Intelligent gouging apparatus and method of use

Abstract

The application discloses an intelligent chiseling device and a use method, and relates to the technical field of building machinery. The device comprises a controller, a workbench, an adjustable high supporting leg, a first positioning mechanism, a second positioning mechanism, a guide column, a top plate, a first air cylinder, a force applying plate and a chiseling mechanism. The use method comprises the steps of preliminary chiseling and fine chiseling for the unobstructed area, the non-unobstructed area and the edge area. The application can realize automatic chiseling of the wall body provided with the reserved reinforcing steel bar head at the top end, can greatly improve the work efficiency, reduce the labor intensity and ensure the chiseling quality.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, specifically to an intelligent roughening device and its usage method. Background Technology

[0002] Before connecting the walls of multi-story or high-rise buildings, the top of the lower wall needs to be roughened to improve the bonding strength between the old and new concrete. However, the top of the lower wall usually has rebar extending beyond the wall's edge. Roughening requires operating the roughening equipment between these rebar ends, which is difficult due to limited space. In such cases, workers often use simple tools like electric picks, hammers, and chisels, resulting in low efficiency and poor quality workmanship. This is particularly evident in the incomplete roughening of the surface between two opposing rebars, posing a safety hazard. Summary of the Invention

[0003] This invention provides an intelligent chiseling device and its usage method, aiming to solve the problems existing in the prior art—that a large number of steel bar ends are left at the top of the wall, making it impossible for ordinary chiseling devices to work, and that using simple tools results in low construction efficiency and poor construction quality.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] An intelligent chiseling device includes a controller, a worktable, adjustable support legs, a first positioning mechanism, a second positioning mechanism, a guide column, a top plate, a first cylinder, a force application plate, and a chiseling mechanism. The worktable has adjustable support legs at its four corners on its lower surface. One end of the worktable is adjusted by the first positioning mechanism to change the relative position between the walls to be chiseled. The second positioning mechanism is located on the upper surface of the worktable and is used to adjust the coordinate position of the chiseling mechanism. The guide column is connected to the second positioning mechanism and moves under its drive. The top plate is fixedly connected to the top of the guide column. The force application plate has a through-type vertical... The guide post passes through the sliding hole on the end face and is slidably connected to the sliding hole. The force-applying plate is set horizontally. A first cylinder is connected between the upper surface of the force-applying plate and the lower surface of the top plate. A chiseling mechanism is connected to one end of the force-applying plate. The chiseling mechanism is equipped with an intelligent positioning unit. The controller is electrically connected to the power supply through a wire and is configured to control the position of the chiseling mechanism and the action of the first cylinder. The intelligent positioning unit is signal connected to the controller through a wire. The chiseling mechanism chiseles the unobstructed area between the reserved steel bar heads at the top of the wall to be chiseled and the non-obstructed area between the steel bar heads.

[0006] Preferably, the adjustable height support foot includes a support column fixedly connected to the lower surface of the workbench and a hydraulic cylinder located at the lower end of the support column. The fixed end of the hydraulic cylinder is fixedly connected to the bottom end of the support column, and the telescopic end is fixedly connected to a foot plate. A limiting sleeve is provided on the upper surface of the foot plate and around the telescopic end. The top end of the limiting sleeve cooperates with the lower end of the cylinder of the hydraulic cylinder. An angle sensor is also provided on the upper surface of the workbench. The control circuits of the angle sensor and the hydraulic cylinder are electrically connected to the controller.

[0007] Preferably, the workbench has a cubic structure, and the first positioning mechanism includes four first laser ranging sensors arranged in a rectangular shape at the front end of the workbench. The four first laser ranging sensors are used to detect the distance between the front end of the workbench and the outer surface of the wall to be roughened. When the four first laser ranging sensors detect the same distance, the front end of the workbench and the outer surface of the wall to be roughened are considered to be parallel. The first laser ranging sensors are connected to the controller signal via wires, and a counterweight is provided on the lower rear surface of the force application plate.

[0008] Preferably, the second positioning mechanism includes a movable seat, two parallel linear slide rails, two parallel linear grooves, a first drive motor, a first lead screw, a second drive motor, and a second lead screw. Linear slide rails are respectively provided on the left and right ends of the upper surface of the worktable. A movable seat is slidably connected between the two linear slide rails. The top of the movable seat has two linear grooves arranged in a left-right direction. A slider is slidably connected in each linear groove. Two guide posts are respectively provided at the top of each slider. The four guide posts are arranged in a rectangle, and adjacent guide posts are fixedly connected by connecting rods. A first lead screw is provided in each linear groove. The first lead screw is screwed to the slider, and both ends of the first lead screw are rotatably connected to both ends of the linear groove. One end of each of the two first lead screws on the same side penetrates the groove wall of the linear groove. The first drive motor is fixedly connected to the output shaft of the first drive motor, which is pre-installed on the upper surface of the worktable. The end of the first lead screw connected to the first drive motor is also fixedly connected to a drive sprocket. The end of the other first lead screw is fixedly connected to a driven sprocket. The drive sprocket and the driven sprocket are connected by chain drive. Mounting plates are respectively provided between the front end and the rear end of the two linear slide rails. The bottom end of the mounting plate is fixedly connected to the upper surface of the worktable. A second lead screw is rotatably connected between the two mounting plates. The second lead screw passes through the movable seat and is screwed to the movable seat. A second drive motor is fixedly installed on the upper surface of the worktable outside the mounting plate. The output shaft of the second drive motor passes through the mounting plate and is fixedly connected to the end of the second lead screw. The first drive motor and the second drive motor are both servo motors and are electrically connected to the controller through wires.

[0009] Preferably, a top plate is fixedly connected to the top of the four guide pillars, and a first cylinder is provided longitudinally at the center of the lower surface of the top plate. The fixed end of the first cylinder is fixedly connected to the lower surface of the top plate, and the telescopic end is fixedly connected to the upper surface of the force-applying plate.

[0010] Preferably, the front end of the force-applying plate is provided with a chiseling mechanism, which includes two parallel connecting rods. The connecting rods are horizontally arranged, and one end of each connecting rod is detachably and fixedly connected to the front end of the force-applying plate. The intelligent positioning unit includes a fixing block fixedly connected vertically to the front end of the connecting rods. The fixing block is a cubic structure. The left and right edges of the front and rear end faces of the cubic structure are respectively provided with a second laser ranging sensor and a first infrared sensor arranged longitudinally. The left and right sides of the cubic structure are respectively provided with a third laser ranging sensor and a second infrared sensor arranged longitudinally. The bottom end of the fixing block is provided with an extension plate extending forward or backward. The bottom end of the extension plate is provided with a fourth laser ranging sensor. The second, third, and fourth laser ranging sensors... The first and second infrared sensors are embedded in the fixed block and are connected to the controller via wires. The second and third laser rangefinders are used to detect the distance between themselves and the rebar head. The first and second infrared sensors are used to detect the position of the rebar head. The fourth laser rangefinder is used to detect the edge position of the wall to be roughened. A fixed plate is connected to the bottom of the fixed block, and several roughening heads are arranged in a matrix at the bottom of the fixed plate. The width between the outer edges of the two connecting rods is the same as the width of the fixed plate. A clearance groove is provided at the outer ends of the two connecting rods. The width of the clearance groove is half the diameter of the rebar head or the diameter of the rebar head. The detection light emitted by the second laser rangefinder and the first infrared sensor works in conjunction with the rebar head in the clearance groove.

[0011] Preferably, a second cylinder is fixedly connected to the bottom end of the fixing block along the longitudinal direction, a pressure rod is fixedly connected to the top end of the fixing plate, the top end of the pressure rod is fixedly connected to the telescopic end of the second cylinder through a pressure sensor, the fixed end of the second cylinder is fixedly connected to the bottom end of the fixing block, and the control circuit of the second cylinder is electrically connected to the controller through a wire.

[0012] Preferably, the fixing plate is a rectangular plate, the cross-section of the fixing block is the same as the upper and lower surface dimensions of the fixing plate, the side of the fixing block and the fixing plate on the same side are coplanar, and the detection light emitted vertically by the fourth laser ranging sensor is in clearance fit with the front or rear end of the fixing plate.

[0013] A method for using an intelligent deburring device includes the following steps:

[0014] (1) Place the equipment on one side of the wall to be chiseled, and adjust the position of the adjustable support leg and the equipment to make the workbench horizontal and opposite to the wall to be chiseled; the controller preliminarily calculates the verticality of the wall to be chiseled through the detection data of the four first laser rangefinders; when the detected verticality meets the specified requirements, proceed to the next chiseling process.

[0015] (2) The controller controls the second drive motor to place the moving seat in the initial position, controls the chiseling mechanism to move left and right through the first drive motor, and detects the position of the left and right adjacent steel bar heads at the top of the wall to be chiseled through the first infrared sensor at the front end of the fixed block. The chiseling surface between the left and right adjacent steel bar heads is the unobstructed area, and the area between the front and back opposite steel bar heads is the non-obstructed area. There is also an edge area between the steel bar head and the front or back end of the wall to be chiseled. The method of detecting the position of the left and right adjacent steel bar heads at the top of the wall to be chiseled is: record the number of revolutions of the first drive motor, combine the initial position of the slider and the thread size parameters of the first screw to calculate the relative position of each steel bar head with respect to the first screw.

[0016] (3) The controller controls the moving seat to move forward via the second drive motor, causing the fixed plate to move along the edge of the unobstructed area into the roughened surface. While moving, the first cylinder is activated, and the extension and retraction of the first cylinder causes the roughening head to impact the roughened surface for initial roughening. The controller combines the position information of the unobstructed area to ensure that the unobstructed area is fully roughened. When the second infrared sensor at the left or right end of the fixed block detects the rebar head and the third laser ranging sensor detects that the distance to the rebar head reaches the set value, the controller controls the second drive motor to move the fixed plate forward or backward a certain distance, and then controls the first drive motor to move the fixed plate to the left or right a certain distance so that the corresponding rebar head is located in the clearance groove. Then, the non-unobstructed area or edge area is roughened. During this process, when the first infrared sensor detects the rebar head in the limiting groove and the second laser ranging sensor detects that the distance to the rebar head is the set minimum distance, the controller controls the fixed plate to move to the side of the unobstructed area to avoid interference between the fixed plate and the rebar head. The consistent extension and retraction of the first cylinder each time ensures that the upper edge of the roughened surface is leveled.

[0017] (4) After the roughening of the smooth area, the non-smooth area and the edge area is completed, the controller makes the roughening mechanism return to the initial position and repeats the above steps (3). The only difference is that the action of the first cylinder is stopped and the second cylinder is used to further roughen the roughened surface. During the further roughening process, the controller controls the extension and retraction of the second cylinder through the set value of the pressure sensor, and the action of the second cylinder achieves fine roughening.

[0018] Preferably, in steps (3) and (4), when the fourth laser ranging sensor detects a significant increase in the distance information below, it means that the front or rear end of the fixing plate is located at the edge of the wall to be roughened, and the controller avoids the empty chiseling action by controlling the position of the fixing plate.

[0019] The beneficial effects of the intelligent shaving device and its usage method of the present invention are as follows:

[0020] This invention enables automated roughening of walls with pre-reserved rebar heads at the top, which can greatly improve work efficiency, reduce labor intensity, and ensure roughening quality. Attached image description:

[0021] Figure 1 A side view of the structure when the present invention is in use;

[0022] Figure 2 Top view of the second positioning mechanism of the present invention;

[0023] Figure 3 A top view of the structure when the present invention is in use;

[0024] Figure 4 1. A structural diagram of the front or rear end of the fixing block of the present invention;

[0025] Figure 5 A schematic diagram illustrating the working principle of the present invention (from left to right, the diagram shows the principle of roughening non-obstructed areas, the principle of roughening obstructed areas, and the principle of roughening edge areas).

[0026] Figure 6 A schematic diagram of the principle of this invention for detecting the verticality of a wall surface;

[0027] 01. Unobstructed area; 02. Unobstructed area; 03. Edge area; 04. Roughening of unobstructed area; 05. Roughening of unobstructed area; 06. Roughening of edge area; 07. Line segment A; 08. Line segment B; 1. Wall to be roughened; 2. Rebar end; 3. Workbench; 4. Support column; 5. Hydraulic cylinder; 6. Limit sleeve; 7. Linear slide rail; 8. Mounting plate; 9. Second lead screw; 10. Second drive motor; 11. Linear slide groove; 12. Slider; 13. First lead screw; 14. Moving seat; 15. Force plate; 16. Counterweight ; 17. Guide post; 18. Top plate; 19. First cylinder; 20. Connecting rod; 21. Connecting rod; 22. Fixing block; 23. Third laser rangefinder; 24. Second infrared sensor; 25. Extension plate; 26. Fourth laser rangefinder; 27. Second cylinder; 28. Pressure sensor; 29. ​​Fixing plate; 30. Chisel head; 31. Driven sprocket; 32. First drive motor; 33. Drive sprocket; 34. First laser rangefinder; 35. Relief groove; 36. Second laser rangefinder; 37. First infrared sensor. Detailed implementation method:

[0028] The following description provides a detailed explanation of the embodiments of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0029] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limiting this invention.

[0030] Example 1

[0031] An intelligent shaving device, such as Figure 1-4As shown, the system includes a controller (not shown in the figure), a worktable 3, adjustable support feet, a first positioning mechanism, a second positioning mechanism, a guide column 17, a top plate 18, a first cylinder 19, a force plate 15, and a chiseling mechanism. The worktable 3 has adjustable support feet at its four corners on its lower surface for adjusting its height and level. One end of the worktable 3 is adjusted via the first positioning mechanism to maintain the relative position between the worktable and the wall 1 to be chiseled, ensuring optimal working position. The second positioning mechanism is located on the upper surface of the worktable 3 and is used to adjust the coordinate position of the chiseling mechanism; the coordinate position refers to the intersection of the horizontal and vertical coordinates. The guide column 17 and the second positioning mechanism... The structure is connected and moves under the drive of the second positioning mechanism. The top plate 18 is fixedly connected to the top of the guide post 17. The force plate 15 has a sliding hole (not shown in the figure) that passes through the upper and lower end faces. The guide post 17 passes through the sliding hole and is slidably connected to the sliding hole. The force plate 15 is set horizontally. A first cylinder 19 is connected between the upper surface of the force plate 15 and the lower surface of the top plate 18. One end of the force plate 15 is connected to a chiseling mechanism. The chiseling mechanism is equipped with an intelligent positioning unit. The controller is electrically connected to the power supply through wires and is configured to control the position of the chiseling mechanism and the action of the first cylinder 19. The intelligent positioning unit is signal connected to the controller through wires, such as... Figure 3 As shown, the chiseling mechanism chiseles the unobstructed area 01 between the pre-reserved steel bar heads at the top of the wall 1 to be chiseled, and the non-obstructed area 02 between the steel bar heads 2. As the name suggests, the unobstructed area refers to the area where the chiseling mechanism can work without obstruction, while the non-obstructed area is the area where the chiseling mechanism needs to overcome the obstruction of the steel bar heads to work.

[0032] This invention targets walls with pre-existing rebar ends at the top, a common type of wall in construction. It can also be applied to any building structure with pre-existing rebar ends (the height of the structure should be compatible with the equipment). The rebar ends are mostly arranged in an array of single rebars at the top of the wall, or sometimes welded together at the top to form an exposed rebar cage structure. After the wall above is cast, this greatly improves the connection strength between the old and new walls. The size of the rebar ends varies depending on construction needs, sometimes reaching about 1 meter. Ordinary roughening equipment is very difficult for roughening the surface of such structures, and workers mostly use very common tools such as electric picks, chisels, and hammers. The present invention targets both the unobstructed and obstructed areas of the chiseling surface. In the unobstructed area, the chiseling mechanism can move in and out smoothly, while in the obstructed area, it needs to overcome the obstruction of the steel bar ends. Therefore, it is quite difficult to enable the chiseling mechanism to perform the chiseling action smoothly. The present invention realizes automated chiseling for such chiseling surfaces by setting up an intelligent positioning unit, which not only improves the chiseling quality, but also improves the construction efficiency.

[0033] Example 2

[0034] Based on Example 1, this example is improved as follows:

[0035] like Figure 1 As shown, the adjustable support leg includes a support column 4 fixedly connected to the lower surface of the workbench 3 and a hydraulic cylinder 5 located at the lower end of the support column 4. The fixed end of the hydraulic cylinder 5 is fixedly connected to the bottom end of the support column 4, and the telescopic end is fixedly connected to a foot plate. A limiting sleeve 6 is provided on the upper surface of the foot plate and around the telescopic end. The top end of the limiting sleeve 6 cooperates with the lower end of the cylinder of the hydraulic cylinder 5. In the initial state, the bottom end of the cylinder and the top end of the limiting sleeve abut against each other, which can prevent the hydraulic cylinder from being subjected to force for a long time. When it is necessary to adjust the height of the adjustable support leg, the hydraulic cylinder is activated. The upper surface of the workbench 3 is also provided with a tilt sensor (not shown in the figure). The tilt sensor and the control circuit of the hydraulic cylinder are electrically connected to the controller. If necessary, a walking wheel structure with brakes can also be provided at the bottom end of the foot plate.

[0036] Example 3

[0037] Based on Example 2, this example is improved as follows:

[0038] like Figure 1-3 As shown, the workbench 3 has a cubic structure. The first positioning mechanism includes four first laser rangefinders 34 arranged in a rectangular pattern at the front end of the workbench 3. These four sensors detect the distance between the front end of the workbench 3 and the outer surface of the wall 1 to be chiseled. When the four sensors detect the same distance, the front end of the workbench 3 is considered parallel to the outer surface of the wall 1 (i.e., some error is allowed because only four points are selected for distance measurement). The first laser rangefinders 34 are connected to the controller via wires. A counterweight 16 is provided on the lower rear surface of the force plate 15. The counterweight is used to balance the weight of the chiseling mechanism, making the equipment more stable.

[0039] Example 4

[0040] Based on Example 3, this example is improved as follows:

[0041] like Figure 1 , 2As shown, the second positioning mechanism includes a movable seat 14, two parallel linear slide rails 7, two parallel linear slide grooves 11, a first drive motor 32, a first lead screw 13, a second drive motor 10, and a second lead screw 9. The left and right ends of the upper surface of the worktable 3 are respectively provided with linear slide rails 7. The movable seat 14 is slidably connected between the two linear slide rails 7. The top of the movable seat 14 is provided with two linear slide grooves 11 arranged in the left-right direction, i.e., the linear slide grooves are perpendicular to the linear slide rails. Each linear slide groove 11 is slidably connected with a slider 12. The top of each slider 12 is provided with two guide posts 17, and the four guide posts 17 are arranged in a rectangle. Adjacent guide posts 17 are fixedly connected by a connecting rod 20. The linear slide groove 11 is provided with a first lead screw 13, which is screwed to the slider 12. The two ends of the first lead screw 13 are rotatably connected to the two ends of the linear slide groove. One end of each of the two first lead screws on the same side penetrates the groove wall of the linear slide groove 11. One of the first lead screws 13 has its end fixedly connected to the output shaft of the first drive motor 32, which is pre-installed on the upper surface of the worktable 3. The end of the first lead screw 13 connected to the first drive motor 31 is also fixedly connected to a drive sprocket 33. The end of the other first lead screw 13 is fixedly connected to a driven sprocket 31. The drive sprocket 33 and the driven sprocket 31 are connected by a chain drive. Mounting plates 8 are respectively provided between the front and rear ends of the two linear slide rails 7. The bottom end of the mounting plate 8 is fixedly connected to the upper surface of the worktable 3. A second lead screw 9 is rotatably connected between the two mounting plates 8. The second lead screw 9 passes through the movable seat 14 and is screwed to the movable seat 14. A second drive motor 10 is fixedly installed on the upper surface of the worktable 3 outside the mounting plate 8. The output shaft of the second drive motor 10 passes through the mounting plate 8 and is fixedly connected to the end of the second lead screw 9. The first drive motor 32 and the second drive motor 10 are both servo motors and are electrically connected to the controller through wires. The controller can control the coordinate position of the force plate connected to the two sliders via guide posts by controlling the first drive motor and the second drive motor. This can be understood as being able to control the lateral and longitudinal coordinates of the first cylinder axis, thereby also realizing the control of the coordinate position of the chiseling mechanism.

[0042] like Figure 1 , 2 As shown in Figure 3, a top plate 18 is fixedly connected to the top of four guide posts 17. A first cylinder 19 is longitudinally arranged at the center of the lower surface of the top plate 18. The fixed end of the first cylinder 19 is fixedly connected to the lower surface of the top plate 18, and the telescopic end is fixedly connected to the upper surface of the force plate 15. During the roughening process, the first cylinder drives the force plate to move up and down, which in turn drives the roughening mechanism to move up and down to roughen the surface.

[0043] Example 5

[0044] Based on Example 4, this example is improved as follows:

[0045] like Figure 1 , 3 As shown in Figure 4, the front end of the force-applying plate 15 is provided with a chiseling mechanism. The chiseling mechanism includes two parallel connecting rods 21. The connecting rods 21 are arranged horizontally, and one end of the connecting rod 21 is detachably fixedly connected to the front end of the force-applying plate 15. The spacing between the two connecting rods can be adjusted as needed to meet the differences in the spacing of the top steel bars of different wall sections 1 to be chiseled. Correspondingly, the fixing blocks and fixing plates mentioned below should be provided in various models according to size differences. The intelligent positioning unit includes a fixing block 22 fixedly connected to the front end of the connecting rod 21 vertically. The fixing block 22 is a cubic structure. The left and right edges of the front and rear end faces of the cubic structure are respectively provided with a second laser ranging sensor 36 and a first infrared sensor 37 arranged longitudinally. The left and right sides of the cubic structure are respectively provided with a third laser ranging sensor 23 and a second infrared sensor 24 arranged longitudinally. The bottom end of the fixing block 22 is respectively provided with an extension plate 25 extending forward or backward. The bottom end of the extension plate 25 is respectively provided with a fourth laser ranging sensor 26. Two laser rangefinders 36, 23, 26, 37, and 24 are embedded in a fixed block and connected to the controller via wires. The second and third laser rangefinders 36 and 23 are used to detect the distance between themselves and the rebar head 2. The first and second infrared sensors 37 and 24 are used to detect the position of the rebar head 2. The fourth laser rangefinder 26 is used to detect the edge position of the wall 1 to be roughened. A fixed plate 29 is connected to the bottom of the fixed block 22. Several roughening heads 30 are arranged in a matrix at the bottom of the fixed plate 29. The width between the outer edges of the two connecting rods 21 is the same as the width of the fixed plate 29. A clearance groove 35 is provided at the outer end of the two connecting rods. The width of the clearance groove 35 is half the diameter of the rebar head 2 or the diameter of the rebar head 2. The detection light emitted by the second laser rangefinder 36 and the first infrared sensor 37 works in conjunction with the rebar head in the clearance groove 35.

[0046] like Figure 5As shown, when roughening non-obstructed or edge areas, since the width of the clearance groove is half or equal to the diameter of the rebar head, when the third laser rangefinder and the second infrared sensor located on the side detect the distance and position of the rebar head, the position of the moving seat relative to the second lead screw is known, the coordinate position of the axis of the first cylinder relative to the first and second lead screws is known, and the coordinate position of the axis of the fixed plate is known. The starting position of the detection light of the third laser rangefinder and the second infrared sensor is fixed, and the distance of the rebar head from the starting position is known. Therefore, the controller can locate the position of the rebar head. By appropriately moving the fixed plate a certain distance, the fixed plate can be made to bypass the rebar head. After the rebar head is cleared by the clearance groove, roughening can be performed on the non-obstructed and edge areas. The detection light emitted by the second laser rangefinder 36 and the first infrared sensor 37, in conjunction with the rebar head in the clearance groove 35, means that when roughening non-obstructed or edge areas, the second laser rangefinder 36 and the first infrared sensor 37 can detect the position and distance information of the rebar head on the front or rear side, avoid interference between the fixing plate and the rebar head during the roughening process, and take timely avoidance actions to move the fixing plate out of the roughened non-obstructed or edge area.

[0047] Example 6

[0048] Based on Example 5, this example is improved as follows:

[0049] like Figure 1 As shown, a second cylinder 27 is fixedly connected to the bottom of the fixing block 22 along the longitudinal direction, and a pressure rod (not marked in the figure) is fixedly connected to the end of the fixing plate 29. The top of the pressure rod is fixedly connected to the telescopic end of the second cylinder 27 through a pressure sensor 28. The fixed end of the second cylinder 27 is fixedly connected to the bottom of the fixing block 22. The control circuit of the second cylinder 27 is electrically connected to the controller through a wire.

[0050] In this embodiment, the second cylinder is used for fine chiseling, while the first cylinder drives the chiseling mechanism for coarse chiseling. During coarse chiseling, the top of the wall to be chiseled is flattened and roughened. Since there is no control over the force applied during chiseling, the chiseling effect is uneven. During fine chiseling, the force of each action is controlled (the controller controls the action of the second cylinder through the set value of the pressure sensor) to make the chiseling force uniform, promote uniform chiseling of the surface, and thus ensure the balanced and stable connection strength of the old and new concrete bonding surfaces.

[0051] Example 7

[0052] Based on Example 6, this example is improved as follows:

[0053] like Figure 1-4As shown, the fixing plate 29 is a rectangular plate, the cross-section of the fixing block 22 is the same as the upper and lower surface dimensions of the fixing plate 29, the side surface of the fixing block 22 and the side surface of the fixing plate 29 are coplanar, and the detection light emitted vertically by the fourth laser ranging sensor 26 is in clearance fit with the front or rear end of the fixing plate 29.

[0054] In this embodiment, the fourth laser rangefinder 26 is used to detect the edge of the wall to be roughened. When the detected distance suddenly increases significantly, it means that the fixing plate has reached the edge of the wall to be roughened. The controller controls the fixing plate to translate or move in the opposite direction based on the above information.

[0055] Example 8

[0056] Based on the above embodiments, this embodiment discloses:

[0057] A method of using an intelligent shaving device, such as Figure 1-5 As shown, it includes the following steps:

[0058] (1) Place the equipment on one side of the wall to be chiseled, and adjust the position of the adjustable support legs and the equipment to make the worktable horizontal and opposite to the wall to be chiseled; the controller uses the detection data of the four first laser rangefinders to preliminarily calculate the verticality of the wall to be chiseled; when the detected verticality meets the specified requirements, proceed to the next chiseling process; due to the deformation transmission effect between the upper and lower walls of multi-story or high-rise buildings, if the verticality of the bottom wall does not meet the standard, it may have a greater impact on the stability and verticality of the upper wall. Therefore, before chiseling, this invention determines the relative position between the equipment and the wall to be chiseled using the four first laser rangefinders, and can also detect... The principle for detecting the verticality of the wall to be chiseled is as follows: Adjust the position of the equipment so that the distances detected by the two upper first laser rangefinders are consistent. If the detection distances of the two lower first laser rangefinders are also consistent with those of the upper two first laser rangefinders, then the wall is vertical. If the latter distance is greater than the former distance, then the wall is tilted outwards. The controller draws a wall diagram according to the set program, that is, connecting the projection points of the lower two first laser rangefinders on the wall with the projection points of the upper two first laser rangefinders on the wall to form a quadrilateral. Face A of the quadrilateral represents the wall. The angle between face A and the vertical plane is calculated to obtain the verticality information of the wall. Figure 6As shown, line segment A07 represents the vertical distance between the detection rays of the upper first laser rangefinder and the lower first laser rangefinder on the same side. Line segment B08 represents the difference in horizontal distance between the upper first laser rangefinder and the lower first laser rangefinder on the same side at their projection points on the wall. The point inside the dashed circle is the projection point on the wall. Since two sides of the right triangle in the figure are known, the angle between the third side and line segment A07 can be calculated. If the wall slope detected by the two first laser rangefinders on both sides differs significantly, it means that the wall still has a large deformation. (Note: Among the detection rays emitted by the four first laser rangefinders arranged in a rectangular pattern, the line connecting the starting points of the two detection rays on the same side (upper, lower, left, right) is a horizontal or vertical line.) If the verticality test fails, there is no need to perform the roughening process, but the wall needs to be rectified.

[0059] (2) The controller controls the second drive motor to place the moving seat in the initial position (the initial position can be set as needed), controls the chiseling mechanism to move left and right through the first drive motor, and detects the position of the left and right adjacent steel bar heads at the top of the wall to be chiseled through the first infrared sensor at the front end of the fixed block. The chiseling surface between the left and right adjacent steel bar heads is the unobstructed area 01, and the area between the front and back opposite steel bar heads is the non-obstructed area 02. An edge area 03 is also provided between the steel bar head and the front or back end of the wall to be chiseled. The method of detecting the position of the left and right adjacent steel bar heads at the top of the wall to be chiseled is: record the number of revolutions of the first drive motor, combine the initial position of the slider and the thread size parameters of the first screw to calculate the relative position of each steel bar head with respect to the first screw.

[0060] (3) The controller controls the moving seat to move forward via the second drive motor, such as... Figure 5 As shown, the fixed plate 29 moves along the edge of the unobstructed area 01 into the roughened surface. While moving, the first cylinder is activated, causing the roughening head to impact the roughened surface for initial roughening. The controller, combined with the position information of the unobstructed area, ensures the unobstructed area is fully roughened. When the second infrared sensor at the left or right end of the fixed block detects the rebar head and the third laser ranging sensor detects that the distance to the rebar head reaches a set value, the controller controls the second drive motor to move the fixed plate forward or backward a certain distance (to offset the fixed plate from the rebar head), and then controls the first drive motor to move the fixed plate left or right a certain distance, positioning the corresponding rebar head in the clearance groove (at this time, if...). Figure 5As shown, one end of the fixed plate enters the non-obstructed area or edge area, and then the non-obstructed area or edge area is roughened; during this process, when the first infrared sensor detects the rebar head in the limiting groove and the second laser ranging sensor detects that the distance to the rebar head is the set minimum distance, the controller controls the fixed plate to move to the obstructed area side to avoid interference between the fixed plate and the rebar head; the first cylinder extends and retracts consistently each time to level the upper edge of the roughened surface; the leveling here should be understood as: since the roughened surface is not necessarily horizontal, it may have a certain degree of inclination or have high and low pits or protrusions, the preliminary roughening makes the roughened surface relatively horizontal, that is, the horizontal roughened surface has pits caused by the preliminary roughening, and the pits are relatively uniform.

[0061] (4) After the roughening of the unobstructed area, the non-obstructed area, and the edge area is completed, the controller returns the roughening mechanism to the initial position and repeats the above step (3). The only difference is that the action of the first cylinder is stopped, and the second cylinder is used to further roughen the roughened surface. During the further roughening process, the controller controls the extension and retraction of the second cylinder through the set value of the pressure sensor. The action of the second cylinder achieves fine roughening. The purpose of fine roughening is to improve the roughening quality, which includes the control of the depth, spacing, and uniformity of the distribution of the pits. Since the automatic control makes the fixed plate in step (4) move according to the movement trajectory of step (3) (the controller is equipped with a storage unit for the movement trajectory of step (3)), the roughening quality can be improved based on step (3).

[0062] Example 9

[0063] Based on Example 8, this example discloses:

[0064] like Figure 1-4 As shown, in steps (3) and (4), when the fourth laser ranging sensor 26 detects a significant increase in the distance information below (the increase depends on the distance between the top of the wall to be roughened and the floor slab), it means that the front or rear end of the fixing plate is located at the edge of the wall to be roughened 1. The controller avoids the empty chiseling action by controlling the position of the fixing plate.

Claims

1. An intelligent deburring device, characterized by: The system includes a controller, a workbench, adjustable support legs, a first positioning mechanism, a second positioning mechanism, a guide column, a top plate, a first cylinder, a force application plate, and a chiseling mechanism. The workbench has adjustable support legs at its four corners on its lower surface. One end of the workbench is adjusted via the first positioning mechanism to change the relative position between the walls to be chiseled. The second positioning mechanism is located on the upper surface of the workbench and is used to adjust the coordinate position of the chiseling mechanism. The guide column is connected to the second positioning mechanism and moves under its drive. The top plate is fixedly connected to the top of the guide column. The force application plate has sliding holes penetrating the upper and lower surfaces. The guide post passes through the sliding hole and is slidably connected to the sliding hole. The force-applying plate is set horizontally. A first cylinder is connected between the upper surface of the force-applying plate and the lower surface of the top plate. One end of the force-applying plate is connected to a chiseling mechanism. The chiseling mechanism is equipped with an intelligent positioning unit. The controller is electrically connected to the power supply through a wire and is configured to control the position of the chiseling mechanism and the action of the first cylinder. The intelligent positioning unit is signal connected to the controller through a wire. The chiseling mechanism chiseles the unobstructed area between the reserved steel bar heads at the top of the wall to be chiseled and the non-obstructed area between the steel bar heads. The adjustable height support foot includes a support column fixedly connected to the lower surface of the workbench and a hydraulic cylinder located at the lower end of the support column. The fixed end of the hydraulic cylinder is fixedly connected to the bottom end of the support column, and the telescopic end is fixedly connected to a foot plate. A limiting sleeve is provided on the upper surface of the foot plate and around the telescopic end. The top end of the limiting sleeve is used in conjunction with the lower end of the cylinder of the hydraulic cylinder. An angle sensor is also provided on the upper surface of the workbench. The control circuits of the angle sensor and the hydraulic cylinder are electrically connected to the controller. The workbench has a cubic structure. The first positioning mechanism includes four first laser rangefinders arranged in a rectangular pattern at the front end of the workbench. The four first laser rangefinders are used to detect the distance between the front end of the workbench and the outer surface of the wall to be roughened. When the four first laser rangefinders detect the same distance, the front end of the workbench and the outer surface of the wall to be roughened are considered to be parallel. The first laser rangefinders are connected to the controller signal via wires. The lower rear surface of the force application plate is provided with a counterweight. The second positioning mechanism includes a movable seat, two parallel linear slide rails, two parallel linear grooves, a first drive motor, a first lead screw, a second drive motor, and a second lead screw. Linear slide rails are respectively provided on the left and right ends of the upper surface of the worktable. A movable seat is slidably connected between the two linear slide rails. The top of the movable seat has two linear grooves arranged in a left-right direction. A slider is slidably connected in each linear groove. Two guide posts are respectively provided on the top of each slider. The four guide posts are arranged in a rectangle, and adjacent guide posts are fixedly connected by a connecting rod. A first lead screw is provided in each linear groove. The first lead screw is screwed to the slider, and its two ends are rotatably connected to the two ends of the linear groove. One end of each of the two first lead screws on the same side penetrates the groove wall of the linear groove. The end of one of the first lead screws is connected to... The output shaft of a first drive motor is fixedly connected to the upper surface of the worktable, and the end of a first lead screw connected to the first drive motor is also fixedly connected to a drive sprocket. The end of another first lead screw is fixedly connected to a driven sprocket. The drive sprocket and the driven sprocket are connected by chain drive. Mounting plates are respectively provided between the front end and the rear end of two linear slide rails. The bottom end of the mounting plate is fixedly connected to the upper surface of the worktable. A second lead screw is rotatably connected between the two mounting plates. The second lead screw passes through the movable seat and is screwed to the movable seat. A second drive motor is fixedly provided on the upper surface of the worktable on the outer side of the mounting plate. The output shaft of the second drive motor passes through the mounting plate and is fixedly connected to the end of the second lead screw. Both the first drive motor and the second drive motor are servo motors and are electrically connected to the controller through wires. A top plate is fixedly connected to the top of the four guide pillars. A first cylinder is longitudinally provided at the center of the lower surface of the top plate. The fixed end of the first cylinder is fixedly connected to the lower surface of the top plate, and the telescopic end is fixedly connected to the upper surface of the force-applying plate. The front end of the force-applying plate is equipped with a chiseling mechanism, which includes two parallel connecting rods. The connecting rods are horizontally positioned, and one end of each rod is detachably and fixedly connected to the front end of the force-applying plate. The intelligent positioning unit includes a fixing block vertically fixed to the front end of the connecting rods. The fixing block has a cubic structure. The left and right edges of the front and rear ends of the cubic structure are respectively equipped with a second laser ranging sensor and a first infrared sensor arranged longitudinally. The left and right sides of the cubic structure are respectively equipped with a third laser ranging sensor and a second infrared sensor arranged longitudinally. The bottom end of the fixing block is equipped with an extension plate extending forward or backward. The bottom end of the extension plate is equipped with a fourth laser ranging sensor. The second, third, and fourth laser ranging sensors... An infrared sensor and a second infrared sensor are embedded in a fixed block and connected to the controller via wires. The second and third laser rangefinders are used to detect the distance between the sensor and the rebar head. The first and second infrared sensors are used to detect the position of the rebar head. The fourth laser rangefinder is used to detect the edge position of the wall to be roughened. A fixed plate is connected to the bottom of the fixed block, and several roughening heads are arranged in a matrix at the bottom of the fixed plate. The width between the outer edges of the two connecting rods is the same as the width of the fixed plate. A clearance groove is provided at the outer ends of the two connecting rods. The width of the clearance groove is half the diameter of the rebar head or the diameter of the rebar head. The detection light emitted by the second laser rangefinder and the first infrared sensor works in conjunction with the rebar head in the clearance groove.

2. The intelligent deburring device as described in claim 1, characterized in that: The bottom end of the fixed block is fixedly connected to a second cylinder along the longitudinal direction, the top end of the fixed plate is fixedly connected to a pressure rod, the top end of the pressure rod is fixedly connected to the telescopic end of the second cylinder through a pressure sensor, the fixed end of the second cylinder is fixedly connected to the bottom end of the fixed block, and the control circuit of the second cylinder is electrically connected to the controller through a wire.

3. The intelligent deburring device as described in claim 2, characterized in that: The fixing plate is a rectangular plate, the cross-section of the fixing block is the same as the upper and lower surface dimensions of the fixing plate, the side of the fixing block and the fixing plate are coplanar, and the detection light emitted vertically by the fourth laser ranging sensor is in clearance fit with the front or rear end of the fixing plate.

4. The method of using the intelligent shaving equipment as described in claim 3, characterized in that, Includes the following steps: (1) Place the equipment on one side of the wall to be chiseled, and adjust the position of the adjustable support feet and the equipment to make the workbench horizontal and opposite to the wall to be chiseled; the controller uses the detection data of the four first laser rangefinders to initially calculate the verticality of the wall to be chiseled; when the detected verticality meets the specified requirements, proceed to the next chiseling process. (2) The controller controls the second drive motor to place the moving seat in the initial position, controls the chiseling mechanism to move left and right through the first drive motor, and detects the position of the left and right adjacent steel bar heads at the top of the wall to be chiseled through the first infrared sensor at the front end of the fixed block. The chiseling surface between the left and right adjacent steel bar heads is the unobstructed area, and the area between the front and back opposite steel bar heads is the non-obstructed area. There is also an edge area between the steel bar head and the front or back end of the wall to be chiseled. The method of detecting the position of the left and right adjacent steel bar heads at the top of the wall to be chiseled is: record the number of revolutions of the first drive motor, combine the initial position of the slider and the thread size parameters of the first screw to calculate the relative position of each steel bar head with respect to the first screw. (3) The controller controls the moving seat to move forward via the second drive motor, causing the fixed plate to move along the edge of the unobstructed area into the roughened surface. While moving, the first cylinder is activated, and the extension and retraction of the first cylinder causes the roughening head to impact the roughened surface for initial roughening. The controller combines the position information of the unobstructed area to ensure that the unobstructed area is fully roughened. When the second infrared sensor at the left or right end of the fixed block detects the rebar head and the third laser ranging sensor detects that the distance to the rebar head reaches the set value, the controller controls the second drive motor to move the fixed plate forward or backward a certain distance, and then controls the first drive motor to move the fixed plate to the left or right a certain distance so that the corresponding rebar head is located in the clearance groove. Then, the non-unobstructed area or edge area is roughened. During this process, when the first infrared sensor detects the rebar head in the limiting groove and the second laser ranging sensor detects that the distance to the rebar head is the set minimum distance, the controller controls the fixed plate to move to the side of the unobstructed area to avoid interference between the fixed plate and the rebar head. The consistent extension and retraction of the first cylinder each time ensures that the upper edge of the roughened surface is leveled. (4) After the roughening of the smooth area, the non-smooth area and the edge area is completed, the controller makes the roughening mechanism return to the initial position and repeats the above steps (3). The only difference is that the action of the first cylinder is stopped and the second cylinder is used to further roughen the roughened surface. During the further roughening process, the controller controls the extension and retraction of the second cylinder through the set value of the pressure sensor, and the action of the second cylinder achieves fine roughening.

5. The method of using an intelligent shaving device as described in claim 4, characterized in that: in In steps (3) and (4), when the fourth laser ranging sensor detects a significant increase in the distance information below, it means that the front or rear end of the fixing plate is located at the edge of the wall to be roughened. The controller avoids the empty chiseling action by controlling the position of the fixing plate.

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