiseling device for the flange of a precast beam on an expressway according to the present invention, the chiseling head positioning mechanism further includes a servo lead screw. The two ends of the servo lead screw are respectively fixed to the first vertical plate and the second vertical plate. A slider that can slide along the guide rod is arranged on the servo lead screw. The chiseling head mounting bracket is mounted on the slider. This device accurately controls the movement and positioning of the chiseling head through the servo lead screw, improving the chiseling accuracy. Therefore, the present invention improves the chiseling accuracy.

[0019] 3. In an automatic water chiseling device for the flange of a precast beam on an expressway according to the present invention, upper positioning plates that can be fitted to the upper part of the chiseling surface of the flange beam are provided at the front ends of the first upper jaw and the second upper jaw, and lower positioning plates that can be fitted to the lower part of the chiseling surface of the flange beam are provided at the front ends of the first lower jaw and the second lower jaw. The device realizes the positioning of the chiseling surface of the flange beam through the upper positioning plates and the lower positioning plates, which is convenient for controlling the distance between the chiseling surface and the chiseling head, thereby improving the chiseling effect. Therefore, the present invention realizes the positioning of the chiseling surface of the flange beam and improves the chiseling effect.

[0020] 4. In an automatic water chiseling device for the flange of a precast beam on an expressway according to the present invention, the position adjustment mechanism includes a robotic arm. The robotic arm includes a first robotic arm and a second robotic arm. The first robotic arm includes a first inner sleeve and a first outer sleeve arranged vertically, and the second robotic arm includes a second inner sleeve and a second outer sleeve arranged horizontally. A first hydraulic cylinder with its telescopic end connected to the first inner sleeve is provided on the first outer sleeve, and a second hydraulic cylinder with its telescopic end connected to the second inner sleeve is provided on the second outer sleeve. The device realizes the up-and-down position adjustment of the chiseling head through the first robotic arm that can be telescoped up and down, and realizes the front-and-back position adjustment of the chiseling head through the second robotic arm that can be telescoped back and forth. Therefore, the present invention can automatically adjust the up-and-down and front-and-back positions of the chiseling head.

[0021] 5. In an automatic water chiseling device for the flange of a precast beam on an expressway according to the present invention, a first hydraulic motor is provided at the top of the first inner sleeve, and the output end of the first hydraulic motor is connected to the rear end of the second outer sleeve. The device drives the second robotic arm to rotate on a horizontal plane around the first robotic arm through the first hydraulic motor, realizing the horizontal position adjustment of the chiseling head. Therefore, the present invention can automatically adjust the horizontal position of the chiseling head.

[0022] 6. In an automatic water chiseling device for the flange of a precast beam on an expressway according to the present invention, the position adjustment mechanism further includes a vertical mounting plate. The bottom of the vertical mounting plate is movably connected to the middle of the rear end of the top plate. A hinge-type hydraulic cylinder is installed at the front end of the vertical mounting plate, and the telescopic end of the hinge-type hydraulic cylinder is movably connected to the middle of the front end of the top plate. A second hydraulic motor is provided at the front end of the second inner sleeve, and the output end of the second hydraulic motor is connected to the rear end of the vertical mounting plate. The device drives the vertical mounting plate and the flange beam clamping mechanism provided thereon to rotate on a vertical plane around the second robotic arm by controlling the rotation of the second hydraulic motor, and drives the flange beam clamping mechanism to turn up and down around the bottom of the vertical mounting plate by controlling the telescopic of the hinge-type hydraulic cylinder, thereby adjusting the parallelism between the flange beam clamping mechanism and the flange beam, which is convenient for the flange beam clamping mechanism to clamp the flange beam. Therefore, the present invention is convenient for the flange beam clamping mechanism to clamp the flange beam. Description of the Drawings

[0023] Figure 1This is a structural schematic diagram of the present invention.

[0024] Figure 2 is Figure 1 the left view of the chiseling mechanism in the middle.

[0025] Figure 3 is Figure 1 the right view of the chiseling mechanism in the middle.

[0026] Figure 4 is Figure 3 the structural schematic diagram of the servo lead screw, slider, and chiseling head mounting bracket in the middle.

[0027] In the figure, the traveling mechanism 1, the flange beam clamping mechanism 2, the frame mounting bracket 21, the top plate 211, the first vertical plate 212, the second vertical plate 213, the first upper jaw 22, the second upper jaw 23, the first lower jaw 24, the second lower jaw 25, the upper positioning plate 26, the lower positioning plate 27, the first electric push rod 28, the second electric push rod 29, the chiseling head positioning mechanism 3, the chiseling head mounting bracket 31, the U-shaped frame 311, the guide rod 32, the servo lead screw 33, the slider 34, the robotic arm 4, the first robotic arm 41, the first inner sleeve 411, the first outer sleeve 412, the first hydraulic cylinder 413, the second robotic arm 42, the second inner sleeve 421, the second outer sleeve 422, the second hydraulic cylinder 423, the first hydraulic motor 5, the vertical mounting plate 6, the hinge-type hydraulic cylinder 61, the second hydraulic motor 7, the chiseling head 8, and the high-pressure water press 9. Specific embodiments

[0028] The present invention will be further described below in conjunction with the specification drawings and specific embodiments.

[0029] Refer to Figures 1 to 4 , a highway precast beam flange automatic water chiseling device, the chiseling device includes a traveling mechanism 1, a position adjustment mechanism, and a chiseling mechanism;

[0030] The scarifying mechanism includes a flange beam clamping mechanism 2 and a scarifying head positioning mechanism 3. The flange beam clamping mechanism 2 includes a frame-shaped mounting bracket 21, a first upper jaw 22, a second upper jaw 23, a first lower jaw 24, and a second lower jaw 25. The frame-shaped mounting bracket 21 includes a top plate 211, a first vertical plate 212, and a second vertical plate 213. The middle of the top plate 211 is connected to the traveling mechanism 1 through a position adjustment mechanism. The two sides of the top plate 211 are respectively fixedly connected to the tops of the first vertical plate 212 and the second vertical plate 213. The bottoms of the first vertical plate 212 and the second vertical plate 213 are respectively movably connected to the rear ends of the first lower jaw 24 and the second lower jaw 25. The fronts of the first lower jaw 24 and the second lower jaw 25 can both be fitted to the lower surface of the flange beam. The rear ends of the first upper jaw 22 and the second upper jaw 23 are respectively connected to the two sides of the top plate 211. The fronts of the first upper jaw 22 and the second upper jaw 23 can both be fitted to the upper surface of the flange beam. The scarifying head positioning mechanism 3 includes a scarifying head mounting bracket 31 and a guide rod 32. The two ends of the guide rod 32 are respectively fixedly connected to the first vertical plate 212 and the second vertical plate 213. The scarifying head mounting bracket 31 is slidably arranged on the guide rod 32 and is used for mounting the scarifying head 8.

[0031] The scarifying head positioning mechanism 3 further includes a servo lead screw 33. The two ends of the servo lead screw 33 are respectively fixedly connected to the first vertical plate 212 and the second vertical plate 213. A slider 34 that can slide along the guide rod 32 is arranged on the servo lead screw 33. The scarifying head mounting bracket 31 is mounted on the slider 34.

[0032] Upper positioning plates 26 that can be fitted to the upper part of the scarifying surface of the flange beam are arranged at the fronts of the first upper jaw 22 and the second upper jaw 23. Lower positioning plates 27 that can be fitted to the lower part of the scarifying surface of the flange beam are arranged at the fronts of the first lower jaw 24 and the second lower jaw 25.

[0033] The position adjustment mechanism includes a robotic arm 4. The robotic arm 4 includes a first robotic arm 41 and a second robotic arm 42. The first robotic arm 41 includes a vertically arranged first inner sleeve 411 and a first outer sleeve 412. The second robotic arm 42 includes a horizontally arranged second inner sleeve 421 and a second outer sleeve 422. The bottom of the first outer sleeve 412 is fixedly connected to the traveling mechanism 1. The top of the first outer sleeve 412 is inserted and fitted with the bottom of the first inner sleeve 411. The top of the first inner sleeve 411 is connected to the rear end of the second outer sleeve 422. The front end of the second outer sleeve 422 is inserted and fitted with the rear end of the second inner sleeve 421. The front end of the second inner sleeve 421 is connected to the middle of the top plate 211. A first hydraulic cylinder whose telescopic end is connected to the first inner sleeve 411 is arranged on the first outer sleeve 412. A second hydraulic cylinder 423 whose telescopic end is connected to the second inner sleeve 421 is arranged on the second outer sleeve 422.

[0034] A first hydraulic motor 5 is provided at the top of the first inner sleeve 411, and the output end of the first hydraulic motor 5 is connected to the rear end of the second outer sleeve 422.

[0035] The position adjustment mechanism further includes a vertical mounting plate 6. The bottom of the vertical mounting plate 6 is movably connected to the middle of the rear end of the top plate 211. A hinge-type hydraulic cylinder 61 is installed at the front end of the vertical mounting plate 6. The telescopic end of the hinge-type hydraulic cylinder 61 is movably connected to the middle of the front end of the top plate 211. The rear end of the vertical mounting plate 6 is connected to the front end of the second inner sleeve 421.

[0036] A second hydraulic motor 7 is provided at the front end of the second inner sleeve 421, and the output end of the second hydraulic motor 7 is connected to the rear end of the vertical mounting plate 6.

[0037] The scarifying head 8 is the water outlet of a high-pressure water press 9 provided on the traveling mechanism 1.

[0038] A U-shaped frame 311 for installing the scarifying head 8 is provided on the scarifying head mounting frame 31.

[0039] The middle of the first lower jaw 24 is connected to the telescopic end of a first electric push rod 28 provided on the first vertical plate 212, and the middle of the second lower jaw 25 is connected to the telescopic end of a second electric push rod 29 provided on the second vertical plate 213.

[0040] The principle of the present invention is described as follows:

[0041] In the prior art, the recoil of a manually-held scarifying tool is large and the safety hazard is high. Moreover, the scarifying surface is far from the ground, and it is easy to cause the scarifying trajectory and the scarifying boundary to be uncontrollable due to the unstable manual holding action. For the automatic water scarifying device of the present invention, first, through the first upper jaw, the second upper jaw that fits the upper surface of the flange beam, the first lower jaw, the second lower jaw that fit the lower surface of the flange beam, and the upper positioning plate, the lower positioning plate that fit the scarifying surface of the flange beam, the flange beam is fixed in three planes. Then, the scarifying head is controlled by a servo lead screw to scarify according to a preset path, and the scarifying trajectory, the scarifying boundary and the scarifying effect can be effectively controlled.

[0042] The present invention uses the high-pressure water jet generated by the high-pressure water press for scarifying, with good dust reduction effect and more environmental protection. A pressure boosting and stabilizing system can be provided on the high-pressure water press to ensure that the water outlet pressure is above 50 MPa.

[0043] Example 1:

[0044] See Figures 1 to 4, a kind of automatic water chiseling device for the flange of precast beams on expressways. The chiseling device includes a traveling mechanism 1, a position adjusting mechanism, and a chiseling mechanism. The chiseling mechanism includes a flange beam clamping mechanism 2 and a chiseling head positioning mechanism 3. The flange beam clamping mechanism 2 includes a frame-shaped mounting bracket 21, a first upper jaw 22, a second upper jaw 23, a first lower jaw 24, and a second lower jaw 25. The frame-shaped mounting bracket 21 includes a top plate 211, a first vertical plate 212, and a second vertical plate 213. The middle of the top plate 211 is connected to the traveling mechanism 1 through the position adjusting mechanism. The two sides of the top plate 211 are respectively fixedly connected to the tops of the first vertical plate 212 and the second vertical plate 213. The bottoms of the first vertical plate 212 and the second vertical plate 213 are respectively movably connected to the rear ends of the first lower jaw 24 and the second lower jaw 25. The middle of the first lower jaw 24 is connected to the telescopic end of a first electric push rod 28 arranged on the first vertical plate 212. The middle of the second lower jaw 25 is connected to the telescopic end of a second electric push rod 29 arranged on the second vertical plate 213. The fronts of the first lower jaw 24 and the second lower jaw 25 can both be attached to the lower surface of the flange beam. The rear ends of the first upper jaw 22 and the second upper jaw 23 are respectively connected to the two sides of the top plate 211. The fronts of the first upper jaw 22 and the second upper jaw 23 can both be attached to the upper surface of the flange beam. The chiseling head positioning mechanism 3 includes a chiseling head mounting bracket 31, a guide rod 32, and a servo lead screw 33. The two ends of the guide rod 32 are respectively fixedly connected to the first vertical plate 212 and the second vertical plate 213. The two ends of the servo lead screw 33 are respectively fixedly connected to the first vertical plate 212 and the second vertical plate 213. A slider 34 that can slide along the guide rod 32 is arranged on the servo lead screw 33. The chiseling head mounting bracket 31 is installed on the slider 34. A U-shaped bracket 311 for installing the chiseling head 8 is arranged on the chiseling head mounting bracket 31. The chiseling head 8 is the water outlet of a high-pressure water press 9 arranged on the traveling mechanism 1.

[0045] Embodiment 2:

[0046] The difference from Embodiment 1 is:

[0047] Upper positioning plates 26 that can be attached to the upper part of the chiseled surface of the flange beam are arranged at the fronts of the first upper jaw 22 and the second upper jaw 23, and lower positioning plates 27 that can be attached to the lower part of the chiseled surface of the flange beam are arranged at the fronts of the first lower jaw 24 and the second lower jaw 25.

[0048] Embodiment 3:

[0049] The difference from Embodiment 1 is:

[0050] The position adjustment mechanism includes a robotic arm 4, and the robotic arm 4 includes a first robotic arm 41 and a second robotic arm 42. The first robotic arm 41 includes a first inner sleeve 411 and a first outer sleeve 412 arranged vertically. The second robotic arm 42 includes a second inner sleeve 421 and a second outer sleeve 422 arranged horizontally. The bottom of the first outer sleeve 412 is fixedly connected to the traveling mechanism 1. The top of the first outer sleeve 412 is inserted and matched with the bottom of the first inner sleeve 411. A first hydraulic motor 5 is arranged at the top of the first inner sleeve 411. The output end of the first hydraulic motor 5 is connected to the rear end of the second outer sleeve 422. The front end of the second outer sleeve 422 is inserted and matched with the rear end of the second inner sleeve 421. A first hydraulic cylinder with its telescopic end connected to the first inner sleeve 411 is arranged on the first outer sleeve 412. The first hydraulic cylinder is integrally arranged inside the first outer sleeve. A second hydraulic cylinder 423 with its telescopic end connected to the second inner sleeve 421 is arranged on the second outer sleeve 422. The second hydraulic cylinder 423 is integrally arranged on the outer wall of the second outer sleeve 422;

[0051] The position adjustment mechanism further includes a vertical mounting plate 6. A second hydraulic motor 7 is arranged at the front end of the second inner sleeve 421. The output end of the second hydraulic motor 7 is connected to the rear end of the vertical mounting plate 6. The bottom of the vertical mounting plate 6 is movably connected to the middle of the rear end of the top plate 211. A hinge-type hydraulic cylinder 61 is installed at the front end of the vertical mounting plate 6. The telescopic end of the hinge-type hydraulic cylinder 61 is movably connected to the middle of the front end of the top plate 211.

Claims

1. An automatic water chiseling device for the flange of a precast beam on a highway. The chiseling device includes a traveling mechanism (1), a position adjustment mechanism, and a chiseling mechanism. It is characterized in that: The chiseling mechanism includes a flange beam clamping mechanism (2) and a chiseling head positioning mechanism (3). The flange beam clamping mechanism (2) includes a frame-shaped mounting bracket (21), a first upper jaw (22), a second upper jaw (23), a first lower jaw (24), and a second lower jaw (25). The frame-shaped mounting bracket (21) includes a top plate (211), a first vertical plate (212), and a second vertical plate (213). The middle of the top plate (211) is connected to the traveling mechanism (1) through the position adjustment mechanism. The two sides of the top plate (211) are respectively fixedly connected to the tops of the first vertical plate (212) and the second vertical plate (213). The bottoms of the first vertical plate (212) and the second vertical plate (213) are respectively movably connected to the rear ends of the first lower jaw (24) and the second lower jaw (25). The fronts of the first lower jaw (24) and the second lower jaw (25) can be respectively fitted to the lower surface of the flange beam. The rear ends of the first upper jaw (22) and the second upper jaw (23) are respectively connected to the two sides of the top plate (211). The fronts of the first upper jaw (22) and the second upper jaw (23) can be respectively fitted to the upper surface of the flange beam. The chiseling head positioning mechanism (3) includes a chiseling head mounting bracket (31) and a guide rod (32). The two ends of the guide rod (32) are respectively fixedly connected to the first vertical plate (212) and the second vertical plate (213). The chiseling head mounting bracket (31) is slidably arranged on the guide rod (32) for mounting a chiseling head (8).

2. The automatic water chiseling device for the flange of a precast beam on a highway according to claim 1. It is characterized in that: The chiseling head positioning mechanism (3) further includes a servo lead screw (33). The two ends of the servo lead screw (33) are respectively fixedly connected to the first vertical plate (212) and the second vertical plate (213). A slider (34) that can slide along the guide rod (32) is arranged on the servo lead screw (33). The chiseling head mounting bracket (31) is mounted on the slider (34).

3. The automatic water chiseling device for the flange of a precast beam on a highway according to claim 1 or 2. It is characterized in that: Upper positioning plates (26) that can be fitted to the upper part of the chiseling surface of the flange beam are arranged at the fronts of the first upper jaw (22) and the second upper jaw (23). Lower positioning plates (27) that can be fitted to the lower part of the chiseling surface of the flange beam are arranged at the fronts of the first lower jaw (24) and the second lower jaw (25).

4. The automatic water chiseling device for the flange of a precast beam on a highway according to claim 1 or 2. It is characterized in that: The position adjustment mechanism includes a robotic arm (4), and the robotic arm (4) includes a first robotic arm (41) and a second robotic arm (42). The first robotic arm (41) includes a vertically arranged first inner sleeve (411) and a first outer sleeve (412). The second robotic arm (42) includes a horizontally arranged second inner sleeve (421) and a second outer sleeve (422). The bottom of the first outer sleeve (412) is fixedly connected to the traveling mechanism (1). The top of the first outer sleeve (412) is inserted and matched with the bottom of the first inner sleeve (411). The top of the first inner sleeve (411) is connected to the rear end of the second outer sleeve (422). The front end of the second outer sleeve (422) is inserted and matched with the rear end of the second inner sleeve (421). The front end of the second inner sleeve (421) is connected to the middle of the top plate (211). A first hydraulic cylinder with its telescopic end connected to the first inner sleeve (411) is arranged on the first outer sleeve (412). A second hydraulic cylinder (423) with its telescopic end connected to the second inner sleeve (421) is arranged on the second outer sleeve (422).

5. The automatic water chiseling device for the flange of precast beams on expressways according to claim 4, characterized in that: A first hydraulic motor (5) is arranged at the top of the first inner sleeve (411), and the output end of the first hydraulic motor (5) is connected to the rear end of the second outer sleeve (422).

6. The automatic water chiseling device for the flange of precast beams on expressways according to claim 4, characterized in that: The position adjustment mechanism further includes a vertical mounting plate (6). The bottom of the vertical mounting plate (6) is movably connected to the middle of the rear end of the top plate (211). A hinge-type hydraulic cylinder (61) is installed at the front end of the vertical mounting plate (6). The telescopic end of the hinge-type hydraulic cylinder (61) is movably connected to the middle of the front end of the top plate (211). The rear end of the vertical mounting plate (6) is connected to the front end of the second inner sleeve (421).

7. The automatic water chiseling device for the flange of precast beams on expressways according to claim 6, characterized in that: A second hydraulic motor (7) is arranged at the front end of the second inner sleeve (421), and the output end of the second hydraulic motor (7) is connected to the rear end of the vertical mounting plate (6).

8. The automatic water chiseling device for the flange of precast beams on expressways according to claim 1 or 2, characterized in that: The chiseling head (8) is the water outlet of a high-pressure water press (9) arranged on the traveling mechanism (1).

9. The automatic water chiseling device for the flange of precast beams on expressways according to claim 1 or 2, characterized in that: A U-shaped frame (311) for installing the chiseling head (8) is arranged on the chiseling head mounting frame (31).

10. The automatic water chiseling device for the flange of precast beams on expressways according to claim 1 or 2, characterized in that: The middle part of the first lower thumb rest (24) is connected to the telescopic end of the first electric push rod (28) arranged on the first vertical plate (212), and the middle part of the second lower thumb rest (25) is connected to the telescopic end of the second electric push rod (29) arranged on the second vertical plate (213).

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