Self-propelled T-beam chipping machine

Abstract

The application provides a self-walking T-shaped beam gouging machine, and belongs to the technical field of gouging machines. The self-walking T-shaped beam gouging machine comprises a walking unit provided with a high-pressure water pump and a water storage bucket, and a gouging nozzle assembly in communication with the high-pressure water pump, the gouging nozzle assembly is installed on the walking unit, the gouging nozzle assembly comprises a support connected with the walking unit and a nozzle structure installed on the support and capable of reciprocating swing relative to the support, the nozzle structure is used for spraying high-pressure water towards the butt joint surface of the T-shaped beam, and the spraying direction of the high-pressure water is perpendicular to the swing axis of the nozzle structure. The swing of the gouging nozzle assembly and the movement of the walking unit can realize the gouging of the side wall of the T-shaped beam provided with a U-shaped connecting rib, and manual direct participation in the gouging is not needed, so that the gouging efficiency of the T-shaped beam is improved.

Description

Technical Field

[0001] This invention relates to the field of chiseling machine technology, and more specifically, to a self-propelled T-beam chiseling machine. Background Technology

[0002] Before assembly, precast bridges typically require roughening the joint surfaces of two connected precast bridges to improve the bond between the old and new concrete and the overall structural stability. However, due to limitations in the shape and size of precast bridges and the reserved transverse connecting reinforcement bars, roughening the corresponding locations on precast bridges usually involves workers using handheld roughening machines. In precast T-beams, the reserved U-shaped connecting reinforcement bars at the end face increase the workload for workers and reduce the roughening efficiency of the T-beams. Summary of the Invention

[0003] The problem this invention addresses is: how to improve the roughening efficiency of T-beams.

[0004] To address the aforementioned problems, this invention provides a self-propelled T-beam chiseling machine, comprising a walking unit equipped with a high-pressure water pump and a water storage tank, and a chiseling nozzle assembly connected to the high-pressure water pump. The chiseling nozzle assembly is mounted on the walking unit and includes a bracket connected to the walking unit and a nozzle structure mounted on the bracket and capable of reciprocating relative to the bracket. The nozzle structure is used to spray high-pressure water toward the mating surface of the T-beam, and the spray direction of the high-pressure water is perpendicular to the swing axis of the nozzle structure.

[0005] Optionally, the nozzle structure includes a rotating cylinder, a stop bar, and a nozzle connected to the high-pressure water pump. The two ends of the rotating cylinder in the axial direction are rotatably connected to the bracket via springs. The stop bar is vertically connected to the circumferential side plate of the rotating cylinder. The nozzle is connected to the end of the stop bar away from the rotating cylinder. The stop bar is used to abut against the vertical section of the U-shaped connecting rib on the mating surface by the movement of the traveling unit, so that the rotating cylinder swings relative to the bracket and the springs store energy.

[0006] Optionally, the walking unit is used to travel on the T-beam; the self-propelled T-beam chiseling machine also includes a robotic arm, and the chiseling nozzle assembly is mounted on the walking unit via the robotic arm. The robotic arm is used to drive the chiseling nozzle assembly to move along the transverse connecting ribs arranged in the height direction of the T-beam.

[0007] Optionally, the self-propelled T-beam chiseling machine further includes a drive motor, which is mounted on the robotic arm and drivenly connected to the support. The drive motor is used to drive the support to rotate, so that the axis of the rotating cylinder switches between a vertical state and a horizontal state.

[0008] Optionally, the walking unit is configured as a tracking vehicle, which is used to be mounted on the T-beam and move along a pre-painted travel path on the T-beam. The travel path is provided with special marks corresponding to the positions of the transverse connecting ribs arranged along the height direction of the T-beam. When the tracking vehicle moves to the special mark, the drive motor drives the support to rotate so that the axis of the rotating cylinder changes from vertical to horizontal.

[0009] Optionally, the self-propelled T-beam roughening machine further includes a water collection tank and a water pump. The water pump is installed in the water collection tank and communicates with the water storage tank. The water collection tank is located below the support and connected to the robotic arm, and the opening of the water collection tank faces upward.

[0010] Optionally, the self-propelled T-beam roughening machine further includes a vibrating screen, which is located below the rotating cylinder and installed at the opening of the water collection tank.

[0011] Optionally, the support includes two parallel connecting plates, and the two ends of the rotating cylinder along the axial direction are respectively connected to the two connecting plates, and are used to reciprocate between the two connecting plates along the axial direction.

[0012] Optionally, the stop bar corresponds to the nozzle, and multiple stop bars are located on both sides of the axis of the rotating cylinder and are arranged at intervals along the axial direction.

[0013] Optionally, the water collection tank is provided with an avoidance notch, which is used for the transverse connecting rib to pass through the water collection tank.

[0014] Compared with the prior art, the self-propelled T-beam roughening machine of the present invention utilizes a bracket mounted on a walking unit, which drives the bracket to move. A nozzle structure that oscillates relative to the bracket sprays high-pressure water, which then sprays the high-pressure water towards the mating surface of the T-beam. The direction of the high-pressure water spray is perpendicular to the oscillation axis of the nozzle structure, creating continuous grooves on the mating surface. Thus, the oscillation of the nozzle structure and the movement of the walking unit work together to roughen the mating surface of the T-beam without direct manual intervention, thereby improving the roughening efficiency of the T-beam. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the self-propelled T-beam roughening machine grinding the end face of the U-shaped connecting rib in the T-beam according to an embodiment of the present invention.

[0016] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0017] Figure 3 This is a schematic diagram of the structure of the self-propelled T-beam roughening machine grinding the end face of the transverse connecting rib in the T-beam according to an embodiment of the present invention.

[0018] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0019] Figure 5 This is a schematic diagram of the structure of the chiseling nozzle assembly in an embodiment of the present invention;

[0020] Figure 6 This is a schematic diagram of the working condition of the chisel nozzle assembly when it swings in an embodiment of the present invention.

[0021] Figure 7 This is a schematic diagram of the working condition of the chisel nozzle assembly during swing reset in an embodiment of the present invention.

[0022] Figure 8 This is a schematic diagram of the working condition of the chisel nozzle assembly when it swings again in an embodiment of the present invention.

[0023] Figure 9 This is a schematic diagram of the structure of the vibrating screen in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1-Walking unit; 11-Frame; 12-Drive wheel; 2-Chisel nozzle assembly; 21-Bracket; 22-Rotating cylinder; 23-Stop bar; 24-Chisel nozzle; 25-Guide rod; 26-Spring; 3-Mechanical arm; 31-Support base; 32-First movable arm; 33-Second movable arm; 34-First hydraulic telescopic cylinder; 35-Second hydraulic telescopic cylinder; 36-Telescopic arm; 4-Drive motor; 5-Water collection tank; 6-Water pump; 7-Vibrating screen; 71-Support frame; 72-Screen body; 73-Elastic element; 74-Protrusion; 8-Travel path; 9-Special mark; 10-T-beam; 20-U-shaped connecting rib; 30-Transverse connecting rib; 40-First electromagnet; 50-Connecting block; 60-Second electromagnet. Detailed Implementation

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] In the attached figures, the Z-axis represents the horizontal position, with the positive direction of the Z-axis (where the arrow points) indicating the top and the negative direction (opposite to the positive direction) indicating the bottom. Similarly, the X-axis represents the horizontal position, with the positive direction of the X-axis (where the arrow points) indicating the right and the negative direction (opposite to the positive direction) indicating the left. The Y-axis represents the front-back position, with the positive direction of the Y-axis (where the arrow points) indicating the front and the negative direction (opposite to the positive direction) indicating the rear. It should be noted that the aforementioned representations of the Z, X, and Y axes are for ease of description and simplification of the invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily intended to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0029] Combination Figure 1 As shown, the present invention provides a self-propelled T-beam chiseling machine, including a walking unit 1 equipped with a high-pressure water pump and a water storage tank, and a chiseling nozzle assembly 2 connected to the high-pressure water pump. The chiseling nozzle assembly 2 is installed on the walking unit 1 and includes a bracket 21 connected to the walking unit 1 and a nozzle structure installed on the bracket 21 and capable of reciprocating relative to the bracket 21. The nozzle structure is used to spray high-pressure water toward the mating surface of the T-beam 10, and the spraying direction of the high-pressure water is perpendicular to the swing axis of the nozzle structure.

[0030] It should be noted that, in combination Figure 1 As shown, the T-beam 10 includes horizontally distributed horizontal beams, vertical beams vertically connected to the lower middle part of the horizontal beams, and templates located on the left and right sides of the vertical beams and vertically connected between the horizontal beams and the vertical beams. The mating surfaces of the T-beam 10 refer to the side of the horizontal beams provided with multiple U-shaped connecting ribs 20, and the side of the templates provided with multiple transverse connecting ribs 30.

[0031] Specifically, the walking unit 1 includes a frame 11 and four drive wheels 12 mounted on the frame 11. The walking unit 1 is movable along the length direction (Y-axis direction) of the T-beam 10, and a high-pressure water pump and a water storage tank (not shown in the figure) are mounted on the frame 11. The bracket 21 of the chiseling nozzle assembly 2 is mounted on the frame 11, and the nozzle structure of the chiseling nozzle assembly 2 is mounted on the bracket 21 and is oscillating relative to the bracket 21. The nozzle structure includes an inlet end and an outlet end. The inlet end of the nozzle structure is connected to the high-pressure water pump through a water pipe, and the outlet end of the nozzle structure is used to spray high-pressure water toward the mating surface of the T-beam 10. The spray direction of the high-pressure water is perpendicular to the swing axis of the nozzle structure. For example, a motor is mounted on the frame 11. The motor can be driven to connect with the nozzle structure through a linkage mechanism, a crank slider, or a cam linkage, etc., so as to realize the swing of the nozzle structure relative to the bracket 21 through the drive of the motor. The nozzle assembly of the chiseling nozzle assembly 2 sprays water horizontally, specifically towards the left or right wall of the horizontal beam. The nozzle assembly can swing, and the swing axis is perpendicular to the spray direction of the high-pressure water. This results in a larger spray area formed on the mating surface of the horizontal beam when the water outlet of the chiseling nozzle assembly 2 swings, ensuring the chiseling effect. In addition, since the left or right wall of the horizontal beam is provided with a U-shaped connecting rib 20, which includes two parallel horizontal sections perpendicularly connected to the side wall of the horizontal beam and a vertical section perpendicularly connected to the end of the two horizontal sections away from the horizontal beam, the swing axis of the chiseling nozzle assembly 2 is set vertically so as to be parallel to the vertical section of the U-shaped connecting rib 20. That is, while the nozzle assembly sprays water towards the horizontal beam, it can swing in the horizontal plane to deflect the spray direction of the high-pressure water, so that the horizontal beam area blocked by the U-shaped connecting rib 20 can also be sprayed with high-pressure water.Taking the roughening of the left side of the horizontal beam as an example, during roughening, the four drive wheels 12 drive the frame 11 to move from the rear end of the T-beam 10 towards the front end of the T-beam 10, thereby moving the roughening nozzle assembly 2. The high-pressure water pump on the frame 11 supplies water from the storage tank to the nozzle structure. The swing axis of the nozzle structure is vertical, and the spray direction of the high-pressure water is horizontal. High-pressure water is sprayed towards the joint surface of the horizontal beam through the water outlet of the nozzle structure. While the frame 11 moves, the nozzle structure swings back and forth continuously. The water flow formed by the high-pressure water can not only impact the joint surfaces on the front and rear sides of the U-shaped connecting rib 20, but also impact the joint surface enclosed by the U-shaped connecting rib 20, so that the water outlet of the nozzle structure sprays... The high-pressure water jet creates continuous grooves along the length of the horizontal beam's mating surface, roughening the left side of the mating surface. Additionally, T-beams are often made of concrete, a heterogeneous, porous structure with high compressive strength but relatively weak tensile strength. When the high-pressure water jet penetrates the micropores on the concrete surface, tensile stress is generated. If this tensile stress exceeds the concrete's tensile strength, the concrete will break. Since the reinforcing steel is dense and lacks micropores, the high-pressure water cannot penetrate, leaving the steel undamaged. This protects the reinforcing steel in the concrete structure, ensuring structural integrity and safety, and eliminating dust pollution. The roughening process for the right side of the horizontal beam's mating surface is the same as for the left side.

[0032] Therefore, in this embodiment, the bracket 21 is mounted on the walking unit 1, and the walking unit 1 drives the bracket 21 to move, thereby realizing the movement of the bracket 21. The nozzle structure, which swings back and forth relative to the bracket 21, sprays high-pressure water relative to the bracket 21. The high-pressure water is then sprayed towards the mating surface of the T-beam 10 through the nozzle structure, and the spraying direction of the high-pressure water is perpendicular to the swing axis of the nozzle structure, so that the high-pressure water can form continuous grooves on the sprayed mating surface. In this way, the swing of the nozzle structure and the movement of the walking unit 1 can be coordinated to roughen the mating surface on the T-beam 10 without the need for direct manual participation in roughening, thereby improving the roughening efficiency of the T-beam.

[0033] Optionally, combined Figure 1 , Figure 2 , Figure 5 ,as well as Figure 6-8 As shown. The nozzle structure includes a rotating cylinder 22, a stop bar 23, and a nozzle 24 connected to a high-pressure water pump. The two ends of the rotating cylinder 22 are rotatably connected to the bracket 21 via springs. The stop bar 23 is vertically connected to the circumferential side plate of the rotating cylinder 22. The nozzle 24 is connected to the end of the stop bar 23 away from the rotating cylinder 22. The stop bar 23 is used to abut against the vertical section of the U-shaped connecting rib 20 on the mating surface by the movement of the traveling unit 1, so that the rotating cylinder 22 swings relative to the bracket 21 and the springs store energy.

[0034] Specifically, the bracket 21 is mounted on the frame 11 of the traveling unit 1. The rotating cylinder 22 is vertically arranged, and its two ends in the axial direction are rotatably connected to the bracket 21 via springs. Six stop bars 23 are provided, evenly divided into two parallel rows along the axial direction of the rotating cylinder 22. Each row of stop bars 23 is then spaced apart along the axial direction of the rotating cylinder 22, with an included angle between the two rows, such as 60°. The six stop bars 23 are vertically connected to the circumferential sidewalls of the rotating cylinder 22, and each stop bar 23 is connected to a nozzle 24. The nozzle 24 is installed at the end of the stop bar 23 furthest from the rotating cylinder 22. During roughening, combined with... Figure 6-8 As shown, when the frame 11 moves to the position requiring roughening, the front middle section of the stop bar 23 in one row (i.e., the section near the vertical section of the U-shaped connecting rib 20) abuts against the vertical section of the U-shaped connecting rib 20. When the frame 11 moves along the length of the T-beam 10, the vertical section of the U-shaped connecting rib 20 obstructs the movement of the stop bar 23, so that the stop bar 23 pushes the rotating cylinder 22 to rotate, causing the six nozzles 24 to rotate. While the multiple nozzles 303 rotate, the path of the high-pressure water jet they eject also changes, simultaneously roughening the previously sprayed area and the subsequently unsprayed area. To reduce blind spots during the roughening process, the rotation of the rotating cylinder 22 increases the energy stored in the spring. As the frame 11 moves, the rotation angle of the stop lever 23 gradually increases. The front middle section of the stop lever 23 slides on the surface of the vertical section of the U-shaped connecting rib 20. When the front middle section of the stop lever 23 slides away from the vertical section of the U-shaped connecting rib 20, the vertical section of the U-shaped connecting rib 20 stops pushing the stop lever 23. The increased elastic force of the spring causes the rotating cylinder 22 to return to its original position, and the frame 11 continues to move. The stop lever 23 in the next row again comes into contact with the vertical section of the U-shaped connecting rib 20. This cycle repeats, and the nozzle continuously oscillates to achieve the roughening process.

[0035] Thus, the two ends of the rotating cylinder 22 are rotatably connected to the support 21 via springs. The springs overcome the rotation of the rotating cylinder 22 relative to the support 21. The stop bar 23, which is vertically connected to the circumferential side plate of the rotating cylinder 22, abuts against the vertical section of the U-shaped connecting rib 20 as the traveling unit 1 moves. The vertical section of the U-shaped connecting rib 20 hinders the stop bar 23 from moving synchronously with the traveling unit 1, thereby causing the rotating cylinder 22 to rotate relative to the support 21 and allowing the springs to store energy. The energy is then released through the nozzle 24 and away from the stop bar 23. One end of the rotating cylinder 22 is connected, so that the rotation of the rotating cylinder 22 relative to the support 21 is overcome by the energy storage of the spring, and the rotation of the rotating cylinder 22 is achieved by the vertical section of the U-shaped connecting rib 20 through the stop rod 23. This enables the nozzle 24 to swing, so that the movement of the frame 11 can achieve the swing of the nozzle 24, thereby changing the direction of the high-pressure water jet path ejected by the nozzle 24. This allows for the simultaneous roughening of the previously sprayed area and the subsequently unsprayed area, effectively reducing dead angles during roughening and thus improving roughening efficiency.

[0036] Optionally, combined Figure 1 and Figure 3 As shown. The walking unit 1 is used to travel on the T-beam 10; the self-propelled T-beam chisel machine also includes a robotic arm 3, and the chisel nozzle assembly 2 is mounted on the walking unit 1 via the robotic arm 3. The robotic arm 3 is used to drive the chisel nozzle assembly 2 to move along the transverse connecting ribs 30 arranged in the height direction of the T-beam 10.

[0037] Specifically, the robotic arm 3 may include a support base 31, a first movable arm 32 rotatably connected to the support base 31, a second movable arm 33 rotatably connected to the free end of the first movable arm 32, a first hydraulic telescopic cylinder 34 located in a vertical plane being hinged together between the first movable arm 32 and the support base 31, a second hydraulic telescopic cylinder 35 located in a vertical plane being hinged together between the first movable arm 32 and the second movable arm 33, and a drive structure for driving the support base 31 to rotate relative to the frame 11; the end of the second movable arm 33 away from the first movable arm 32 is fixedly connected to a telescopic arm 36, and the telescopic arm 36 is connected to the bracket 21. During the roughening process, the walking unit 1 travels on the T-beam 10 to the roughening position, the driving structure drives the support base 31 to rotate, the first hydraulic telescopic cylinder 34 adjusts the first movable arm 32 to a horizontal state, and the second hydraulic telescopic cylinder 35 adjusts the second movable arm 33 to a vertical state, so that the nozzle 24 faces the mating surface where the transverse connecting rib 30 is located. The telescopic arm 36 drives the nozzle 24 to move along the transverse connecting rib 30 arranged in the height direction of the T-beam 10 to roughen the mating surface where the transverse connecting rib 30 is located.

[0038] Thus, the walking unit 1 travels on the T-beam 10, and the chiseling nozzle assembly 2 is mounted on the walking unit 1 via the robotic arm 3. The robotic arm 3 drives the chiseling nozzle assembly 2 to move along the height direction of the T-beam 10. While the chiseling nozzle assembly 2 moves, the robotic arm 3 can also move the transverse connecting ribs 30 arranged in the height direction of the T-beam 10. In this way, the chiseling nozzle assembly 2 can not only chisel the mating surface where the U-shaped connecting ribs 20 are located, but also chisel the mating surface where the transverse connecting ribs 30 are located, thereby improving the chiseling efficiency.

[0039] Optionally, combined Figure 1 , Figure 2 and Figure 4 As shown. The self-propelled T-beam chiseling machine also includes a drive motor 4, which is mounted on the robotic arm 3 and driven by the support 21. The drive motor 4 is used to drive the support 21 to rotate, so that the axis of the rotating cylinder 22 switches between a vertical state and a horizontal state.

[0040] Specifically, the drive motor 4 is mounted on the telescopic arm 36 of the robotic arm 3. When roughening the mating surface where the U-shaped connecting rib 20 is located, the drive motor 4 makes the axis of the rotating cylinder 22 vertical, and the nozzle 24 can form a groove extending along the length direction of the T-beam 10 on the mating surface where the U-shaped connecting rib 20 is located. When roughening the mating surface where the transverse connecting rib 30 is located, the drive motor 4 makes the axis of the rotating cylinder 22 rotate from vertical to horizontal, and the nozzle 24 can form a groove extending along the height direction of the T-beam 10 on the mating surface where the transverse connecting rib 30 is located.

[0041] Thus, by mounting the drive motor 4 on the robotic arm 3 and driving it to the support 21, the drive motor 4 drives the support 21 to rotate, allowing the axis of the rotating cylinder 22 to switch between vertical and horizontal states. This enables the adjustment of the working posture of the rotating cylinder 22. In this way, when roughening different mating surfaces on the T-beam 10, the current roughening mating surface can be fed back based on the change in the posture of the rotating cylinder 22, thereby improving the flexibility of the rotating cylinder 22 in use.

[0042] Optionally, combined Figure 1 , Figure 2 and Figure 4 As shown. The walking unit 1 is configured as a tracking vehicle, which is used to be set on the T-beam 10 and move along the travel path 8 pre-painted on the T-beam 10. The travel path 8 is provided with special marks 9 corresponding to the positions of the transverse connecting ribs 30 arranged along the height direction of the T-beam 10. When the tracking vehicle moves to the special mark 9, the drive motor 4 drives the bracket 21 to rotate, so that the axis of the rotating cylinder 22 changes from vertical to horizontal.

[0043] Specifically, the mating surface with U-shaped connecting ribs 20 is roughened. The tracking vehicle guides the frame 11 to move automatically according to the spraying route 8. At the same time, the high-pressure water pump is started. The high-pressure water pump pressurizes the liquid in the water tank and delivers it to the nozzle 24 for spraying. The high-pressure water jet sprayed from the nozzle 24 roughens the mating surface of the horizontal beam with U-shaped connecting ribs 20. When the tracking vehicle moves to the special mark 9 and recognizes the special mark 9, the tracking vehicle stops moving. The high-pressure water pump stops supplying water. The drive motor 4 drives the bracket 21 to rotate 90° so that the axis of the rotating cylinder 22 changes from vertical to horizontal. Then, the telescopic arm 36 of the robotic arm 3 extends and drives the rotating cylinder 22 to move vertically downward. At the same time, the high-pressure water pump is started. When the telescopic arm 36 extends to the maximum distance, the high-pressure water jet sprayed from the multiple nozzles 24 can just completely cover the mating surface where the transverse connecting ribs 30 are located, so as to achieve the mating surface where the transverse connecting ribs 30 are located.

[0044] Thus, by setting the walking unit 1 as a tracking walking vehicle, the tracking walking vehicle is used to move on the T-beam 10 via the pre-coated travel path 8. The walking unit 1 can drive the chiseling nozzle assembly 2 to move on the T-beam 10. The travel path 8 is provided with special marks 9 corresponding to the transverse connecting ribs 30 arranged along the height direction of the T-beam 10. When the tracking walking vehicle moves to the special mark 9, the drive motor 4 drives the bracket 21 to rotate, so that the axis of the rotating cylinder 22 changes from vertical to horizontal. In this way, when the tracking walking vehicle has not moved to the special mark 9, the nozzle 24 can chisel the side surface where the U-shaped connecting ribs 20 are located. When the tracking walking vehicle moves to the special mark 9, the chiseling nozzle 24 can chisel the side surface where the transverse connecting ribs 30 are located, thereby realizing the automated operation of chiseling and improving the chiseling efficiency of the nozzle 24.

[0045] Optionally, combined Figure 1 , Figure 2 , Figure 4 and Figure 9 As shown. The self-propelled T-beam roughening machine also includes a water collection tank 5 and a water pump 6. The water pump 6 is installed in the water collection tank 5 and connected to the water storage tank. The water collection tank 5 is located below the support 21 and connected to the robotic arm 3, and the opening of the water collection tank 5 faces upward.

[0046] Specifically, the water collection tank 5 is located below the bracket 21 and is connected to the telescopic arm 36 through a threaded connector. The opening of the water collection tank 5 faces upward toward the rotating cylinder 22. The water pump 6 is installed at the end of the water collection tank 5 away from the T-beam 10 through a threaded connector and is connected to the water storage tank. The input end of the water pump 6 is connected to the inside of the water collection tank 5, and the output end of the water pump 6 is connected to the water storage tank installed on the frame 11 through a pipe.

[0047] Thus, by installing a water pump 6 on the water collection tank 5 and connecting it to the water storage tank, the water collection tank 5 is located below the bracket 21 and connected to the robotic arm 3, with the opening of the water collection tank 5 facing upwards. The water collection tank 5 collects the high-pressure water sprayed from the nozzle 24, and the water pump 6 can send the collected high-pressure water back to the water storage tank on the frame 11, thereby realizing water recycling and reducing the cost of chiseling.

[0048] Optionally, combined Figures 1-5 As shown. The bracket 21 includes two parallel connecting plates, and the two ends of the rotating cylinder 22 are respectively connected to the two connecting plates along the axial direction, and are used to reciprocate along the axial direction between the two connecting plates.

[0049] Specifically, the rotating cylinder 22 has slide rods at both ends of its axial direction. The two slide rods pass through two connecting plates and are slidably connected to the corresponding connecting plates. The two slide rods are also rotatably connected to the corresponding connecting plates via springs. The chiseling nozzle assembly 2 may also include a cylinder, which is driven by one of the two slide rods. The extension and retraction of the cylinder's piston allows the rotating cylinder 22 to reciprocate between the two connecting plates, thereby increasing the spray range of the chiseling nozzle 24 on the solid rotating cylinder 22. In some embodiments, the cylinder may be replaced with other drive structures. In some embodiments, the roughening nozzle assembly 2 further includes a guide rod 25, a spring 26, a first electromagnet 40, and a second electromagnet 60. Springs 26 are provided between the two ends of the rotating cylinder 22 along its axial direction and the corresponding connecting plates. The first electromagnet 40 is installed at the bottom of the water collection tank 5, and a connecting block 50 is provided at the top of the water collection tank 5. The second electromagnet 60 is installed on the connecting block 50 to create a height difference between the second electromagnet 60 and the first electromagnet 40. With the rotating cylinder 22 in a vertical position as the initial state, the guide rod 25 is connected to a sliding rod along the axial direction of the rotating cylinder 22, and the other end extends above the first electromagnet 40. When roughening the surface of the side where the U-shaped connecting rib 20 is located, the first electromagnet 40 is energized and de-energized at a certain frequency. When the first electromagnet 40 is energized, it attracts the guide rod 25, causing the rotating cylinder 22 to move downwards. This compresses the lower spring 26 and de-energizes the upper spring 26. When the first electromagnet 40 is de-energized, the lower and upper springs 26 push the rotating cylinder 22 upwards, thereby enabling the rotating cylinder 22 to move up and down between the two connecting plates to expand the spray range of the chiseling nozzle 24. When chiseling the surface on the side where the transverse connecting rib 30 is located, the drive motor 4 drives the bracket 21 to rotate 90° counterclockwise, making the guide rod 25 flush with the second electromagnet 60. The second electromagnet 60 operates on a similar principle to the first electromagnet 40. The second electromagnet 60 is energized and de-energized at a certain frequency, thereby enabling the rotating cylinder 22 to move horizontally between the two connecting plates to expand the spray range of the nozzle 24. The horizontal movement speed of the rotating cylinder 22 is coordinated with the extension and retraction speed of the telescopic arm 206, so that when the rotating cylinder 22 moves downwards, the transverse connecting rib 30 passes through the gaps between the multiple baffles 23 without contact, ensuring stability during chiseling.

[0050] Thus, the bracket 21 includes two parallel connecting plates, and the two ends of the rotating cylinder 22 are respectively connected to the two connecting plates along the axial direction, and are used to move back and forth along the axial direction between the two connecting plates, thereby expanding the spray range of the nozzle 24 on the rotating cylinder 22 to improve the burring efficiency.

[0051] Optionally, combined Figure 1 , Figure 2 , Figure 4 and Figure 9As shown. The self-propelled T-beam roughening machine also includes a vibrating screen 7, which is located below the rotating cylinder 22 and installed at the opening of the water collection tank 5.

[0052] Specifically, the vibrating screen 7 includes a vibrating motor and a screen. The vibrating motor is mounted on the water collection tank 5 and connected to the screen drive to drive the screen to vibrate, thereby screening concrete debris falling during the roughening process and preventing the concrete debris from clogging the screen. In some embodiments, the vibrating screen 7 may include a support frame 71, a screen body 72, an elastic element 73, and a protrusion 74. The elastic element 73 is configured as a spring, with multiple springs surrounding the axial direction of the support frame 71. The support frame 71 is mounted at the opening of the water collection tank 5 by the multiple springs. A protrusion 74 is provided at one end of the support frame 71 near the second electromagnet 60. The screen body 72 is fixed on the support frame 71 and is located between the guide rod 25 and the first electromagnet 40. When the surface of the side where the U-shaped connecting rib 20 is located is roughened, the guide rod 25 moves downwards by being attracted by the first electromagnet 40, pressing down on the mesh body 72. This causes the support frame 71 to move downwards through the mesh body 72, thereby stretching multiple elastic elements 73 and increasing their elastic potential energy. After the first electromagnet 40 is de-energized, the guide rod 25 separates from the mesh body 72, and the multiple elastic elements 73 return to their original position, driving the support frame 71 and the mesh body 72 to move up and down, thus achieving the vibration of the support frame 71 and the mesh body 72. When the surface of the side where the transverse connecting rib 30 is located is roughened, the rotating cylinder 22 rotates to a horizontal position, and the protrusion 74 is located at... Between the guide rod 25 and the second electromagnet 60, when the second electromagnet 60 is energized, the guide rod 25 is attracted by the energized second electromagnet 60 and pushes the protrusion 74 to move horizontally toward the second electromagnet 60. The horizontal movement of the protrusion 74 increases the elastic potential energy of the multiple elastic elements 73 on the support frame 71. After the second electromagnet 60 is de-energized, the multiple elastic elements 73 drive the support frame 71 and the mesh body 72 to move horizontally, thereby realizing the vibration of the support frame 71 and the mesh body 72 in the horizontal direction. The synchronous vibration of the support frame 71 and the mesh body 72 can be achieved while the rotating cylinder 22 moves back and forth between the two connecting plates.

[0053] Thus, by positioning the vibrating screen 7 below the rotating cylinder 22 and installing it at the opening of the water collection tank 5, the vibration of the vibrating screen 7 can screen concrete debris, preventing the concrete debris from vibrating the mesh of the screen 7, so as to ensure that the recycled water can pass smoothly through the vibrating screen 7.

[0054] Optionally, combined Figure 5 As shown. The stop bar 23 corresponds to the nozzle 24. Multiple stop bars 23 are located on both sides of the axis of the rotating cylinder 22 and are arranged at intervals along the axial direction.

[0055] Specifically, as mentioned above, there are six stop bars 23. The six stop bars 23 are evenly divided into two parallel rows along the axial direction of the rotating cylinder 22. Each row of stop bars 23 is then arranged at intervals along the axial direction of the rotating cylinder 22. There is an included angle between the two rows of stop bars 23, such as 60°.

[0056] Thus, by having the stop bar 23 correspond to the nozzle 24, multiple stop bars 23 are located on both sides of the axis of the rotating cylinder 22 and are arranged at intervals along the axial direction, thereby increasing the number of chiseling nozzles 24 and improving the chiseling efficiency of the chiseling nozzles 24.

[0057] Optionally, combined Figure 9 As shown, the water collection tank 5 is provided with an avoidance notch, which is used for the transverse connecting rib 30 to pass through the water collection tank 5.

[0058] Specifically, the side wall of the water collection trough 5 near the transverse connecting rib 30 is bent to form a clearance notch. The clearance notch passes vertically through the water collection trough 5, allowing the transverse connecting rib 30 to pass through. The number of clearance notches corresponds to the number of rows of transverse connecting ribs 30; for example, if there are two rows of transverse connecting ribs 30, then two clearance notches are provided. In this way, by providing clearance for the transverse connecting rib 30 to pass through the water collection trough 5, interference between the water collection trough 6 and the transverse connecting rib 30 is avoided, thereby preventing the water collection trough 5 from obstructing the movement of the chiseling nozzle assembly 2 along the height direction of the T-beam 10, thus improving chiseling efficiency.

[0059] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A self-propelled T-beam roughening machine, characterized in that, The system includes a walking unit (1) equipped with a high-pressure water pump and a water storage tank, and a chiseling nozzle assembly (2) connected to the high-pressure water pump. The chiseling nozzle assembly (2) is mounted on the walking unit (1). The chiseling nozzle assembly (2) includes a bracket (21) connected to the walking unit (1) and a nozzle structure mounted on the bracket (21) and capable of reciprocating relative to the bracket (21). The nozzle structure is used to spray high-pressure water toward the mating surface of the T-beam (10). The spraying direction of the high-pressure water is perpendicular to the swing axis of the nozzle structure. The nozzle structure includes a rotating cylinder (22), a stop bar (23), and a nozzle (24) connected to the high-pressure water pump. The two ends of the rotating cylinder (22) are rotatably connected to the bracket (21) via springs. The stop bar (23) is vertically connected to the circumferential side plate of the rotating cylinder (22). The nozzle (24) and the stop bar (23) are located away from the rotating cylinder (22). One end of the rotating cylinder (22) is connected to the support (21), and the stop bar (23) is used to abut against the vertical section of the U-shaped connecting rib (20) on the mating surface by the movement of the walking unit (1), so that the rotating cylinder (22) swings relative to the support (21) and the spring stores energy; the walking unit (1) is used to travel on the T-beam (10); the self-walking T-beam chiseling machine also includes a mechanical arm (3), the chiseling nozzle assembly (2) is installed on the walking unit (1) through the mechanical arm (3), the mechanical arm (3) is used to drive the chiseling nozzle assembly (2) to move along the transverse connecting rib (30) arranged in the height direction of the T-beam (10); it also includes a drive motor (4), the drive motor (4) is installed on the mechanical arm (3) and drivenly connected to the support (21), the drive motor (4) is used to drive the support (21) to rotate, so that the axis of the rotating cylinder (22) switches between the vertical state and the horizontal state.

2. The self-propelled T-beam roughening machine according to claim 1, characterized in that, The walking unit (1) is configured as a tracking walking vehicle. The tracking walking vehicle is used to be set on the T-beam (10) and move along the travel route (8) pre-painted on the T-beam (10). The travel route (8) is provided with special marks (9) corresponding to the positions of the transverse connecting ribs (30) arranged along the height direction of the T-beam (10). When the tracking walking vehicle moves to the special mark (9), the drive motor (4) drives the bracket (21) to rotate so that the axis of the rotating cylinder (22) changes from vertical to horizontal.

3. The self-propelled T-beam roughening machine according to claim 1, characterized in that, It also includes a water collection tank (5) and a water pump (6), the water pump (6) is installed in the water collection tank (5) and connected to the water storage tank, the water collection tank (5) is located below the bracket (21) and connected to the robotic arm (3), and the opening of the water collection tank (5) faces upward.

4. The self-propelled T-beam roughening machine according to claim 3, characterized in that, It also includes a vibrating screen (7), which is located below the rotating cylinder (22) and installed at the opening of the water collection tank (5).

5. The self-propelled T-beam roughening machine according to claim 1, characterized in that, The bracket (21) includes two parallel connecting plates, and the rotating cylinder (22) is connected to the two connecting plates at both ends along the axial direction, and is used to reciprocate between the two connecting plates along the axial direction.

6. The self-propelled T-beam roughening machine according to claim 1, characterized in that, The stop bar (23) corresponds to the nozzle (24), and multiple stop bars (23) are located on both sides of the axis of the rotating cylinder (22) and are arranged at intervals along the axial direction.

7. The self-propelled T-beam roughening machine according to claim 3, characterized in that, The water collection tank (5) is provided with an avoidance notch, which is used for the transverse connecting rib (30) to pass through the water collection tank (5).

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