Automatic walking vehicle for improving surface roughness of concrete member and application method of automatic walking vehicle

Abstract

The invention provides an automatic walking vehicle for improving the surface roughness of a concrete member and an application method of the automatic walking vehicle, and relates to the technical field of vehicles. The technical problems that in the prior art, manual operation is high in labor intensity, low in working efficiency and poor in operation safety are solved. The automatic walking vehicle for improving the surface roughness of the concrete member comprises a vehicle frame, walking wheels, a walking driving motor, a vehicle frame lifting device, a cross beam, a distribution box, a vertical beam, a vertical beam transverse moving device, a pneumatic reciprocating type lateral impact device, an impact head lifting mechanism, an air tank and an air compressor. The pneumatic reciprocating type lateral impact device comprises a plurality of lateral air cylinders and impact heads fixedly arranged on piston rods of the lateral air cylinders, and when the air path switch valve is opened, compressed air sprayed out of the air tank can drive the piston rods of the lateral air cylinders to drive the impact heads to do reciprocating motion so as to impact pits in the surface of the concrete. The safety and the working efficiency of concrete construction operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to an automated traveling vehicle for improving the surface roughness of a concrete component and an application method of the automated traveling vehicle for improving the surface roughness of a concrete component. Background Art

[0002] Concrete components are generally beam-slab structures, and the surface roughness of concrete components has an important influence on whether the connection between the concrete components and other concrete layers is strong enough.

[0003] The greater the surface roughness of a concrete component, the larger the connection area between the concrete component and other concrete layers, and the stronger the connection force. Conversely, the smoother the surface of a concrete component, the smaller the connection area between the concrete component and other concrete layers, and the weaker the connection force. Based on this, how to improve the surface roughness of concrete components has become a technical problem that needs to be solved in the field of construction.

[0004] In the prior art, in order to improve the surface roughness of concrete components, construction workers usually use a manually operated electric pick to impact the surface of the concrete component with the impact chisel head of the electric pick to impact a plurality of pits on the surface of the concrete component (when the density of the pits is large, continuous pits can form grooves), thereby improving the surface roughness of the concrete component.

[0005] The applicant has found that the prior art has at least the following technical problems: 1. In the prior art, the construction workers manually operate electric picks to impact the surface of concrete components to increase the surface roughness of concrete components. When this method is encountered in bad weather or in places with strong winds and high humidity such as coasts and riverbanks, the construction workers are prone to fall or slip due to the slippery construction platform, causing safety accidents; 2. In the prior art, construction workers manually operate electric picks, which has high labor intensity and low work efficiency. In addition, the construction quality of manually operated electric picks is closely related to the construction experience, physical strength and physical strength of the construction workers. When multiple construction workers work together in different areas, it is impossible to ensure the consistency and reliability of the surface quality of large-area concrete components. Summary of the invention

[0006] The embodiment of the present invention provides an automated traveling vehicle for improving the surface roughness of a concrete component and an application method of using the automated traveling vehicle for improving the surface roughness of a concrete component, which solves the technical problems of high labor intensity, low work efficiency and poor operation safety in the prior art manual work.

[0007] The embodiment of the present invention provides the following technical solutions: The automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention comprises a vehicle frame, traveling wheels, a traveling drive motor, a vehicle frame lifting device, a crossbeam, a distribution box, a vertical beam, a vertical beam transverse movement device, a pneumatic reciprocating side impact device, an impact head lifting mechanism, a gas tank and an air compressor, wherein: The number of the walking wheels is at least four and each of the walking wheels is rotatably connected to the frame via a rotating shaft, the walking drive motor is fixedly arranged on the frame and the walking drive motor is connected to the rotating shaft via a belt transmission mechanism, and the walking drive motor can drive the rotating shaft and the walking wheels to rotate via the belt transmission mechanism (so as to realize walking on the surface of the concrete member of the present invention); The crossbeam, the distribution box, the gas tank and the air compressor are all arranged above the frame, and the frame lifting device is arranged on the crossbeam and the frame and can adjust the distance between the crossbeam and the frame in the vertical direction; The power distribution box is used to supply power to the air compressor and the travel drive motor; The vertical beam comprises a left vertical beam and a right vertical beam, the left vertical beam and the right vertical beam are respectively connected to the two ends of the horizontal beam in the length direction and both can slide relative to the horizontal beam in the horizontal direction, and the vertical beam transverse movement device is arranged on the horizontal beam and can drive the left vertical beam and the right vertical beam to move relative to the horizontal beam in the horizontal direction; The impact head lifting mechanism is arranged on the vertical beam and can drive the pneumatic reciprocating side impact device to rise or fall in the vertical direction; The pneumatic reciprocating side impact device includes a plurality of side cylinders and a side impact head fixedly arranged on the piston rod of the side cylinder. The side cylinder is connected to the gas tank through a side air circuit switch valve. The air compressor is connected to the gas tank. The air compressor supplies compressed air to the gas tank. When the side air circuit switch valve is opened, the compressed air sprayed from the gas tank can drive the piston rod of the side cylinder to drive the side impact head to reciprocate to impact a pit on the concrete surface.

[0008] Optionally, the frame lifting device includes a height adjustment bracket and at least two vertical screw rods. The height adjustment bracket is fixedly connected to the crossbeam; The bottom end of each vertical screw rod is rotatably connected to the frame, the top end of each vertical screw rod is an external hexagonal structure and protrudes from the height adjustment bracket, and the middle section of each vertical screw rod is threadedly connected to the height adjustment bracket. When the top end of the vertical screw rod is twisted to drive the middle section of the vertical screw rod and the bottom end of the vertical screw rod to rotate, the vertical screw rod can rise or fall relative to the cross beam in the vertical direction and synchronously drive the cross beam and the height adjustment bracket to rise or fall relative to the frame.

[0009] Optionally, the height adjustment bracket includes a plurality of support plates fixedly connected to the cross beam, a lifting drive mechanism is provided between the support plate and each of the vertical screw rods, the lifting drive mechanism includes a lifting drive motor, a lifting drive worm, a first bearing, a second bearing and a lifting drive turbine, the main shaft of the lifting drive motor is detachably connected to the lifting drive worm, the first bearing is detachably connected to the support plate, the lifting drive worm is rotatably connected to the support plate through the first bearing, the helical teeth on the lifting drive worm are meshed with the convex teeth on the top of the lifting drive turbine to form a gear pair, the second bearing is detachably connected to the bracket bottom plate, and the bottom of the lifting drive turbine is rotatably connected to the height adjustment bracket through the second bearing; the lifting drive turbine is threadedly connected to the vertical screw rod, the main shaft of the lifting drive motor can drive the lifting drive worm to rotate and drive the lifting drive turbine to rotate through the lifting drive worm, the vertical screw rod can be driven to rise or fall in the vertical direction during the rotation of the lifting drive turbine, and the distance between the cross beam and the frame is enlarged or reduced through the vertical screw rod to drive the cross beam to rise or fall relative to the frame.

[0010] Optionally, the lead angle of the helical teeth on the lifting drive worm is greater than the equivalent friction angle between the meshing gear teeth of the gear pair formed by the meshing of the helical teeth on the lifting drive worm and the convex teeth on the top of the lifting drive turbine.

[0011] Optionally, at least two of the traveling wheels are rotationally connected to the frame via different rotating shafts, and the belt transmission mechanism includes a driving gear, a driven gear and a toothed transmission belt, the driving gear is connected to the main shaft of the traveling drive motor, the driven gear is connected to the rotating shaft connected to one of the traveling wheels, and the transmission belt is sleeved outside the driving gear and the driven gear and meshes with the driving gear and the driven gear.

[0012] Optionally, the vertical beam transverse movement device includes a left transverse screw rod and a right transverse screw rod; The left end of the left transverse screw rod is in an external hexagonal structure and protrudes from the left end of the cross beam, the middle section of the left transverse screw rod is threadedly connected to the cross beam, and the right end of the left transverse screw rod is rotatably connected to the left vertical beam; in the process of twisting the left end of the left transverse screw rod to drive the middle section of the left transverse screw rod and the right end of the left transverse screw rod to rotate, the right end of the left transverse screw rod can drive the left vertical beam to slide to the left or right relative to the cross beam in the horizontal direction; The right end of the right transverse screw rod is an external hexagonal structure and protrudes from the right end of the crossbeam, the middle section of the right transverse screw rod is threadedly connected to the crossbeam, and the left end of the right transverse screw rod is rotatably connected to the right vertical beam; in the process of twisting the right end of the right transverse screw rod to drive the middle section of the right transverse screw rod and the left end of the right transverse screw rod to rotate, the left end of the right transverse screw rod can drive the right vertical beam to slide to the left or right relative to the crossbeam in the horizontal direction.

[0013] Optionally, the left vertical beam and the right vertical beam are each provided with a slider, the impact head lifting mechanism and the pneumatic reciprocating side impact device, wherein: The impact head lifting mechanism includes a two-way self-locking hand winch and a steel wire rope. The rotating shaft of the two-way self-locking hand winch is rotatably connected to the left vertical beam or the right vertical beam, one end of the steel wire rope is connected to the two-way self-locking hand winch, and the other end of the steel wire rope is connected to the slider; the slider is embedded in a vertical slide in the left vertical beam or the right vertical beam and can slide upward or downward along the vertical slide, and the pneumatic reciprocating side impact device is fixedly connected to the inner side of the slider; twisting the handle of the two-way self-locking hand winch clockwise can retract the steel wire rope and pull the slider and the pneumatic reciprocating side impact device in the vertical direction through the steel wire rope to rise, and twisting the handle of the two-way self-locking hand winch counterclockwise can release the steel wire rope, and the slider and the pneumatic reciprocating side impact device descend under the action of their own weight.

[0014] Optionally, the vertical beam transverse movement device includes a left transverse movement drive motor, a left transverse movement drive worm, a left bearing and a left transverse movement drive turbine. The main shaft of the left transverse movement drive motor is detachably connected to the left transverse movement drive worm, and the left bearing is detachably connected to a left mounting seat fixed on the transverse beam. The left transverse movement drive worm is rotatably connected to the left mounting seat fixed on the transverse beam through the left bearing. The left transverse movement drive turbine is rotatably connected to the left mounting seat and has a constant relative position with the left mounting seat in the horizontal direction. The spiral teeth mesh with the convex teeth of the left transverse drive turbine to form a gear pair, the left transverse drive turbine is threadedly connected with the left transverse screw rod, the main shaft of the left transverse drive motor can drive the left transverse drive worm to rotate and drive the left transverse drive turbine to rotate through the left transverse drive worm, and during the rotation of the left transverse drive turbine, the left transverse screw rod can be driven to slide to the left or right relative to the cross beam in the horizontal direction through the threaded connection, and the left vertical beam can be driven to slide to the left or right relative to the cross beam through the left transverse screw rod; The vertical beam transverse movement device also includes a right transverse movement drive motor, a right transverse movement drive worm, a right bearing and a right transverse movement drive turbine, the main shaft of the right transverse movement drive motor is detachably connected to the right transverse movement drive worm, the right bearing is detachably connected to the right mounting seat fixed on the cross beam, the right transverse movement drive worm is rotatably connected to the right mounting seat fixed on the cross beam through the right bearing, the right transverse movement drive turbine is rotatably connected to the right mounting seat and has a constant relative position with the right mounting seat in the horizontal direction, the spiral teeth on the right transverse movement drive worm mesh with the convex teeth of the right transverse movement drive turbine to form a gear pair, the right transverse movement drive turbine is threadedly connected to the right transverse screw rod, the main shaft of the right transverse movement drive motor can drive the right transverse movement drive worm to rotate and drive the right transverse movement drive turbine to rotate through the right transverse movement drive worm, and during the rotation of the right transverse movement drive turbine, the right transverse screw rod can be driven to slide to the left or right relative to the cross beam in the horizontal direction through the threaded connection, and the right vertical beam can be driven to slide to the left or right relative to the cross beam through the right transverse screw rod; The impact head lifting mechanism also includes an impact head lifting motor, the main shaft of which is connected to the rotating shaft of the two-way self-locking hand-cranked winch and can drive the two-way self-locking hand-cranked winch to rotate forward or reverse.

[0015] Optionally, a pneumatic reciprocating downward impact device is provided at the bottom of each of the left vertical beam and the right vertical beam, and the pneumatic reciprocating downward impact device comprises a plurality of lower cylinders and a lower impact head fixedly arranged on the piston rod of the lower cylinder, and the lower cylinder is connected to the gas tank through a lower gas circuit switch valve, and when the lower gas circuit switch valve is opened, the compressed air sprayed from the gas tank can drive the piston rod of the lower cylinder to drive the lower impact head to reciprocate to impact a pit on the concrete surface; The maximum distance between the frame and the cross beam in the vertical direction is greater than the size of the vertical beam, and the frame lifting device can lower the frame to a position where the pneumatic reciprocating downward impact device on the vertical beam is higher than the bottom surface of the running wheel; The automated traveling vehicle for improving the surface roughness of concrete components also includes a remote controller, which can remotely control the traveling drive motor, the lifting drive motor, the left lateral movement drive motor, the right lateral movement drive motor, the impact head lifting motor, the side air circuit switch valve and the lower air circuit switch valve according to instructions.

[0016] An application method of an automated traveling vehicle for improving the surface roughness of a concrete component provided by any technical solution of the present invention provided by an embodiment of the present invention comprises the following steps: Step A, placing the automated traveling vehicle for improving the surface roughness of a concrete component provided by any technical solution of the present invention on the concrete component whose surface roughness needs to be improved; Step B, starting the travel drive motor, driving the travel wheel through the travel drive motor to drive the frame to move to a desired horizontal position, adjusting the vertical distance between the cross beam and the frame through the frame lifting device, adjusting the horizontal positions of the left vertical beam and the right vertical beam through the vertical beam transverse movement device, and adjusting the vertical position of the pneumatic reciprocating side impact device through the impact head lifting mechanism; Step C, when the pneumatic reciprocating side impact device reaches a predetermined working position, the side air circuit switch valve is opened, the air compressor is started, and the compressed air generated by the air compressor and output by the side air circuit switch valve drives the piston rod of the side cylinder to drive the side impact head to reciprocate to impact a pit on the concrete surface; Step D, repeating steps B and C until all the surfaces to be processed on the side of the concrete component are processed.

[0017] Optionally, when it is necessary to perform a pit impact operation on the top surface of the concrete component, the application method of the automated traveling vehicle for improving the surface roughness of the concrete component further includes the following steps: Step E, adjusting the vertical distances between the cross beam, the left vertical beam, and the right vertical beam and the frame by means of the frame lifting device, and adjusting the horizontal positions of the left vertical beam, the right vertical beam, and the pneumatic reciprocating downward impact device by means of the vertical beam transverse movement device; Step F, when the pneumatic reciprocating lower impact device reaches a predetermined working position, the lower air circuit switch valve is opened, the air compressor is started, and the compressed air generated by the air compressor and output by the lower air circuit switch valve drives the piston rod of the lower cylinder to drive the lower impact head to reciprocate to impact a pit on the concrete surface; Step G, repeating steps E and F until all the surfaces to be processed on the top of the concrete component are processed.

[0018] Any of the above technical solutions provided by the embodiments of the present invention produces at least the following technical effects: The automated traveling vehicle for improving the surface roughness of concrete components provided by the present invention can control the vehicle to travel to a predetermined position by only starting the traveling drive motor, and adjusting the distance between the cross beam and the frame in the vertical direction through the vehicle frame lifting device, thereby adjusting the position of the side impact head (also including the lower impact head in the preferred embodiment), and adjusting the position of the left vertical beam and the right vertical beam in the horizontal direction through the vertical beam transverse movement device, thereby adjusting the distance between the side impact head and the concrete component (such as the beam plate) (also including the horizontal position of the lower impact head in the preferred embodiment), and the position of the pneumatic reciprocating side impact device in the vertical direction (also including the vertical position of the lower impact head in the preferred embodiment) can be further and more accurately adjusted through the impact head lifting mechanism, and when the pneumatic reciprocating side impact device (also including the lower impact head in the preferred embodiment) reaches the predetermined working position, the side air circuit switch valve is opened, the air compressor is started, and the side air circuit is opened. The compressed air generated by the air compressor and output by the circuit switch valve drives the piston rod of the side cylinder to drive the side impact head to reciprocate to impact pits on the concrete surface, thereby replacing the manual operation of the electric pick in the prior art. The operator only needs to control the motor and the side air circuit switch (the preferred scheme also includes the lower air circuit switch) to achieve the pit impact operation on the concrete surface. Compared with the manual operation of the electric pick in the prior art, the labor intensity of the present invention is greatly reduced. At the same time, the automated operation of the present invention not only has a long working time and high overall work efficiency, but also has more ideal consistency and reliability of the surface quality of concrete components during large-area operations, and has stronger adaptability to severe weather and harsh environments. The content that requires manual operation is greatly reduced, and the operation safety is greatly improved, thereby solving the technical problems of high labor intensity, low work efficiency and poor operation safety in manual operation in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Those skilled in the art may better understand the technical effects of the present invention through the following drawings, wherein: Figure 1 A schematic diagram of an automated traveling vehicle for improving the surface roughness of a concrete component when processing the side of a concrete component provided in an embodiment of the present invention.

[0020] Figure 2 Another schematic diagram of an automated traveling vehicle for improving the surface roughness of a concrete component when processing the side surface of a concrete component provided by another implementation of an embodiment of the present invention.

[0021] Figure 3 A partial cross-sectional schematic diagram of a frame lifting device of an automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0022] Figure 4 Another partial cross-sectional schematic diagram of a frame lifting device of an automated traveling vehicle for improving the surface roughness of a concrete member provided by an embodiment of the present invention.

[0023] Figure 5 A schematic diagram of a frame lifting device of an automated traveling vehicle for improving the surface roughness of a concrete component provided by an embodiment of the present invention.

[0024] Figure 6 A schematic diagram of an automated traveling vehicle for improving the surface roughness of a concrete component provided by an embodiment of the present invention when processing the top surface of a concrete component.

[0025] Figure 7 A partial cross-sectional schematic diagram of the portion driving the left vertical beam in the vertical beam transverse movement device of the automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0026] Figure 8 Another partial cross-sectional schematic diagram of the portion driving the left vertical beam in the vertical beam transverse movement device of the automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0027] Fig. 9 A schematic diagram of a portion that drives a left vertical beam in a vertical beam transverse movement device of an automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0028] Fig.10 A partial cross-sectional schematic diagram of the portion driving the right vertical beam in the vertical beam transverse movement device of the automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0029] Fig.11Another partial cross-sectional schematic diagram of the portion driving the right vertical beam in the vertical beam transverse movement device of the automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0030] Fig.12 A schematic diagram of a portion that drives a right vertical beam in a vertical beam transverse movement device of an automated traveling vehicle for improving the surface roughness of a concrete member provided in an embodiment of the present invention.

[0031] Markings in the figure: 1, frame; 11, walking wheel; 12, walking drive motor; 2, frame lifting device; 21, height adjustment bracket; 22, vertical screw rod; 23, lifting drive motor; 24, lifting drive worm; 25, first bearing; 26, lifting drive turbine; 27, second bearing; 3, cross beam; 31, left mounting seat; 32, right mounting seat; 4, distribution box; 5, vertical beam; 51, left vertical beam; 52, right vertical beam; 6, vertical beam transverse movement device; 60, Left transverse drive motor; 61. Left transverse screw rod; 62. Left transverse drive worm; 63. Left bearing; 64. Left transverse drive turbine; 65. Right transverse screw rod; 66. Right transverse drive worm; 67. Right bearing; 68. Right transverse drive turbine; 69. Right transverse drive motor; 7. Pneumatic reciprocating side impact device; 8. Pneumatic reciprocating bottom impact device; 9. Concrete component; 10. Impact head lifting mechanism; 13. Compressed air output pipeline of gas tank. DETAILED DESCRIPTION

[0032] The following is combined with the above Figure 1-Figure 12 The preferred implementation modes and various optional implementation schemes provided by the embodiments of the present invention are described in more detail.

[0033] like Figure 1-Figure 12 As shown, the present invention provides an automated traveling vehicle for improving the surface roughness of a concrete member, comprising a vehicle frame 1, a traveling wheel 11, a traveling drive motor 12, a vehicle frame lifting device 2, a cross beam 3, a distribution box 4, a vertical beam 5, a vertical beam transverse movement device 6, a pneumatic reciprocating side impact device 7, an impact head lifting mechanism 10, a gas tank and an air compressor, wherein: The number of the running wheels 11 is at least four and each of the running wheels 11 is rotatably connected to the frame 1 via a rotating shaft. The running drive motor 12 is fixedly arranged on the frame 1 and is connected to the rotating shaft via a belt transmission mechanism. The running drive motor 12 can drive the rotating shaft and the running wheels 11 to rotate via the belt transmission mechanism. The crossbeam 3, the distribution box 4, the gas tank and the air compressor are all arranged above the frame 1, and the frame lifting device 2 is arranged on the crossbeam 3 and the frame 1 and can adjust the distance between the crossbeam 3 and the frame 1 in the vertical direction; The distribution box 4 is used to supply power to the air compressor and the travel drive motor 12; The vertical beam 5 includes a left vertical beam 51 and a right vertical beam 52. The left vertical beam 51 and the right vertical beam 52 are respectively connected to the two ends of the horizontal beam 3 in the length direction and both can slide relative to the horizontal beam 3 in the horizontal direction. The vertical beam transverse movement device 6 is arranged on the horizontal beam 3 and can drive the left vertical beam 51 and the right vertical beam 52 to move relative to the horizontal beam 3 in the horizontal direction. The impact head lifting mechanism 10 is arranged on the vertical beam 5 and can drive the pneumatic reciprocating side impact device 7 to rise or fall in the vertical direction; The pneumatic reciprocating side impact device 7 includes a plurality of side cylinders and a side impact head fixedly arranged on the piston rod of the side cylinder. The side cylinder is connected to the gas tank through the side gas circuit switch valve. The air compressor is connected to the gas tank. The air compressor supplies compressed air to the gas tank. When the side gas circuit switch valve is opened, the compressed air sprayed from the gas tank can drive the piston rod of the side cylinder to drive the side impact head to reciprocate to impact a pit on the concrete surface.

[0034] The automated traveling vehicle for improving the surface roughness of concrete components provided by the present invention only needs to start the traveling drive motor 12 to control the vehicle to travel to a predetermined position, and the frame lifting device 2 is used to adjust the distance between the cross beam 3 and the frame 1 in the vertical direction, thereby adjusting the position of the side impact head (also including the lower impact head in the preferred embodiment), and the vertical beam transverse movement device 6 is used to adjust the position of the left vertical beam 51 and the right vertical beam 52 in the horizontal direction, thereby adjusting the distance between the side impact head and the concrete component (such as the beam plate) (also including the horizontal position of the lower impact head in the preferred embodiment), and the impact head lifting mechanism 10 can further and more accurately adjust the position of the pneumatic reciprocating side impact device 7 in the vertical direction. When the pneumatic reciprocating side impact device 7 (also including the lower impact head in the preferred embodiment) reaches the predetermined working position, the side impact head is opened. The side air circuit switch valve is opened to start the air compressor. The compressed air generated by the air compressor and output by the side air circuit switch valve drives the piston rod of the side cylinder to drive the side impact head to reciprocate to impact pits on the concrete surface, thereby replacing the manual operation of the electric pick in the prior art. The operator only needs to control the motor and the side air circuit switch (the preferred embodiment also includes the lower air circuit switch) to achieve the pit impact operation on the concrete surface. Compared with the manual operation of the electric pick in the prior art, the labor intensity of the present invention is greatly reduced. At the same time, the automated operation of the present invention not only has a long working time and high overall work efficiency, but also has more ideal consistency and reliability of the surface quality of the concrete component 9 during large-area operations, and is more adaptable to severe weather and harsh environments. The content that requires manual operation is greatly reduced, and the operation safety is greatly improved.

[0035] As an optional implementation, in this embodiment, the frame lifting device 2 includes a height adjustment bracket 21 and at least two (preferably two) vertical screw rods 22, and the height adjustment bracket 21 is fixedly connected to the crossbeam 3; The bottom end of each vertical screw rod 22 is rotatably connected to the frame 1, the top end of each vertical screw rod 22 is an external hexagonal structure and protrudes from the height adjustment bracket 21, and the middle section of each vertical screw rod 22 is threadedly connected to the height adjustment bracket 21. When the top end of the vertical screw rod 22 is twisted to drive the middle section of the vertical screw rod 22 and the bottom end of the vertical screw rod 22 to rotate, the vertical screw rod 22 can rise or fall relative to the cross beam 3 in the vertical direction and synchronously drive the cross beam 3 and the height adjustment bracket 21 to rise or fall relative to the frame 1.

[0036] The two vertical screw rods 22 can not only share the gravity applied to the frame 1 by the cross beam 3, thereby ensuring the stability and reliability of the connection structure between the frame 1 and the cross beam 3, but also the twisting operation needs to be carried out simultaneously when twisting the top end of the vertical screw rod 22 to adjust the distance between the frame 1 and the cross beam 3, thereby avoiding operator misoperation. In addition, it can also avoid the single vertical screw rod 22 rotating by itself due to vibration during the operation, thereby preventing the distance between the frame 1 and the cross beam 3 from changing inadvertently.

[0037] As an optional implementation, the height adjustment bracket 21 in this embodiment includes a plurality of support plates fixedly connected to the cross beam 3, and a lifting drive mechanism is arranged between the support plate and each vertical screw rod 22, and the lifting drive mechanism includes a lifting drive motor 23, a lifting drive worm 24, a first bearing 25, a second bearing 27 and a lifting drive turbine 26, the main shaft of the lifting drive motor 23 is detachably connected to the lifting drive worm 24, the first bearing 25 is detachably connected to the support plate, the lifting drive worm 24 is rotatably connected to the support plate through the first bearing 25, and the helical teeth on the lifting drive worm 24 are connected to the convex teeth on the top of the lifting drive turbine 26. The teeth mesh to form a gear pair, the second bearing 27 is detachably connected to the bottom plate of the bracket, and the bottom of the lifting drive turbine 26 is rotatably connected to the height adjustment bracket 21 through the second bearing 27; the lifting drive turbine 26 is threadedly connected to the vertical screw rod 22, and the main shaft of the lifting drive motor 23 can drive the lifting drive worm 24 to rotate and drive the lifting drive turbine 26 to rotate through the lifting drive worm 24. During the rotation of the lifting drive turbine 26, the vertical screw rod 22 can be driven to rise or fall in the vertical direction, and the distance between the cross beam 3 and the frame 1 can be expanded or reduced through the vertical screw rod 22 to drive the cross beam 3 to rise or fall relative to the frame 1.

[0038] The present invention does not need to manually twist the vertical screw rod 22, but uses the lifting drive motor 23 to drive the worm gear mechanism, and uses the characteristics of the threaded connection structure to realize automatic driving control of the lifting of the crossbeam 3. Of course, the manual twisting of the vertical screw rod 22 does not conflict with the driving method of the lifting drive motor 23. When the lifting drive motor 23 fails, the manual twisting of the vertical screw rod 22 can be used as an emergency solution. For example, when the manual twisting of the vertical screw rod 22 is stuck due to the failure of the worm gear mechanism, all or part of the worm gear mechanism can be removed and then the vertical screw rod 22 can be manually twisted.

[0039] As an optional implementation, the lead angle of the helical teeth on the lifting drive worm 24 in this embodiment is greater than the equivalent friction angle between the meshing gear teeth of the gear pair formed by the meshing of the helical teeth on the lifting drive worm 24 and the convex teeth on the top of the lifting drive turbine 26. This structural setting can maximize the prevention of reverse self-locking of the turbine worm mechanism, thereby preventing the vertical screw rod 22 from being manually twisted.

[0040] As an optional implementation, in this embodiment, at least two traveling wheels 11 are rotationally connected to the frame 1 through different rotating shafts, and the belt transmission mechanism includes a driving gear, a driven gear and a toothed transmission belt, the driving gear is connected to the main shaft of the travel drive motor 12, the driven gear is connected to the rotating shaft connected to one of the traveling wheels 11, and the transmission belt is arranged outside the driving gear and the driven gear and meshes with the driving gear and the driven gear.

[0041] This transmission mechanism is not only easy to install, but also has high transmission efficiency, integrating the advantages of belt transmission and gear transmission.

[0042] As an optional implementation, in this embodiment, the vertical beam transverse moving device 6 includes a left transverse screw rod 61 and a right transverse screw rod 65; The left end of the left transverse screw rod 61 is in an external hexagonal structure and protrudes from the left end of the cross beam 3. The middle section of the left transverse screw rod 61 is threadedly connected to the cross beam 3, and the right end of the left transverse screw rod 61 is rotatably connected to the left vertical beam 51. When the left end of the left transverse screw rod 61 is twisted to drive the middle section of the left transverse screw rod 61 and the right end of the left transverse screw rod 61 to rotate, the right end of the left transverse screw rod 61 can drive the left vertical beam 51 to slide to the left or right relative to the cross beam 3 in the horizontal direction. The right end of the right transverse screw rod 65 is an external hexagonal structure and protrudes from the right end of the crossbeam 3. The middle section of the right transverse screw rod 65 is threadedly connected to the crossbeam 3, and the left end of the right transverse screw rod 65 is rotatably connected to the right vertical beam 52. In the process of twisting the right end of the right transverse screw rod 65 to drive the middle section of the right transverse screw rod 65 and the left end of the right transverse screw rod 65 to rotate, the left end of the right transverse screw rod 65 can drive the right vertical beam 52 to slide left or right in the horizontal direction relative to the crossbeam 3.

[0043] By twisting the left transverse screw rod 61 and the right transverse screw rod 65, the sliding distance of the left vertical beam 51 and the right vertical beam 52 relative to the horizontal beam 3 to the left or right can be adjusted respectively, thereby adjusting the distance between the side impact head and the side of the concrete component 9 and the size of the resistance force.

[0044] As an optional implementation, in this embodiment, the left vertical beam 51 and the right vertical beam 52 are each provided with a slider, an impact head lifting mechanism 10 and a pneumatic reciprocating side impact device 7, wherein: The impact head lifting mechanism 10 includes a two-way self-locking hand winch and a steel wire rope. The rotating shaft of the two-way self-locking hand winch is rotatably connected to the left vertical beam 51 or the right vertical beam 52. One end of the steel wire rope is connected to the two-way self-locking hand winch, and the other end of the steel wire rope is connected to the slider. The slider is embedded in the vertical slide inside the left vertical beam 51 or the right vertical beam 52 and can slide up or down along the vertical slide. The pneumatic reciprocating side impact device 7 is fixedly connected to the inner side of the slider. Twisting the handle of the two-way self-locking hand winch clockwise can retract the steel wire rope and pull the slider and the pneumatic reciprocating side impact device 7 up in the vertical direction through the steel wire rope. Twisting the handle of the two-way self-locking hand winch counterclockwise can release the steel wire rope, and the slider and the pneumatic reciprocating side impact device 7 descend under the action of their own weight.

[0045] The height of the pneumatic reciprocating side impact device 7 can be adjusted more accurately by manually twisting the two-way self-locking hand winch. The two-way self-locking function can prevent the pneumatic reciprocating side impact device 7 from freely falling under its own weight, which makes it impossible to accurately control the height accuracy of the pneumatic reciprocating side impact device 7.

[0046] As an optional implementation, the vertical beam transverse movement device 6 in this embodiment includes a left transverse movement drive motor 60, a left transverse movement drive worm 62, a left bearing 63 and a left transverse movement drive turbine 64. The main shaft of the left transverse movement drive motor 60 is detachably connected to the left transverse movement drive worm 62, the left bearing 63 is detachably connected to the left mounting seat 31 fixed on the cross beam 3, the left transverse movement drive turbine 64 is rotatably connected to the left mounting seat 31 and has a constant relative position with the left mounting seat 31 in the horizontal direction, the left transverse movement drive worm 62 is rotatably connected to the left mounting seat 31 fixed on the cross beam 3 through the left bearing 63, and the left The helical teeth on the transverse driving worm 62 mesh with the convex teeth of the left transverse driving turbine 64 to form a gear pair. The left transverse driving turbine 64 is threadedly connected with the left transverse screw rod 61. The main shaft of the left transverse driving motor 60 can drive the left transverse driving worm 62 to rotate and drive the left transverse driving turbine 64 to rotate through the left transverse driving worm 62. During the rotation of the left transverse driving turbine 64, the left transverse screw rod 61 can be driven to slide to the left or right relative to the cross beam 3 in the horizontal direction through the threaded connection, and the left vertical beam 51 can be driven to slide to the left or right relative to the cross beam 3 through the left transverse screw rod 61. The vertical beam transverse movement device 6 also includes a right transverse movement drive motor 69, a right transverse movement drive worm 66, a right bearing 67 and a right transverse movement drive turbine 68. The main shaft of the right transverse movement drive motor 69 is detachably connected to the right transverse movement drive worm 66. The right bearing 67 is detachably connected to the right mounting seat 32 fixed on the crossbeam 3. The right transverse movement drive worm 66 is rotatably connected to the right mounting seat 32 fixed on the crossbeam 3 through the right bearing 67. The right transverse movement drive turbine 68 is rotatably connected to the right mounting seat 32 and has a constant relative position with the right mounting seat 32 in the horizontal direction. The right transverse movement drive worm 69 is detachably connected to the right transverse movement drive worm 66. The spiral teeth on 6 mesh with the convex teeth of the right transverse driving turbine 68 to form a gear pair, the right transverse driving turbine 68 is threadedly connected with the right transverse screw rod 65, the main shaft of the right transverse driving motor 69 can drive the right transverse driving worm 66 to rotate, and drive the right transverse driving turbine 68 to rotate through the right transverse driving worm 66, and during the rotation of the right transverse driving turbine 68, the right transverse screw rod 65 can be driven to slide to the left or right relative to the cross beam 3 in the horizontal direction through the threaded connection, and the right vertical beam 52 can be driven to slide to the left or right relative to the cross beam 3 through the right transverse screw rod 65; The lead angle of the helical teeth on the left transverse drive worm 62 is greater than the equivalent friction angle between the meshing gear teeth of the gear pair formed by the meshing of the helical teeth on the left transverse drive worm 62 and the convex teeth of the left transverse drive turbine 64 .

[0047] The lead angle of the helical teeth on the right transverse drive worm 66 is greater than the equivalent friction angle between the meshing gear teeth of the gear pair formed by the meshing of the helical teeth on the right transverse drive worm 66 and the convex teeth of the right transverse drive turbine 68 .

[0048] The impact head lifting mechanism 10 also includes an impact head lifting motor, the main shaft of which is connected to the rotating shaft of the two-way self-locking hand winch and can drive the two-way self-locking hand winch to rotate forward or reverse.

[0049] The application of the left lateral drive motor 60, the right lateral drive motor 69, the worm gear mechanism and the impact head lifting motor greatly improves the automation level of the present invention. However, the use of the motor does not conflict with the manual adjustment of the left lateral screw rod 61, the right lateral screw rod 65 and the two-way self-locking hand winch. The manual adjustment method can be used when the motor fails or the power is off.

[0050] As an optional implementation, in this embodiment, a pneumatic reciprocating lower impact device 8 is provided at the bottom of each of the left vertical beam 51 and the right vertical beam 52. The pneumatic reciprocating lower impact device 8 includes a plurality of lower cylinders and a lower impact head fixedly arranged on the piston rod of the lower cylinder. The lower cylinder is connected to the gas tank through a lower gas circuit switch valve. When the lower gas circuit switch valve is opened, the compressed air sprayed from the gas tank can drive the piston rod of the lower cylinder to drive the lower impact head to reciprocate to impact a pit on the concrete surface. The maximum vertical distance between the frame 1 and the cross beam 3 is greater than the vertical dimension of the vertical beam 5, and the frame lifting device 2 can lower the frame 1 to a position where the pneumatic reciprocating lower impact device 8 on the vertical beam 5 is higher than the bottom surface of the running wheel 11; The automated traveling vehicle for improving the surface roughness of concrete components also includes a remote controller, which can remotely control the traveling drive motor 12, the lifting drive motor 23, the left lateral movement drive motor 60, the right lateral movement drive motor 69, the impact head lifting motor, the side air circuit switch valve and the lower air circuit switch valve according to instructions.

[0051] The pneumatic reciprocating downward impact device 8 can be used to impact the pit on the top surface of the concrete component 9. When the impact pit on the top surface of the concrete component 9 is being operated, the pneumatic reciprocating downward impact devices 8 at the bottom of the left vertical beam 51 and the right vertical beam 52 can operate synchronously. When the pneumatic reciprocating downward impact device 8 at the bottom of one of the two fails, the other can continue to perform the impact pit operation, thereby greatly improving the work efficiency and reliability of the operation.

[0052] The setting of the remote control realizes contactless control for the operator. There is no need for the operator to enter the construction site. The operator only needs to observe the progress of the operation from a distance, which greatly improves the safety of the operation.

[0053] An application method of an automated traveling vehicle for improving the surface roughness of a concrete component provided by any technical solution of the present invention provided by an embodiment of the present invention comprises the following steps: Step A, placing the automated traveling vehicle for improving the surface roughness of a concrete component provided by any technical solution of the present invention on the concrete component 9 whose surface roughness needs to be improved; Step B, start the travel drive motor 12, drive the travel wheel 11 through the travel drive motor 12 to drive the frame 1 to move to the desired horizontal position, adjust the vertical distance between the cross beam 3 and the frame 1 through the frame lifting device 2, adjust the horizontal positions of the left vertical beam 51 and the right vertical beam 52 through the vertical beam transverse movement device 6, and adjust the vertical position of the pneumatic reciprocating side impact device 7 through the impact head lifting mechanism 10; Step C, when the pneumatic reciprocating side impact device 7 reaches the predetermined working position, the side air circuit switch valve is opened, the air compressor is started, and the compressed air generated by the air compressor and output by the side air circuit switch valve drives the piston rod of the side cylinder to drive the side impact head to reciprocate to impact a pit on the concrete surface; Step D: repeat steps B and C until all the surfaces to be processed on the side of the concrete component 9 are processed.

[0054] When the present invention needs to perform a pit impact operation on the top surface of the concrete component 9, the application method of the automated traveling vehicle for improving the surface roughness of the concrete component provided by the present invention further includes the following steps: Step E, adjusting the vertical distance between the cross beam 3, the left vertical beam 51 and the right vertical beam 52 and the frame 1 by the frame lifting device 2, and adjusting the horizontal position of the left vertical beam 51, the right vertical beam 52 and the pneumatic reciprocating downward impact device 8 by the vertical beam transverse moving device 6; Step F, when the pneumatic reciprocating lower impact device 8 reaches the predetermined working position, open the lower air circuit switch valve, start the air compressor, and the compressed air generated by the air compressor output by the lower air circuit switch valve drives the piston rod of the lower cylinder to drive the lower impact head to reciprocate to impact a pit on the concrete surface.

[0055] Step G, repeating steps E and F until all the surfaces to be processed on the top of the concrete component 9 are processed.

[0056] The automated traveling vehicle for improving the surface roughness of concrete components provided by any technical solution of the present invention greatly improves the efficiency and safety of impact pit operations and greatly reduces the labor intensity of operators.

[0057] The above technical solutions are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automated traveling vehicle for improving the surface roughness of a concrete component, characterized in that: It includes a frame, a travel wheel, a travel drive motor, a frame lifting device, a crossbeam, a distribution box, a vertical beam, a vertical beam transverse movement device, a pneumatic reciprocating side impact device, an impact head lifting mechanism, a gas tank and an air compressor, among which: The number of the traveling wheels is at least four and each of the traveling wheels is rotatably connected to the frame via a rotating shaft, the traveling drive motor is fixedly arranged on the frame and the traveling drive motor is connected to the rotating shaft via a belt transmission mechanism, and the traveling drive motor can drive the rotating shaft and the traveling wheels to rotate via the belt transmission mechanism; The crossbeam, the distribution box, the gas tank and the air compressor are all arranged above the frame, and the frame lifting device is arranged on the crossbeam and the frame and can adjust the distance between the crossbeam and the frame in the vertical direction; The power distribution box is used to supply power to the air compressor and the travel drive motor; The vertical beam comprises a left vertical beam and a right vertical beam, the left vertical beam and the right vertical beam are respectively connected to the two ends of the horizontal beam in the length direction and both can slide relative to the horizontal beam in the horizontal direction, and the vertical beam transverse movement device is arranged on the horizontal beam and can drive the left vertical beam and the right vertical beam to move relative to the horizontal beam in the horizontal direction; The impact head lifting mechanism is arranged on the vertical beam and can drive the pneumatic reciprocating side impact device to rise or fall in the vertical direction; The pneumatic reciprocating side impact device includes a plurality of side cylinders and a side impact head fixedly arranged on the piston rod of the side cylinder. The side cylinder is connected to the gas tank through a side air circuit switch valve. The air compressor is connected to the gas tank. The air compressor supplies compressed air to the gas tank. When the side air circuit switch valve is opened, the compressed air sprayed from the gas tank can drive the piston rod of the side cylinder to drive the side impact head to reciprocate to impact a pit on the concrete surface.

2. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 1, characterized in that: The frame lifting device comprises a height adjustment bracket and at least two vertical screw rods, The height adjustment bracket is fixedly connected to the crossbeam; The bottom end of each vertical screw rod is rotatably connected to the frame, the top end of each vertical screw rod is an external hexagonal structure and protrudes from the height adjustment bracket, and the middle section of each vertical screw rod is threadedly connected to the height adjustment bracket. When the top end of the vertical screw rod is twisted to drive the middle section of the vertical screw rod and the bottom end of the vertical screw rod to rotate, the vertical screw rod can rise or fall relative to the cross beam in the vertical direction and synchronously drive the cross beam and the height adjustment bracket to rise or fall relative to the frame.

3. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 2, characterized in that: The height adjustment bracket includes a plurality of support plates fixedly connected to the cross beam, a lifting drive mechanism is arranged between the support plate and each of the vertical screw rods, the lifting drive mechanism includes a lifting drive motor, a lifting drive worm, a first bearing, a second bearing and a lifting drive turbine, the main shaft of the lifting drive motor is detachably connected to the lifting drive worm, the first bearing is detachably connected to the support plate, the lifting drive worm is rotatably connected to the support plate through the first bearing, the helical teeth on the lifting drive worm are meshed with the convex teeth on the top of the lifting drive turbine to form a gear pair, the second bearing is detachably connected to the bracket bottom plate, and the bottom of the lifting drive turbine is rotatably connected to the height adjustment bracket through the second bearing; the lifting drive turbine is threadedly connected to the vertical screw rod, the main shaft of the lifting drive motor can drive the lifting drive worm to rotate and drive the lifting drive turbine to rotate through the lifting drive worm, the vertical screw rod can be driven to rise or fall in the vertical direction during the rotation of the lifting drive turbine, and the distance between the cross beam and the frame is enlarged or reduced through the vertical screw rod to drive the cross beam to rise or fall relative to the frame.

4. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 3, characterized in that: The lead angle of the helical teeth on the lifting drive worm is greater than the equivalent friction angle between the meshing gear teeth of the gear pair formed by meshing the helical teeth on the lifting drive worm with the convex teeth on the top of the lifting drive turbine.

5. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 3, characterized in that: At least two of the traveling wheels are rotationally connected to the frame through different rotating shafts. The belt transmission mechanism includes a driving gear, a driven gear and a toothed transmission belt. The driving gear is connected to the main shaft of the traveling drive motor, and the driven gear is connected to the rotating shaft connected to one of the traveling wheels. The transmission belt is sleeved outside the driving gear and the driven gear and meshes with the driving gear and the driven gear.

6. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 5, characterized in that: The vertical beam transverse movement device includes a left transverse screw rod and a right transverse screw rod; The left end of the left transverse screw rod is in an external hexagonal structure and protrudes from the left end of the cross beam, the middle section of the left transverse screw rod is threadedly connected to the cross beam, and the right end of the left transverse screw rod is rotatably connected to the left vertical beam; in the process of twisting the left end of the left transverse screw rod to drive the middle section of the left transverse screw rod and the right end of the left transverse screw rod to rotate, the right end of the left transverse screw rod can drive the left vertical beam to slide to the left or right relative to the cross beam in the horizontal direction; The right end of the right transverse screw rod is an external hexagonal structure and protrudes from the right end of the crossbeam, the middle section of the right transverse screw rod is threadedly connected to the crossbeam, and the left end of the right transverse screw rod is rotatably connected to the right vertical beam; in the process of twisting the right end of the right transverse screw rod to drive the middle section of the right transverse screw rod and the left end of the right transverse screw rod to rotate, the left end of the right transverse screw rod can drive the right vertical beam to slide to the left or right relative to the crossbeam in the horizontal direction.

7. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 6, characterized in that: The left vertical beam and the right vertical beam are each provided with a slider, the impact head lifting mechanism and the pneumatic reciprocating side impact device, wherein: The impact head lifting mechanism includes a two-way self-locking hand winch and a steel wire rope. The rotating shaft of the two-way self-locking hand winch is rotatably connected to the left vertical beam or the right vertical beam, one end of the steel wire rope is connected to the two-way self-locking hand winch, and the other end of the steel wire rope is connected to the slider; the slider is embedded in a vertical slide in the left vertical beam or the right vertical beam and can slide upward or downward along the vertical slide, and the pneumatic reciprocating side impact device is fixedly connected to the inner side of the slider; twisting the handle of the two-way self-locking hand winch clockwise can retract the steel wire rope and pull the slider and the pneumatic reciprocating side impact device in the vertical direction through the steel wire rope to rise, and twisting the handle of the two-way self-locking hand winch counterclockwise can release the steel wire rope, and the slider and the pneumatic reciprocating side impact device descend under the action of their own weight.

8. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 7, characterized in that: The vertical beam transverse movement device comprises a left transverse movement drive motor, a left transverse movement drive worm, a left bearing and a left transverse movement drive turbine, the main shaft of the left transverse movement drive motor is detachably connected to the left transverse movement drive worm, the left bearing is detachably connected to the left mounting seat fixed on the cross beam, the left transverse movement drive worm is rotatably connected to the left mounting seat fixed on the cross beam through the left bearing, the left transverse movement drive turbine is rotatably connected to the left mounting seat and has a constant relative position with the left mounting seat in the horizontal direction, the helical teeth on the left transverse movement drive worm mesh with the convex teeth of the left transverse movement drive turbine to form a gear pair, the left transverse movement drive turbine is threadedly connected to the left transverse screw rod, the main shaft of the left transverse movement drive motor can drive the left transverse movement drive worm to rotate and drive the left transverse movement drive turbine to rotate through the left transverse movement drive worm, and during the rotation of the left transverse movement drive turbine, the left transverse screw rod can be driven to slide to the left or right relative to the cross beam in the horizontal direction through the threaded connection, and the left vertical beam can be driven to slide to the left or right relative to the cross beam through the left transverse screw rod; The vertical beam transverse movement device also includes a right transverse movement drive motor, a right transverse movement drive worm, a right bearing and a right transverse movement drive turbine, the main shaft of the right transverse movement drive motor is detachably connected to the right transverse movement drive worm, the right bearing is detachably connected to the right mounting seat fixed on the cross beam, the right transverse movement drive worm is rotatably connected to the right mounting seat fixed on the cross beam through the right bearing, the right transverse movement drive turbine is rotatably connected to the right mounting seat and has a constant relative position with the right mounting seat in the horizontal direction, the spiral teeth on the right transverse movement drive worm mesh with the convex teeth of the right transverse movement drive turbine to form a gear pair, the right transverse movement drive turbine is threadedly connected to the right transverse screw rod, the main shaft of the right transverse movement drive motor can drive the right transverse movement drive worm to rotate and drive the right transverse movement drive turbine to rotate through the right transverse movement drive worm, and during the rotation of the right transverse movement drive turbine, the right transverse screw rod can be driven to slide to the left or right relative to the cross beam in the horizontal direction through the threaded connection, and the right vertical beam can be driven to slide to the left or right relative to the cross beam through the right transverse screw rod; The impact head lifting mechanism also includes an impact head lifting motor, the main shaft of which is connected to the rotating shaft of the two-way self-locking hand-cranked winch and can drive the two-way self-locking hand-cranked winch to rotate forward or reverse.

9. The automated traveling vehicle for improving the surface roughness of a concrete member according to claim 8, characterized in that: The bottom of each of the left vertical beam and the right vertical beam is provided with a pneumatic reciprocating downward impact device, which includes a plurality of lower cylinders and a lower impact head fixedly arranged on the piston rod of the lower cylinder. The lower cylinder is connected to the gas tank through a lower gas circuit switch valve. When the lower gas circuit switch valve is opened, the compressed air sprayed from the gas tank can drive the piston rod of the lower cylinder to drive the lower impact head to reciprocate to impact a pit on the concrete surface. The maximum distance between the frame and the cross beam in the vertical direction is greater than the size of the vertical beam, and the frame lifting device can lower the frame to a position where the pneumatic reciprocating downward impact device on the vertical beam is higher than the bottom surface of the running wheel; The automated traveling vehicle for improving the surface roughness of concrete components also includes a remote controller, which can remotely control the traveling drive motor, the lifting drive motor, the left lateral movement drive motor, the right lateral movement drive motor, the impact head lifting motor, the side air circuit switch valve and the lower air circuit switch valve according to instructions.

10. An application method of the automated traveling vehicle for improving the surface roughness of a concrete member according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step A, placing the automated traveling vehicle for improving the surface roughness of a concrete component according to any one of claims 1 to 9 on the concrete component whose surface roughness needs to be improved; Step B, starting the travel drive motor, driving the travel wheel through the travel drive motor to drive the frame to move to a desired horizontal position, adjusting the vertical distance between the cross beam and the frame through the frame lifting device, adjusting the horizontal positions of the left vertical beam and the right vertical beam through the vertical beam transverse movement device, and adjusting the vertical position of the pneumatic reciprocating side impact device through the impact head lifting mechanism; Step C, when the pneumatic reciprocating side impact device reaches a predetermined working position, the side air circuit switch valve is opened, the air compressor is started, and the compressed air generated by the air compressor and output by the side air circuit switch valve drives the piston rod of the side cylinder to drive the side impact head to reciprocate to impact a pit on the concrete surface; Step D, repeating steps B and C until all the surfaces to be processed on the side of the concrete component are processed.

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