A multi-degree-of-freedom linkage hair cutting machine

Abstract

The present invention discloses a multi-degree-of-freedom linkage chiseling machine, comprising a chiseling module and a chiseling drive mechanism; the chiseling drive mechanism comprises two semicircular mechanisms, which, after being merged, form a projection edge of a topological circle from a top perspective; each topological line of the topological circle is formed by the projection of a first plate; through the mechanical linkage and mutual cooperation between the adjustment mechanism and the chiseling drive mechanism, in actual application, all-round chiseling adjustment can be performed on the outer surface of a large-sized concrete column; and in response to the different external diameters of the concrete column used in actual conditions, or the existence of a variable diameter structure, the device can also perform adaptive variable diameter adjustment and chiseling operations according to the above variables, so as to meet different chiseling operation requirements, effectively solve the technical problems in traditional technologies, and greatly meet the requirements of practical applications and practicability.

Description

Technical Field

[0001] The invention relates to the technical field of hair cutting machines, in particular to a multi-freedom linkage hair cutting machine. Background Art

[0002] A concrete chiseling machine is a machine specifically designed for roughening concrete structures. A motor drives the chisel head, which moves back and forth across the concrete surface, peeling away the concrete and creating the desired roughened effect. The chisel head typically uses a high-speed rotating metal blade or wire brush, which achieves the desired chiseling effect by rubbing and cutting the concrete surface.

[0003] Concrete chiseling machines are widely used in concrete structures such as walls, pavements, bridges, and water conservancy projects. They can perform various surface roughening operations, including deburring, smoothing, cleaning, and removing scratches. They remove burrs, potholes, and other surface irregularities, resulting in a smoother and safer finish. Different types of cutters can be used to meet diverse concrete surface treatment requirements. Their high efficiency, ease of operation, and high accuracy make them indispensable equipment in modern construction, road construction, and water conservancy projects.

[0004] In the field of traditional chiseling machines, the chiseling driving effect on columnar concrete structures is not ideal. The specific reasons are as follows:

[0005] First of all, traditional chiseling machines cannot fully adapt to the curvature changes of cylindrical structures. The contact area between the chisel head and the concrete surface is not sufficient, which may lead to incomplete chiseling and affect the chiseling effect.

[0006] Secondly, it is difficult for workers to operate on large-scale column concrete structures with variable diameter characteristics.

[0007] Finally, traditional chiseling machines need to be manually operated, and the operators need to have certain skills and experience, and there are also certain safety hazards.

[0008] Therefore, a multi-degree-of-freedom linkage hair cutting machine is proposed. Summary of the Invention

[0009] In view of this, the embodiment of the present invention hopes to provide a multi-degree-of-freedom linkage hair cutting machine to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option;

[0010] The technical solution of an embodiment of the present invention is implemented as follows: a multi-degree-of-freedom linkage chiseling machine includes a chiseling module and a chiseling drive mechanism; the chiseling drive mechanism includes two semicircular mechanisms, and after the two semicircular mechanisms are merged, a projection edge of a topological circle is formed from a top perspective; each topological line of the topological circle is formed by the projection of a first plate, and the chiseling module is provided on the outside of the first plate; the topological circle is driven by the chiseling drive mechanism to form a variable diameter adjustment, driving each of the chiseling modules to perform variable diameter chiseling operations on the cylinder; the topological circle is a twelve-sided topological circle.

[0011] In the above embodiment: the above-mentioned chiseling drive mechanism and the semicircular mechanism are in a linkage relationship, and they are in a direct drive mode with each other, and ultimately realize the linkage drive of multiple degrees of freedom, and its specific drive trajectory, orientation and angle and other parameters; specifically, it is based on the staff's selection and assembly of the stroke of the above-mentioned degrees of freedom, and the linkage between the above-mentioned degrees of freedom and the control of the external controller.

[0012] In one embodiment, an adjusting mechanism is installed on the transport device, and the adjusting mechanism outputs a rotational degree of freedom and a first linear degree of freedom, which are respectively used to adjust the horizontal angle and the spatial orientation of the chiseling drive mechanism.

[0013] In the above embodiment: the above-mentioned rotational degree of freedom and the first linear degree of freedom are in a linkage relationship, and they are in a direct drive mode with each other, and ultimately realize the linkage drive of multiple degrees of freedom, and its specific drive trajectory, orientation and angle and other parameters; specifically, it is based on the staff's selection and assembly of the stroke volume of the above-mentioned degrees of freedom, and the linkage between the above-mentioned degrees of freedom and the control of the external controller.

[0014] In one embodiment, the adjustment mechanism includes a power member fixedly connected to the transport device; the power member is arranged vertically and outputs the rotational degree of freedom to drive the frame to rotate horizontally; a first telescopic cylinder arranged along the X or Z axis is installed on the frame, and the first telescopic cylinder outputs the first linear degree of freedom, and its piston rod is connected to the chiseling drive mechanism.

[0015] In the above embodiment: through the mechanical linkage and mutual cooperation between the above-mentioned first telescopic cylinder and the power part, multi-end linkage and cooperation are carried out by outputting the rotational degree of freedom and the first linear degree of freedom, so as to drive the chiseling drive mechanism to carry out the specified function and drive it; based on the above-mentioned driving mode, the chiseling drive mechanism and the chiseling module can perform all-round variable diameter chiseling operations on the external concrete column.

[0016] In one embodiment, in addition to the semicircular mechanism, the chiseling drive mechanism also includes: a first frame; the first frame is equipped with a vertically arranged second telescopic cylinder, the outer surface of the first frame is vertically slidably matched with the second frame, and the second frame is driven by the second telescopic cylinder in its height orientation; in the semicircular mechanism, six first plates are evenly arranged in a semicircular array to form a semicircular structure; in the semicircular mechanism, a second linear degree of freedom is output to adjust the outer diameter of the topological circle.

[0017] In the above embodiment: the above driving mode is not limited to this; as a preferred technical solution, it can also be preferably selected as: the semicircular mechanism includes a third telescopic cylinder; the third telescopic cylinder is vertically fixedly connected to the second frame, and outputs the second linear degree of freedom, driving the first cylinder to slide vertically along the outside of the second cylinder; the bottom of the second cylinder is fixedly connected to the top of the second frame.

[0018] The second telescopic cylinder is used to adjust the height of the two semicircular mechanisms, thereby adjusting the height and roughening direction of concrete columns of different heights.

[0019] At the same time, the semicircular mechanism also includes a hinge arm; the bottom and upper parts of the hinge arm are respectively hinged to the second cylinder, and are hinged at both ends to the outer surface of the first plate body through a connecting rod; the top and bottom of the second plate body are respectively connected to the bottom of the first plate body and the top of the second cylinder.

[0020] In the above embodiment: the above driving mode is not limited to this; as a preferred technical solution, it can also be preferably selected as follows: in the two semicircular mechanisms, their respective first cylinders are hinged to each other through an electric pin shaft,

[0021] The electric pin drives the two semicircular mechanisms to merge or separate with each other; when applied to a cylindrical concrete structure, one of the two semicircular mechanisms is inserted into the cylindrical concrete structure and then merged by the electric pin to achieve all-round roughening operation on the cylindrical concrete structure.

[0022] In one embodiment, in the topological circle formed by the annular array of the first plates, the chiseling module is provided in the direction of the first plates facing the central axis of the topological circle; the chiseling modules are slidably fitted at both ends of the outer surface of the first plates, and the chiseling modules are hingedly connected to a connecting frame in the direction away from the central axis of the topological circle, and the two ends of the connecting frame are slidably fitted with pins, and each pin is fixedly connected to the outer surface of one of the first plates.

[0023] In the above embodiment, the connection and forming of the topological circle is achieved through the mechanical linkage and mutual cooperation between the above-mentioned connecting frame, the roughening module and the first plate.

[0024] In one embodiment, a laser distance meter is provided on one side of the second plate facing the central axis of the topological circle. In actual application, the laser distance meter is used to perform a laser measurement of one side of each topological circle on the concrete column to determine whether the spacing between each side of each topological circle is uniform compared to the spacing between the columns, thereby achieving uniform roughening in all directions.

[0025] In the above embodiment: the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder are preferably servo electric cylinders, and the servo drive system is coordinated with the external controller mode to realize the specified drive of the above components, and realize the linkage control between the adjustment mechanism and the haircutting drive mechanism to meet the relevant drive and adjustment operation requirements.

[0026] In the above embodiment: in order to realize the above-mentioned linear degree of freedom and rotational degree of freedom, a mode of driving operation is adopted for the structural components to which they are adapted; wherein, the starting output point of the rotational drive degree of freedom can be matched with a bearing to be connected to an external relatively fixed structure to achieve support; a slider assembly is provided at the front and rear ends of the stroke of the linear degree of freedom itself to adapt to the smoothness of the linear degree of freedom operation guide and to regulate the operation trajectory of the linear degree of freedom to meet the theoretical design requirements.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] Through the mechanical linkage and mutual cooperation between the adjustment mechanism and the roughening drive mechanism, in actual application, the outer surface of a large-sized concrete column can be comprehensively roughened. In addition, according to the different outer diameters of the concrete columns used in actual situations, or the structures with variable diameters, the device can also perform adaptive variable diameter adjustment and roughening operations according to the above variables, meeting the different roughening operation requirements, effectively solving the technical problems in traditional technologies, and greatly meeting the needs of practical application and practicability.

[0029] When the device is used in a specific application, it can also detect whether the spacing between each group of chiseling modules relative to the surface of the column is uniform by laser ranging, so as to better meet the uniform chiseling requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention from one viewing angle;

[0032] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention from another perspective;

[0033] Figure 3 It is a schematic diagram of the three-dimensional structure of the adjustment mechanism of the present invention;

[0034] Figure 4 This is a schematic diagram of the operation of the chiseling drive mechanism of the present invention on a concrete column;

[0035] Figure 5 A schematic diagram of the three-dimensional structure of the chiseling drive mechanism of the present invention from one perspective;

[0036] Figure 6 For the present invention Figure 5 A schematic diagram of the three-dimensional structure of area B with an enlarged perspective;

[0037] Figure 7 This is a schematic diagram of the three-dimensional structure of the chiseling drive mechanism of the present invention from another perspective.

[0038] Figure numerals: 1. Transport device; 2. Adjustment mechanism; 201. Power part; 202. Frame; 203. First telescopic cylinder; 3. Chiseling drive mechanism; 301. First frame; 302. Second telescopic cylinder; 303. Second frame; 304. Third telescopic cylinder; 305. First cylinder; 306. Second cylinder; 307. Hinge arm; 308. Connecting rod; 309. First plate; 310. Second plate; 311. Connecting frame; 312. Electric pin; 4. Chiseling module. Implementation Method

[0039] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] It should be noted that the terms "first," "second," "symmetrical," "array," etc. are used only to distinguish descriptions from positional descriptions and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, limitations on features such as "first" and "symmetrical" may explicitly or implicitly include one or more of these features; similarly, when the number of certain features is not limited in the form of words such as "two" or "three," it should be noted that these features also explicitly or implicitly include one or more of the number of features.

[0041] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature. At the same time, all axial descriptions, such as the X-axis, Y-axis, Z-axis, one end of the X-axis, the other end of the Y-axis, or the other end of the Z-axis, are based on a Cartesian coordinate system.

[0042] In the present invention, unless otherwise expressly specified or limited, terms such as "installation," "connection," and "fixation" should be understood broadly; for example, they may refer to fixed connection, detachable connection, or integral molding; they may refer to mechanical connection, direct connection, welding, or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specification and drawings in conjunction with specific circumstances.

[0043] In the existing technology, the chiseling drive effect of traditional chiseling machines on cylindrical concrete structures is not ideal. The specific reasons are as follows: First, traditional chiseling machines cannot fully adapt to the curvature changes of cylindrical structures. The contact area between the chisel head and the concrete surface is not sufficient, which may lead to incomplete chiseling and affect the chiseling effect. Secondly, it is difficult for workers to operate large-scale cylindrical concrete structures with variable diameter characteristics. Finally, traditional chiseling machines need to be manually operated, and the operator needs to have certain skills and experience. There are also certain safety hazards. For this reason, please refer to Figure 1-7 The present invention provides a technical solution to solve the above technical problems: a multi-degree-of-freedom linkage chiseling machine, comprising a chiseling module 4 and a chiseling drive mechanism 3; the chiseling drive mechanism 3 comprises two semicircular mechanisms, which, when combined, form a projection edge of a topological circle from a top perspective; each topological line of the topological circle is formed by the projection of a first plate 309, and a chiseling module 4 is provided on the outside of the first plate 309; the topological circle is driven by the chiseling drive mechanism 3 to form a variable diameter adjustment, and each chiseling module 4 is driven to perform a variable diameter chiseling operation on a large-sized concrete column (area A in the figure, and will be described as "column" below);

[0044] In this solution, the above is a functional description of the specific application of this device; it should be pointed out that the chiseling module 4 is a module used in existing chiseling machines, which consists of a chisel head and a chisel head drive system. The chisel head consists of a set of steel gears and a chisel head blade. The chisel head blade is made of alloy steel and can cut the concrete surface and remove it. The chisel head drive system is responsible for moving the chisel head along the concrete surface to perform the chiseling operation. The drive system usually consists of an electric motor, a reducer, a transmission system and a control unit. During the chiseling operation, the chisel head first starts cutting from the concrete surface, and then moves along the surface driven by the drive system, thereby producing the desired chiseling effect. The drive system can also achieve different chiseling effects, such as a smooth surface or a textured surface, by adjusting the speed and depth of the chisel head. Therefore, all chiseling operations described below are referred to only by the chiseling module 4 itself.

[0045] In this scheme, the above-mentioned chiseling drive mechanism 3 and the semicircular mechanism are in a linkage relationship, and they are in a direct drive mode with each other, and ultimately realize the linkage drive of multiple degrees of freedom, and its specific driving trajectory, orientation and angle and other parameters; specifically, it is based on the staff's selection and assembly of the stroke of the above-mentioned degrees of freedom, and the linkage between the above-mentioned degrees of freedom and the control of the external controller.

[0046] In this scheme, the above-mentioned chiseling drive mechanism 3 is the main functional mechanism in the device provided in this specific embodiment; on the basis of the above-mentioned mechanism, it is placed on the transport device 1; specifically, an adjustment mechanism 2 is installed on the transport device 1, and the adjustment mechanism outputs the rotational degree of freedom and the first linear degree of freedom, which are respectively used to adjust the horizontal angle and spatial orientation of the chiseling drive mechanism 3.

[0047] The transport device 1 and the adjustment mechanism 2 serve as the reference support structure of the entire device, providing a basis for the above-mentioned chiseling drive mechanism 3 to cooperate with the external environment, and can adapt to routine mechanical maintenance operations such as maintenance, adjustment and assembly of related parts by external personnel;

[0048] The above-mentioned rotational degree of freedom and the first linear degree of freedom are in a linkage relationship, and they are in a direct drive mode with each other, ultimately realizing the linkage drive of multiple degrees of freedom, and its specific driving trajectory, orientation and angle and other parameters; specifically, it is based on the staff's selection and assembly of the stroke volume of the above-mentioned degrees of freedom, and the linkage between the above-mentioned degrees of freedom and the control of the external controller.

[0049] Preferably, the transport device 1 is a crawler vehicle that carries the entire device to an external environment.

[0050] Specifically, the adjustment mechanism 2 includes a power member 201 fixedly connected to the transport device 1. The power member 201 is arranged vertically and outputs a rotational degree of freedom, driving the frame 202 to rotate horizontally. A first telescopic cylinder 203, arranged along the X or Z axis, is mounted on the frame 202. The first telescopic cylinder 203 outputs a first linear degree of freedom, and its piston rod is connected to the chiseling drive mechanism 3. Through the mechanical linkage and mutual coordination between the first telescopic cylinder 203 and the power member 201, a multi-terminal linkage and coordination of the output rotational and first linear degrees of freedom are achieved, driving the chiseling drive mechanism 3 to carry and drive the designated functions. Based on this drive mode, the chiseling drive mechanism 3 and the chiseling module 4 can perform all-round variable diameter chiseling operations on external concrete columns.

[0051] In this scenario, see Figures 1-3 During operation, the crawler is first started to reach the outside of the column. Then, the power element 201 of the adjustment mechanism 2 drives the frame 202 to adjust the horizontal position, transporting the chiseling module 4 to the column. If there is an error in the current parking position of the crawler, the first telescopic cylinder 203 can also be used to adjust the position of the chiseling drive mechanism 3 to achieve mutual adaptation with the column.

[0052] Preferably, the power part 201 is a servo motor, the output shaft of which is fixedly connected to the frame 202 ; the first telescopic cylinder 203 is a servo electric cylinder, the piston rod of which is fixedly connected to the first frame 301 of the chiseling drive mechanism 3 .

[0053] In this solution, all electrical components of the device are powered by batteries installed in the tracked vehicle; specifically, the electrical components of the device are conventionally electrically connected to the battery output port through relays, transformers, button panels and other devices to meet the energy supply requirements of all electrical components of the device.

[0054] Specifically, a controller is also provided on the outside of the tracked vehicle, which is used to connect and control all electrical components of the entire device to be driven according to a pre-set program as a preset value and drive mode; it should be pointed out that the above-mentioned drive mode corresponds to the corresponding start-stop time interval, speed, power and other output parameters between the relevant electrical components below, that is, it meets the requirements of the relevant electrical components described below to drive the relevant mechanical devices to operate according to the functions described therein.

[0055] Preferably, the controller is a PLC controller, which completes the above-mentioned control requirements through conventional PLC control modes such as ladder diagrams, sequential function charts, function block diagrams, instruction tables or structured texts; it should be pointed out that the output parameters such as the start and stop time intervals, speed, power, etc. of the electrical components or other power components driven by its programming are non-limiting; specifically, the relevant drive control is adjusted according to actual usage requirements.

[0056] In some specific embodiments of this application, please refer to Figures 4-7 : In addition to the semicircular mechanism, the chiseling drive mechanism 3 also includes: a first frame 301; the first frame 301 is equipped with a vertically arranged second telescopic cylinder 302, and the outer surface of the first frame 301 is vertically slidably matched with the second frame 303, and the second frame 303 is driven by the second telescopic cylinder 302 in its height orientation; in the semicircular mechanism, six first plates 309 are evenly arranged in the form of a semicircular array to form a semicircular structure; in the semicircular mechanism, a second linear degree of freedom is output to adjust the outer diameter of the topological circle.

[0057] Specifically, the semicircular mechanism includes a third telescopic cylinder 304; the third telescopic cylinder 304 is vertically fixedly connected to the second frame 303, and outputs a second linear degree of freedom, driving the first cylinder 305 to slide vertically along the outside of the second cylinder 306; the bottom of the second cylinder 306 is fixedly connected to the top of the second frame 303.

[0058] The second telescopic cylinder 302 is used to adjust the height of the two semicircular mechanisms, thereby adjusting the height and orientation of the roughening of concrete columns of different heights. The semicircular mechanism also includes a hinge arm 307; the bottom and top of the hinge arm 307 are respectively hinged to the second cylinder 306, and are hinged to the outer surface of the first plate 309 at both ends via a connecting rod 308. The top and bottom of the second plate 310 are respectively connected to the bottom of the first plate 309 and the top of the second cylinder 306.

[0059] During use, a laser distance measuring device is provided on one side of the second plate 310 facing the central axis of the topological circle, so as to achieve uniform roughening in all directions.

[0060] Specifically, in the two semicircular mechanisms, their respective first cylinders 305 are hinged to each other through the electric pin 312, and the specific hinge position is the first cylinder 305;

[0061] In this solution, through the linkage between the above components, first, based on the external adjustment mechanism 2 and the transportation device 1, the chiseling drive mechanism 3 is transported to the cylindrical position, and then one of the semicircular mechanisms is inserted into half of the outer surface of the cylindrical body; then, the electric pin 312 drives the other semicircular mechanism to merge with the current semicircular mechanism, so that the two semicircular mechanisms form the above-mentioned topological circular shape; that is, the state changes from open to closed.

[0062] In actual application, the above mechanical linkage will likely result in each chiseling module 4, i.e., the first plate 309, having different distances relative to the current portion of the column. Subsequently, a laser distance meter is used to measure one edge of each topological circle on the concrete column to determine whether the spacing between each edge of each topological circle is uniform compared to the spacing between the columns. Because the laser distance meter is directly coupled to the first plate 309, it can further refer to the external spacing of each chiseling module 4 relative to the column.

[0063] Subsequently, the staff continuously adjusts the inner side wall of the overall structure of the chiseling drive mechanism 3 by controlling the servo motor and servo electric cylinder in the adjustment mechanism 2, so that the inner side wall of the overall structure is accurately inserted into the outer surface of the cylinder, ensuring that the two form a concentric circle, providing a uniform position basis for the subsequent chiseling operation;

[0064] Specifically, the servo motor adjusts the orientation of the topological circle relative to the cylinder, and the servo cylinder continuously adjusts the center of the topological circle relative to the center of the cylinder. The specific dimensional parameters are accurately measured based on each laser distance meter.

[0065] Then, during the chiseling operation, the chiseling drive mechanism 3 can be raised or lowered along the height direction of the column based on the drive adjustment of the second telescopic cylinder 302 (see Figure 4 ), which meets the adaptation requirements for roughening columns of different heights;

[0066] Preferably, the second telescopic cylinder 302 is a hydraulic cylinder, the cylinder body and piston rod of which are fixedly connected to the first frame 301 and the second frame 303 respectively;

[0067] It should be noted that when the height of the second frame 303 is adjusted relative to the first frame 301, the protrusion of the second frame 303 (area C in the figure) is in sliding engagement with the inner side wall of the first frame 301; based on the form of support by the protrusion, the smoothness of the sliding engagement of the second frame 303 relative to the first frame 301 can be stabilized.

[0068] In this solution, all the hydraulic components of the device as a whole are powered by the hydraulic oil tank and its oil pump equipped with the external tracked vehicle; specifically, the hydraulic components of the device as a whole are conventionally connected to the oil pump output port of the hydraulic oil tank through devices such as solenoid valves, reversing valves and pipes.

[0069] Preferably, the driving synchronization of the above hydraulic cylinders is controlled by a PLC controller.

[0070] It should be pointed out that a large number of descriptions such as "topological circles" are listed above. As mentioned above, the chiseling drive mechanism 3 includes two semicircular mechanisms. After the two semicircular mechanisms are merged, they form a topological circular projection edge from the top perspective. Each topological line of the topological circle is formed by the projection of the first plate 309. It can be understood that the topological circle can be approximately regarded as a polygon. This is because the specific application of this device, that is, the process of variable diameter adjustment, is based on the structural characteristics of the above-mentioned topological circle form (topological cylinder). Among them, each topological edge is a plane from other perspectives (specifically, it can be approximately regarded as the first plate 309 and its chiseling module 4). The first plate 309 and its chiseling module 4 arranged in a circular array constitute the above-mentioned topological circle structure.

[0071] In this embodiment, the topological circle is a twelve-sided topological circle. It is understood that the more sides the topological circle has, the more first plates 309 and roughening modules 4 are assembled, and the finer the roughening operation on the cylindrical surface.

[0072] It should be noted that, in this specific embodiment, in order to avoid entanglement of the wires of all electrical components in the chiseling drive mechanism 3, the maximum rotation degree of the servo motor in the adjustment mechanism 2 shall not exceed 280°.

[0073] It can be understood that in this specific embodiment, in order to avoid the entanglement of the wires of all electrical components in the haircutting drive mechanism 3, it is not limited to the maximum rotation degree of the servo motor in the control adjustment mechanism 2. The haircutting drive mechanism 3 can be equipped with an independent battery to power all its electrical components, which can also avoid the above-mentioned technical problems.

[0074] It should be pointed out that if Figure 2 As shown, in actual application, if the current column requires that its bottom position also needs to be roughened, but if the height of the operating device 1 composed of the crawler vehicle is relatively high, the roughening drive mechanism 3 cannot perform the roughening operation on the bottom of the column; then in actual application, for this device, it is possible to choose not to install the operating device 1 to perform normal operation, or adjust the height of the operating device 1 to achieve normal operation requirements, or adjust the height of the ground in the external environment to achieve normal operation requirements.

[0075] In some specific embodiments of this application, please refer to Figures 5-7: The above description shows that the chiseling drive mechanism 3 of the present device is adapted to concrete structures with cylindrical features, and the principles of its positioning and height adjustment. The following will explain how it is adapted to columns with different diameter characteristics or with variable diameter characteristics for chiseling operations: In the topological circle formed by the annular array of the first plate bodies 309, the first plate bodies 309 are provided with chiseling modules 4 in the direction facing the central axis of the topological circle; both ends of the outer surface of the first plate body 309 are slidably fitted with the chiseling modules 4, and the chiseling modules 4 are hinged to the direction away from the central axis of the topological circle with a connecting frame 311, and both ends of the connecting frame 311 are slidably fitted with pins, and each pin is fixedly connected to the outer surface of a first plate body 309. The connection and forming of the topological circle is achieved through the mechanical linkage and mutual cooperation between the above-mentioned connecting frame 311, the chiseling modules 4 and the first plate body 309.

[0076] In this solution, the third telescopic cylinder 304 first drives the first cylinder 305 to slide vertically along the outside of the second cylinder 306. Based on the connection characteristics between the above-mentioned structural components, the following mechanical linkage is performed synchronously:

[0077] The first cylinder 305 is in sliding engagement, and the first cylinder 305 of each semicircular mechanism is in synchronous sliding engagement due to the connection between the electric pin shafts 312, and each semicircular mechanism performs the following operations:

[0078] Each hinge arm 307 is subjected to tension, which transmits the force to the first plate 309 through the hinged ends of the connecting rod 308;

[0079] Based on the cooperation relationship between the first plate 309 and the second plate 310 below, the second plate 310 takes over and eliminates the redundant degrees of freedom and provides support for the first plate 309 in reverse. At the same time, based on the up and down adjustment direction of the hinge arm 307, that is, the up and down adjustment direction of the third telescopic cylinder 304, the first plate 309 will tilt closer to or away from the center of the topological circle.

[0080] During the tilting process of the first plate 309, please refer to Figure 6 and Figure 7 , wherein each of the two first plates 309 is connected by a hinged connection relationship of a connecting frame 311 and a sliding fit relationship of the pin shaft mentioned above, and they are moved closer or farther away from each other, thereby driving the distance between each chiseling module 4;

[0081] The linkage between the chiseling module 4 and the first plate 309 changes the outer diameter of the topological circle; generally speaking, it is determined by the starting point of the linkage, that is, the stroke and direction of the third telescopic cylinder 304.

[0082] At this point, the internal topological circle formed by each chiseling module 4 has achieved variable diameter adjustment; from a concrete perspective, in essence, the spacing of each chiseling module 4 relative to the column is adjustable; in actual application, for columns of different sizes, specifications or sizes, or when the column itself has a variable diameter structure, the above-mentioned operation mode can be used to achieve adjustable adaptive chiseling operations.

[0083] It is understood that the principle of the aforementioned diameter-changing operation is based on the drive of the third telescopic cylinder 304. In today's environment, most concrete civil engineering construction standards are standardized or parameterized. Therefore, using the external diameter of a common concrete column as a benchmark, a standardized drive mode can be established in which different strokes of the third telescopic cylinder 304 can drive the aforementioned topological circle to different diameters, thereby directly adapting to different scenario requirements.

[0084] Preferably, the third telescopic cylinder 304 is a servo electric cylinder;

[0085] Preferably, the PLC controller is also configured with an independent wireless transmitting module and a wireless receiving module. The wireless transmitting module sends a work or pause command signal which is transmitted to the wireless receiving module via a medium. When necessary, the staff can input instructions to the wireless transceiver module through the background wireless remote control device to remotely control the controller, and then remotely control all electrical components of the device to drive them according to the relevant driving mode. At the same time, the wireless transceiver module can also transmit the correlation coefficients or other information detected by the system of the relevant sensor elements or servo drive elements in the device to the background staff.

[0086] The various technical features of the specific embodiments described above can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the specific embodiments described above are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. Example

[0087] To make the above-described specific embodiments of the present invention more clearly understood, the following detailed exemplary embodiments of the present invention are described. The present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present invention. Therefore, the present invention is not limited to the embodiments disclosed below.

[0088] This embodiment is based on the relevant principles described in the above specific embodiments, in which the following are exemplary applications:

[0089] In the current environment, the outer surface of a concrete column with a diameter of 2 meters and a height of 5 meters needs to be uniformly roughened. The following operations are performed using the device provided in the above embodiment:

[0090] S1. Start the crawler to the outside of the column. Then, the power part 201 of the adjustment mechanism 2 drives the frame 202 to adjust the horizontal position and transport the chiseling module 4 to the column. If there is an error in the current parking position of the crawler, the first telescopic cylinder 203 can also be used to adjust the position of the chiseling drive mechanism 3 to achieve mutual adaptation between it and the column.

[0091] S2. After the chiseling drive mechanism 3 is transported to the cylinder position by the external adjustment mechanism 2 and the transport device 1, one of the semicircular mechanisms is inserted into half of the outer surface of the cylinder; then, the electric pin 312 drives the other semicircular mechanism to merge with the current semicircular mechanism, so that the two semicircular mechanisms form the above-mentioned topological circular shape; that is, the state changes from open to closed;

[0092] S3. The aforementioned mechanical linkage will likely result in each chiseling module 4, i.e., the first plate 309, having different distances relative to the current portion of the column. Subsequently, a laser distance meter is used to measure one edge of each topological circle on the concrete column to determine whether the spacing between each edge of each topological circle is uniform relative to the spacing between the columns. Because the laser distance meter is directly coupled to the first plate 309, it can further indicate the external spacing between each chiseling module 4 and the column.

[0093] S3.1. The staff controls the servo motor and servo electric cylinder in the adjustment mechanism 2 to continuously adjust the inner side wall of the overall structure of the chiseling drive mechanism 3 to accurately fit the outer surface of the cylinder, ensuring that the two form a concentric circle, providing a uniform position foundation for subsequent chiseling operations;

[0094] S3.2. The servo motor adjusts the orientation of the topological circle relative to the cylinder, and the servo cylinder continuously corrects the center of the topological circle relative to the center of the cylinder. The specific dimensional parameters are accurately measured based on each laser distance meter.

[0095] S4. Adjust the current outer diameter of the cylinder in the following manner: The third telescopic cylinder 304 drives the first cylinder 305 to slide vertically along the outside of the second cylinder 306. Based on the connection characteristics between the above-mentioned structural components, the following mechanical linkage is simultaneously performed:

[0096] The first cylinder 305 is in sliding engagement, and the first cylinder 305 of each semicircular mechanism is in synchronous sliding engagement due to the connection between the electric pin shafts 312, and each semicircular mechanism performs the following operations:

[0097] S4.1. Each hinge arm 307 is subjected to a tensile force, which is transmitted to the first plate 309 through the hinge connection of the two ends of the connecting rod 308;

[0098] S4.2. First plate 309 cooperates with lower second plate 310, and second plate 310 takes over and eliminates excess degrees of freedom, providing reverse support for first plate 309. Simultaneously, based on the up-and-down adjustment direction of hinge arm 307, i.e., the up-and-down adjustment direction of third telescopic cylinder 304, first plate 309 tilts toward or away from the center of the topological circle.

[0099] S4.3, during the tilting process of the first plate 309, please refer to Figure 6 and Figure 7 , wherein each of the two first plates 309 is connected by a hinged connection relationship of a connecting frame 311 and a sliding fit relationship of the pin shaft mentioned above, and they are moved closer or farther away from each other, thereby driving the distance between each chiseling module 4;

[0100] S4.4, the linkage between the roughening module 4 and the first plate 309 changes the outer diameter of the topological circle; generally speaking, it is determined by the starting point of the above linkage, that is, the stroke and direction of the third telescopic cylinder 304.

[0101] S5. The internal topological circle formed by each roughening module 4 realizes variable diameter adjustment; from a concrete perspective, in essence, the spacing of each roughening module 4 relative to the column is adjustable; the diameter of the final topological circle structure is 2.2 meters, of which the extra 0.2 meters is the size of the roughening module 4.

[0102] S6, each chiseling module 4 starts synchronously and begins chiseling;

[0103] S7. During the chiseling operation, based on the driving adjustment of the second telescopic cylinder 302, the chiseling drive mechanism 3 can be lifted up by 5 meters along the height direction of the column, thus meeting the adaptation requirements of the column chiseling.

[0104] The above-described embodiments merely represent implementation methods of the present invention in practical applications. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims. Example

[0105] To make the above-described specific embodiments of the present invention more clearly understood, the following detailed exemplary embodiments of the present invention are described. The present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present invention. Therefore, the present invention is not limited to the embodiments disclosed below.

[0106] This embodiment is based on the relevant principles described in the above specific embodiments, in which the following are exemplary applications:

[0107] In the current environment, the outer surface of a concrete column with a diameter of 2 meters and a height of 5 meters needs to be uniformly roughened. The column shrinks inward at a height of 3 meters to form a variable diameter structure. Specifically, the structure after shrinkage has a diameter of 1.5 meters. Using the device provided in the above embodiment, the following operations are performed:

[0108] S1. Start the crawler to the outside of the column. Then, the power part 201 of the adjustment mechanism 2 drives the frame 202 to adjust the horizontal position and transport the chiseling module 4 to the column. If there is an error in the current parking position of the crawler, the first telescopic cylinder 203 can also be used to adjust the position of the chiseling drive mechanism 3 to achieve mutual adaptation between it and the column.

[0109] S2. After the chiseling drive mechanism 3 is transported to the cylinder position by the external adjustment mechanism 2 and the transport device 1, one of the semicircular mechanisms is inserted into half of the outer surface of the cylinder; then, the electric pin 312 drives the other semicircular mechanism to merge with the current semicircular mechanism, so that the two semicircular mechanisms form the above-mentioned topological circular shape; that is, the state changes from open to closed;

[0110] S3. The aforementioned mechanical linkage will likely result in each chiseling module 4, i.e., the first plate 309, having different distances relative to the current portion of the column. Subsequently, a laser distance meter is used to measure one edge of each topological circle on the concrete column to determine whether the spacing between each edge of each topological circle is uniform relative to the spacing between the columns. Because the laser distance meter is directly coupled to the first plate 309, it can further indicate the external spacing between each chiseling module 4 and the column.

[0111] S3.1. The staff controls the servo motor and servo electric cylinder in the adjustment mechanism 2 to continuously adjust the inner side wall of the overall structure of the chiseling drive mechanism 3 to accurately fit the outer surface of the cylinder, ensuring that the two form a concentric circle, providing a uniform position foundation for subsequent chiseling operations;

[0112] S3.2. The servo motor adjusts the orientation of the topological circle relative to the cylinder, and the servo cylinder continuously corrects the center of the topological circle relative to the center of the cylinder. The specific dimensional parameters are accurately measured based on each laser distance meter.

[0113] S4. Adjust the current outer diameter of the cylinder in the following manner: The third telescopic cylinder 304 drives the first cylinder 305 to slide vertically along the outside of the second cylinder 306. Based on the connection characteristics between the above-mentioned structural components, the following mechanical linkage is simultaneously performed:

[0114] The first cylinder 305 is in sliding engagement, and the first cylinder 305 of each semicircular mechanism is in synchronous sliding engagement due to the connection between the electric pin shafts 312, and each semicircular mechanism performs the following operations:

[0115] S4.1. Each hinge arm 307 is subjected to a tensile force, which is transmitted to the first plate 309 through the hinge connection of the two ends of the connecting rod 308;

[0116] S4.2. First plate 309 cooperates with lower second plate 310, and second plate 310 takes over and eliminates excess degrees of freedom, providing reverse support for first plate 309. Simultaneously, based on the up-and-down adjustment direction of hinge arm 307, i.e., the up-and-down adjustment direction of third telescopic cylinder 304, first plate 309 tilts toward or away from the center of the topological circle.

[0117] S4.3, during the tilting process of the first plate 309, please refer to Figure 6 and Figure 7 , wherein each of the two first plates 309 is connected by a hinged connection relationship of a connecting frame 311 and a sliding fit relationship of the pin shaft mentioned above, and they are moved closer or farther away from each other, thereby driving the distance between each chiseling module 4;

[0118] S4.4, the linkage between the roughening module 4 and the first plate 309 changes the outer diameter of the topological circle; generally speaking, it is determined by the starting point of the above linkage, that is, the stroke and direction of the third telescopic cylinder 304.

[0119] S5. The internal topological circle formed by each roughening module 4 realizes variable diameter adjustment; from a concrete perspective, in essence, the spacing of each roughening module 4 relative to the column is adjustable; the diameter of the final topological circle structure is 2.2 meters, of which the extra 0.2 meters is the size of the roughening module 4.

[0120] S6, each chiseling module 4 starts synchronously and begins chiseling;

[0121] S7. During the chiseling operation, based on the drive adjustment of the second telescopic cylinder 302, the chiseling drive mechanism 3 can be raised by 3 meters along the height direction of the column, which meets the adaptation requirements of the column chiseling;

[0122] S8. After reaching the diameter-changing characteristic point of the column, repeat S4 to S6 to adapt to the diameter-changing position and distance characteristics of the diameter-changing structure;

[0123] S9. Based on the driving adjustment of the second telescopic cylinder 302, the chiseling driving mechanism 3 can be lifted up by 2 meters along the height direction of the column, thus meeting the adaptation requirements of the column chiseling.

[0124] The above-described embodiments merely represent implementation methods of the present invention in practical applications. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A multi-degree-of-freedom linkage hair cutting machine, comprising a hair cutting module (4), characterized in that: Also includes a chiseling drive mechanism (3); The chiseling drive mechanism (3) comprises two semicircular mechanisms, which, when combined, form a projection edge of a topological circle from a top perspective; each topological line of the topological circle is formed by the projection of a first plate (309), and the chiseling module (4) is provided on the outside of the first plate (309); The topological circle is driven by the chiseling drive mechanism (3) to form a variable diameter adjustment, driving each chiseling module (4) to perform a variable diameter chiseling operation on the cylinder; The topological circle is a topological circle with more than twelve sides; In addition to the semicircular mechanism, the chiseling drive mechanism (3) further comprises: a first frame (301); The first frame (301) is equipped with a second telescopic cylinder (302) arranged vertically, and the outer surface of the first frame (301) is vertically slidably matched with the second frame (303), and the height orientation of the second frame (303) is driven by the second telescopic cylinder (302); In the semicircular mechanism, six first plates (309) are evenly arranged in a semicircular array to form a semicircular structure; In the semicircular mechanism, a second linear degree of freedom is output for adjusting the outer diameter of the topological circle; The semicircular mechanism includes a third telescopic cylinder (304); The third telescopic cylinder (304) is vertically fixedly connected to the second frame (303), and outputs the second linear degree of freedom to drive the first cylinder (305) to slide vertically along the outside of the second cylinder (306); The bottom of the second cylinder (306) is fixedly connected to the top of the second frame (303); The semicircular mechanism further includes a hinge arm (307); The bottom and the upper part of the hinge arm (307) are respectively hinged to the second cylinder (306), and are hinged to the outer surface of the first plate (309) at both ends through a connecting rod (308); The top and bottom of the second plate body (310) are aligned with the bottom of the first plate body (309) and the top of the second cylinder body (306) respectively.

2. The multi-degree-of-freedom linkage hair cutting machine according to claim 1, characterized in that: It also includes a transport device (1), which is used to transport the chiseling drive mechanism (3).

3. The multi-degree-of-freedom linkage hair cutting machine according to claim 2, characterized in that: An adjustment mechanism (2) is installed on the transport device (1), and the adjustment mechanism outputs a rotational degree of freedom and a first linear degree of freedom, which are respectively used to adjust the horizontal angle and spatial orientation of the chiseling drive mechanism (3).

4. The multi-degree-of-freedom linkage hair cutting machine according to claim 3, characterized in that: The regulating mechanism (2) comprises a power member (201) fixedly connected to the transport device (1); The power member (201) is arranged vertically and outputs the rotational degree of freedom to drive the frame (202) to rotate horizontally; A first telescopic cylinder (203) arranged along the X or Z axis is mounted on the frame (202); the first telescopic cylinder (203) outputs the first linear degree of freedom, and a piston rod thereof is connected to the chiseling drive mechanism (3).

5. The multi-degree-of-freedom linkage hair cutting machine according to claim 1, characterized in that: In the two semicircular mechanisms, the respective first cylinders (305) are hinged to each other via an electric pin shaft (312), and drive the two semicircular mechanisms to merge or separate with each other.

6. The multi-degree-of-freedom linkage hair cutting machine according to claim 1, characterized in that: In the topological circle formed by the annular array of the first plates (309), the chiseling module (4) is provided on the first plates (309) in a direction facing the central axis of the topological circle; The chiseling modules (4) are slidably engaged at both ends of the outer surface of the first plate body (309), and the chiseling modules (4) are hingedly connected to a connecting frame (311) at a position away from the central axis of the topological circle. The connecting frame (311) is slidably engaged with pins at both ends, and each pin is fixedly connected to the outer surface of one of the first plate bodies (309).

7. The multi-degree-of-freedom linkage hair cutting machine according to claim 6, characterized in that: A laser distance measuring device is provided on one side of the second plate (310) facing the central axis of the topological circle.

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