Massive concrete bridge prefabricated pier post-pouring hole chiseling robot

Abstract

The application provides a mass concrete bridge prefabricated pier post-poured hole chiseling robot, and belongs to the technical field of bridge prefabricated pier chiseling processing, which comprises a hole top support hoisting device, a hole positioning support mechanism and a ring rotating chiseling operation mechanism, wherein the hole top support hoisting device is used for being fixedly installed above the post-poured hole and providing lifting and hoisting functions for the hole positioning support mechanism and the ring rotating chiseling operation mechanism; the ring rotating chiseling operation mechanism is rotatably installed below the hole positioning support mechanism, a motor drives the ring rotating chiseling operation mechanism to perform rotating chiseling operation on the inner wall of the post-poured hole, and in the rotating chiseling operation process, the radial telescopic support arm tail end of the hole positioning support mechanism abuts against the inner wall of the post-poured hole to provide stable support, thereby effectively overcoming the shaking or tilting problem caused in operation. The chiseling robot can effectively replace manual work and safely and efficiently complete the post-poured hole chiseling operation.

Description

Technical Field

[0001] This invention belongs to the technical field of roughening treatment device for precast bridge piers, specifically relating to a robot for roughening post-cast holes in precast concrete bridge piers. Background Technology

[0002] With the continuous development of infrastructure construction, the scale and complexity of highways, bridges and other projects are gradually increasing. Large-volume precast concrete components such as ultra-high piers and long-span bridges are constantly emerging. In order to meet the needs of on-site construction quality and schedule, prefabricated construction technology has been widely used in infrastructure construction. Prefabricated components need to be cast in the prefabrication yard and then hoisted to the site for assembly.

[0003] Large-volume precast concrete bridge piers are an important structural form in offshore bridge engineering. (See appendix) Figure 1 and attached Figure 2 The precast piers of large-volume concrete bridges have multiple holes (01), which are called post-cast holes (because concrete needs to be poured into the holes when connecting them to the foundation). The post-cast holes are the key parts connecting the precast components and the foundation. During assembly construction, the precast piers of large-volume concrete bridges are transported to the site for hoisting, so that the post-cast holes of the precast piers are inserted into the foundation (the foundation has protrusions corresponding to the post-cast holes, which are inserted into the post-cast holes of the precast piers). Then, concrete is poured between the protrusions of the foundation and the post-cast holes of the precast piers to achieve a stable connection between the precast piers and the foundation. Furthermore, the walls of the post-cast holes of the precast piers have multiple circumferential protrusions (02) spaced from bottom to top. The function of these circumferential protrusions is to increase the axial connection stability between the precast components and the poured concrete.

[0004] For the above-mentioned large-volume concrete bridge precast piers, roughening the wall of the post-cast hole is an essential process. Roughening creates indentations on the wall of the post-cast hole, thereby enhancing the interfacial bonding performance between the hole and the cast concrete, ensuring the integrity and durability of the structure, and improving construction quality and safety. At present, traditional manual roughening and simple mechanical roughening have many problems. For example, the traditional process is to use an operating platform + manual roughening, which has the following constraints: (1) During roughening, the concrete is in the process of hydration heat dissipation, and the temperature inside the hole is high (reaching 50~60℃). Manual workers must rest after less than 20 minutes of work, resulting in short working time; (2) The roughening process generates a lot of dust. Although there are safety protection measures, workers are in a dusty environment for a long time, which is not good for their health; (3) Workers' physical strength is consumed quickly during long-term work. It takes 1 day for 2 people to work on a single hole and 6 days for a single pier, resulting in low work efficiency; (4) Manual roughening has poor controllability, which can easily lead to uneven roughening thickness on the concrete surface and make it difficult to guarantee the roughening quality.

[0005] Currently, some automated roughening equipment has emerged, but existing automated roughening equipment is not suitable for roughening the post-cast holes of precast piers and abutments of large-volume concrete bridges, and it faces the following technical challenges:

[0006] 1. The working surface of the post-cast hole of the precast pier of large-volume concrete bridge is a 360-degree arc-shaped inner hole with a large diameter (about 4 meters). Existing automated roughening equipment is usually suitable for roughening relatively regular flat surfaces, but not for 360-degree arc-shaped operations. Even if it can roughen the arc surface, its working efficiency is very low.

[0007] 2. The walls of the post-cast holes of precast piers and abutments of large-volume concrete bridges have multiple circumferential protrusions. It is a technical challenge to enable the roughening equipment to cross these circumferential protrusions and effectively roughen both the circumferential protrusion hole wall and the non-circumferential protrusion hole wall.

[0008] 3. Existing automated shaving equipment usually uses a single moving working arm to support and drive the shaving head. During shaving, the shaving head will generate a large reaction force on the working arm. How to ensure that the working arm can provide a stable support foundation for the shaving head is a technical problem that needs to be solved. Summary of the Invention

[0009] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robot for roughening the post-cast holes of precast concrete bridge piers.

[0010] This invention is achieved through the following technical solution:

[0011] A robot for roughening post-cast holes of precast piers for large-volume concrete bridges includes a hole top support hoisting device, a hole in-hole positioning support mechanism, and a circumferential rotating roughening operation mechanism.

[0012] The hole top support hoisting device includes a hole top fixed support frame and a lifting mechanism installed on the hole top fixed support frame. The hole top fixed support frame is used to be fixedly installed above the post-cast hole of the precast pier of a large-volume concrete bridge, and the lifting mechanism is used to provide lifting and hoisting functions.

[0013] The in-hole positioning support mechanism is connected to the lifting mechanism of the hole top support hoisting device by a sling rope. The in-hole positioning support mechanism includes a central seat and multiple sets of radial telescopic support arms evenly installed around the central seat. The ends of the radial telescopic support arms are used to abut against the inner wall of the post-cast hole to fix the in-hole positioning support mechanism inside the post-cast hole.

[0014] The circumferential rotary chiseling mechanism includes a central rotary table and multiple sets of radially telescopic chiseling arms evenly installed around the central rotary table. The ends of the radially telescopic chiseling arms are equipped with chiseling machines. The central rotary table is rotatably mounted directly below the central seat of the hole positioning support mechanism via a rotary support member. A drive motor is installed on the central seat to drive the central rotary table to rotate, thereby enabling the multiple sets of radially telescopic chiseling arms to perform rotary chiseling operations on the inner wall of the post-cast hole. During the rotary chiseling operation, the hole positioning support mechanism provides stable support.

[0015] In the above technical solution, the hole top fixed support frame includes a connecting block, a channel steel connector, and a positioning component. Each connecting block is connected to a channel steel connector at both ends to form a polygonal frame. The number of positioning components is at least three. The positioning components are set on the side wall of the connecting block facing the center of the post-pouring hole. The positioning components are used to contact the top inner wall of the post-pouring hole to fix the polygonal frame to the post-pouring hole.

[0016] In the above technical solution, the positioning component includes a pair of vertically arranged guide rail plates, which are fixed to the connecting block by side plates. Symmetrical vertical track grooves are provided on the inner sidewalls of the guide rail plates. A locking block is installed in the vertical track groove and contacts the top inner wall of the post-cast hole by the locking block. An upper positioning pin hole and a lower positioning pin hole are provided on the guide rail plates for positioning the locking block.

[0017] In the above technical solution, the lifting mechanism includes: a hoisting platform, an inclined support arm, a hoist, a rope sensor, and a control box. The hoisting platform is fixedly installed on the top of the inclined support arm, and the bottom of the inclined support arm is fixedly connected to the connecting block by bolts. The hoist, the rope sensor, and the control box are all installed on the hoisting platform. A wire hole is provided on the hoisting platform, through which the hoisting rope passes and is connected to the positioning support mechanism in the hole below. The rope sensor is used to detect the change data of the hoisting distance of the rope.

[0018] In the above technical solution, the center seat includes an upper plate, a middle stiffener plate and a lower plate. The upper plate and the lower plate are disc-shaped and are arranged opposite each other. The middle stiffener plate is vertically connected between the upper plate and the lower plate. The first end of the radial telescopic support arm is fixedly installed between the upper plate and the lower plate by bolts, and the left and right sides of the first end of the radial telescopic support arm are respectively tightly attached to the middle stiffener plate, thereby ensuring the stable installation of the radial telescopic support arm and the center seat.

[0019] In the above technical solution, the central rotary table includes a top plate, a central rib plate, and a bottom plate. The top plate and bottom plate are disc-shaped and arranged opposite each other. The central rib plate is vertically connected between the top plate and the bottom plate. The head end of the radial telescopic chiseling arm is fixedly installed between the top plate and the bottom plate by bolts, and the left and right sides of the head end of the radial telescopic chiseling arm are respectively in close contact with the central rib plate, thereby ensuring the stable installation of the radial telescopic chiseling arm and the central rotary table. The top plate of the central rotary table and the lower plate of the central seat are connected by a rotating support. A drive motor is fixedly installed on the lower plate of the central seat, and the drive shaft of the drive motor is connected to the top plate of the central rotary table, thereby driving the central rotary table to rotate.

[0020] In the above technical solution, the radial telescopic support arm includes a first box section, a second box section, a first cylinder, and an end support block. Both the first and second box sections are long box structures. The first end of the first box section is fixedly connected to the center seat. The second box section is slidably installed coaxially with the first box section through a first sliding assembly. The end support block is fixedly installed at the end of the second box section away from the center seat. The first cylinder is fixedly installed inside the first box section. The actuating end of the first cylinder is connected to the inner wall of the second box section. The first cylinder is used to drive the second box section to slide in the first box section, thereby realizing the telescopic movement of the second box section in the first box section to adjust the length of the entire radial telescopic support arm.

[0021] In the above technical solution, a lifting lug is provided on the top of the first section of the radial telescopic support arm for connecting to the lifting rope.

[0022] In the above technical solution, the radial telescopic chiseling arm includes a first box arm, a second box arm, and a second cylinder. Both the first and second box arms are long box-shaped structures. The first end of the first box arm is fixedly connected to the central rotating platform. The second box arm is slidably mounted coaxially with the first box arm through a second sliding assembly. The second sliding assembly is preferably a combination of a limiting groove and a limiting block. An end mounting bracket is fixedly mounted at the end of the second box arm away from the central rotating platform. This end mounting bracket is used to mount the chiseling machine. The second cylinder is fixedly mounted inside the first box arm. The actuating end of the second cylinder is connected to the inner wall of the second box arm. The second cylinder is used to drive the second box arm to slide within the first box arm, thereby realizing the telescopic movement of the second box arm within the first box arm and adjusting the length of the entire radial telescopic chiseling arm.

[0023] In the above technical solution, the chiseling machine includes: a chiseling machine housing, a chiseling unit, and guide casters. The chiseling unit is fixedly mounted on the chiseling machine housing via a mounting base. The guide casters are fixedly mounted on the chiseling machine housing and are used to abut against the wall of the post-pouring hole to form a rolling support function.

[0024] In the above technical solution, there are 3 chiseling units arranged in a triangle. Each chiseling unit has 3 chiseling hammers arranged side by side, which are used to chisel the wall of the post-cast hole.

[0025] In the above technical solution, there are four guide casters, which are fixedly installed at the four corners of the chisel machine housing.

[0026] The advantages and beneficial effects of this invention are as follows:

[0027] The chiseling robot of this invention realizes the automated rotary chiseling operation of the post-cast holes of precast piers of large-volume concrete bridges, effectively replacing manual labor and safely and efficiently completing the post-cast hole chiseling operation. The hole-top support hoisting device can be stably fixed above the post-cast hole of the precast pier of a large-volume concrete bridge, and provides lifting and hoisting functions. It can smoothly move the hole-in-hole positioning support mechanism and the circumferential rotary chiseling operation mechanism up and down along the central axis of the post-cast hole to the set height position, making operation flexible and convenient. The hole-in-hole positioning support mechanism includes a central seat and multiple sets of radial telescopic support arms evenly installed around the central seat. The ends of the radial telescopic support arms are used to abut against the inner wall of the post-cast hole, thereby fixing the hole-in-hole positioning support mechanism inside the post-cast hole. The circumferential rotary chiseling operation mechanism includes a central rotating platform and multiple sets of radial telescopic chiseling operation arms evenly installed around the central rotating platform. The ends of the radial telescopic chiseling operation arms are equipped with chiseling machines. The central rotating platform is rotatably installed directly below the central seat of the hole-in-hole positioning support mechanism through a rotating support component, and a drive motor is set on the central seat to drive the central rotating platform to rotate, thereby realizing the rotary chiseling operation of multiple sets of radial telescopic chiseling operation arms on the inner wall of the post-cast hole. During the rotary chiseling operation, the hole-in-hole positioning support mechanism provides stable support, effectively overcoming the shaking or tilting problems caused during operation.

[0028] Because both the radial telescopic support arm of the in-hole positioning support mechanism and the radial telescopic chiseling arm of the circumferential rotary chiseling mechanism are adjustable in length, they can, under the lifting action of the in-hole top support hoisting device, cross the circumferential boss on the inner wall of the post-cast hole and adjust their vertical construction position. Furthermore, they can accommodate post-cast hole operations of different specifications, offering a wide range of applications. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of precast piers for large-volume concrete bridges.

[0030] Figure 2 This is a schematic diagram of the post-cast holes on the precast piers of large-volume concrete bridges.

[0031] Figure 3 This is a schematic diagram of a robot for roughening the post-cast holes of precast piers for large-volume concrete bridges.

[0032] Figure 4 This is a schematic diagram of the hole top fixed support frame of the hole top support hoisting device.

[0033] Figure 5 This is a schematic diagram of the positioning assembly of the hole top fixed support frame.

[0034] Figure 6 This is a schematic diagram of the lifting mechanism of the hole top support hoisting device.

[0035] Figure 7 This is a schematic diagram of the combined structure of the central seat of the in-hole positioning support mechanism and the central rotating table of the circumferential rotating roughening operation mechanism.

[0036] Figure 8 This is a cross-sectional schematic diagram of the combined structure of the central seat of the in-hole positioning support mechanism and the central rotating table of the circumferential rotating roughening operation mechanism.

[0037] Figure 9 This is a schematic diagram of the radial telescopic support arm of the in-hole positioning support mechanism.

[0038] Figure 10 This is a cross-sectional schematic diagram of the radial telescopic support arm of the in-hole positioning support mechanism.

[0039] Figure 11 This is a schematic diagram of the radial telescopic chiseling arm of a circumferential rotating chiseling mechanism.

[0040] Figure 12 This is a cross-sectional schematic diagram of the radial telescopic chiseling arm of the circumferential rotating chiseling mechanism.

[0041] Figure 13 This is a schematic diagram of the structure of a chiseling machine with a circumferential rotating chiseling mechanism.

[0042] Figure 14 This is a schematic diagram of the internal structure of a chiseling machine with a circumferential rotating chiseling mechanism.

[0043] For those skilled in the art, other related figures can be obtained from the above figures without any creative effort. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.

[0045] A robot for roughening post-cast holes in precast concrete bridge piers, see attached document. Figure 3 It includes a hole top support hoisting device 1, a hole in-hole positioning support mechanism 2, and a circumferential rotating roughening operation mechanism 3.

[0046] The hole top support hoisting device 1 includes a hole top fixed support frame 11 and a lifting mechanism 12 installed on the hole top fixed support frame 11. The hole top fixed support frame 11 is used to be fixedly installed above the post-cast hole 01 of the precast pier of a large-volume concrete bridge, and the lifting mechanism 12 is used to provide lifting and hoisting functions.

[0047] The in-hole positioning support mechanism 2 is connected to the lifting mechanism 12 of the hole top support hoisting device 1 via a suspension rope 4, thereby enabling the in-hole positioning support mechanism 2 to move up and down within the post-cast hole. The in-hole positioning support mechanism 2 includes a central seat 21 and multiple sets of radial telescopic support arms 22 evenly installed around the central seat (here, "radial" refers to the radial direction along the central seat, that is, along the radial direction of the post-cast hole; "telescopic" means that the length of the support arm is adjustable). The ends of the radial telescopic support arms 22 are used to abut against the inner wall of the post-cast hole, thereby fixing the in-hole positioning support mechanism 2 at any height within the post-cast hole.

[0048] The circumferential rotary chiseling mechanism 3 includes a central rotating platform 31 and multiple sets of radially telescopic chiseling arms 32 (preferably 4 sets) evenly installed around the circumference of the central rotating platform. Each radially telescopic chiseling arm has a chiseling machine 33 at its end. The central rotating platform 31 is rotatably mounted directly below the central seat 21 of the hole positioning support mechanism 2 via a rotating support member. A drive motor is installed on the central seat 21 to drive the central rotating platform 31 to rotate, thereby enabling the multiple sets of radially telescopic chiseling arms to perform rotary chiseling operations on the inner wall of the post-cast hole. During the rotary chiseling operation, the hole positioning support mechanism 2 provides stable support. Since both the radially telescopic support arms 22 of the hole positioning support mechanism 2 and the radially telescopic chiseling arms 32 of the circumferential rotary chiseling mechanism 3 are adjustable in length, the hole positioning support mechanism 2 and the circumferential rotary chiseling mechanism 3 can, under the lifting action of the hole top support hoisting device 1, cross the circumferential boss 02 on the inner wall of the post-cast hole and adjust their vertical construction positions.

[0049] As a preferred embodiment, the structure of the hole top fixed support frame 11 of the hole top support hoisting device 1 can be as follows: (See Appendix) Figure 4The hole-top fixed support frame 11 includes connecting blocks 1101, channel steel connectors 1102, and positioning components 1103. There are six connecting blocks 1101 and six channel steel connectors 1102. Each connecting block 1101 is connected to a channel steel connector 1102 at both ends, thus forming a polygonal frame. There are at least three positioning components 1103, which are spaced apart on three of the six connecting blocks 1101, i.e., they are arranged in an equilateral triangle pattern. Furthermore, the positioning components 1103 are located on the sidewall of the connecting block 1101 facing the center of the post-pouring hole (or, as can be understood, on the inner sidewall of the connecting block 1101, where "inner" refers to the inner side of the polygonal frame). All three positioning components 1103 are used to contact the top inner wall of the post-pouring hole, thereby fixing the polygonal frame to the post-pouring hole.

[0050] For more details, see the appendix. Figure 5The positioning component 1103 includes a pair of vertically arranged guide rail plates 11031, which are fixed to the connecting block 1101 by side plates 11032. Symmetrical vertical track grooves 11033 are provided on the inner walls of the guide rail plates 11031. A locking block 11034 is installed in each of the vertical track grooves 11033, and the locking block 11034 abuts against the top inner wall of the post-cast hole. An upper positioning pin hole 11035 and a lower positioning pin hole 11036 are provided on the guide rail plates 11031 for engaging the locking block 11031. 34. Positioning is performed. The locking block 11034 also has a pin hole. When the locking block 11034 touches the top inner wall of the post-cast hole, a positioning pin is inserted into the downward positioning pin hole 11036 to lock the locking block 11034 in that position. When it is necessary to remove the hole top fixing support bracket 11, the positioning pin in the lower positioning pin hole 11036 is pulled out, and the locking block 11034 is slid upwards so that the pin hole of the locking block 11034 aligns with the upper positioning pin hole 11035. Then, a positioning pin is inserted into the upper positioning pin hole 11035 to lock the locking block 11034 in that position. Furthermore, the bottom of the vertical track groove 11033 is closed, preventing the locking block 11034 from falling downwards; the top of the vertical track groove 11033 is open, allowing the locking block 11034 to be inserted from the top of the vertical track groove 11033. Furthermore, the connecting block 1101 includes an upper rectangular steel pipe 11011, a lower rectangular steel pipe 11012, a left trapezoidal steel pipe 11013, and a right trapezoidal steel pipe 11014. The upper rectangular steel pipe 11011 is fixedly installed on the upper part of the lower rectangular steel pipe 11012. The left trapezoidal steel pipe 11013 is fixedly connected to the left side of the lower rectangular steel pipe 11012, and the right trapezoidal steel pipe 11014 is fixedly connected to the right side of the lower rectangular steel pipe 11012. The left trapezoidal steel pipe 11013 and the right trapezoidal steel pipe 11014 are used to connect the channel steel connector 1102 by bolts, so as to realize the detachable connection with the channel steel connector 1102, thereby facilitating the disassembly and assembly of the hole top fixed support frame 11.

[0051] As a preferred embodiment, the lifting mechanism 12 of the hole top support hoisting device 1 can have the following structure: (See Appendix) Figure 6The lifting mechanism 12 includes: a hoisting platform 1201, an inclined support arm 1202, a hoist 1203, a rope sensor 1204, and a control box 1205. Preferably, there are three inclined support arms 1202. The hoisting platform 1201 is fixedly installed on the top of the three inclined support arms 1202, so that the hoisting platform 1201 is located at the top center of the post-cast hole. The bottom of the inclined support arm 1202 is fixedly connected to the connecting block 1101 by bolts. The hoist 1203, the rope sensor 1204, and the control box 1205 are all installed on the hoisting platform 1201. A wire hole is provided on the hoisting platform. The hoisting rope passes through the wire hole and is connected to the positioning support mechanism 2 in the hole below. The rope sensor is used to detect the change data of the hoisting distance of the rope.

[0052] As a preferred embodiment, the structure of the center seat 21 of the in-hole positioning support mechanism 2 can be as follows: (See Appendix) Figure 7 The center seat 21 includes an upper plate 2101, a middle stiffener 2102, and a lower plate 2103. The upper plate 2101 and the lower plate 2103 are disc-shaped and are arranged opposite each other. The middle stiffener 2102 is vertically connected between the upper plate 2101 and the lower plate 2103. The first end of the radial telescopic support arm 22 is fixedly installed between the upper plate 2101 and the lower plate 2103 by bolts 2104. The left and right sides of the first end of the radial telescopic support arm 22 are respectively tightly attached to the middle stiffener 2102, thereby ensuring the stable installation of the radial telescopic support arm 22 and the center seat 21.

[0053] As a preferred embodiment, the structure of the central rotating platform 31 of the circumferential rotary chiseling mechanism 3 can be as follows: (See Appendix) Figure 7 and attached Figure 8 The central rotating platform 31 includes a top plate 3101, a central rib plate 3102, and a bottom plate 3103. The top plate 3101 and the bottom plate 3103 are disc-shaped and are arranged opposite each other. The central rib plate 3102 is vertically connected between the top plate 3101 and the bottom plate 3103. The head end of the radial telescopic chiseling arm 32 is fixedly installed between the top plate 3101 and the bottom plate 3103 by bolts 3104. The left and right sides of the head end of the radial telescopic chiseling arm 32 are respectively tightly attached to the central rib plate 3102, thereby ensuring the stable installation of the radial telescopic chiseling arm 32 and the central rotating platform 31. The central rotary table 31 is located directly below the central base 21. The top plate 3101 of the central rotary table 31 and the lower plate 2103 of the central base 21 are connected by a rotating support 2105. A drive motor 2106 is fixedly installed on the lower plate 2103 of the central base 21. The drive shaft of the drive motor 2106 is connected to the top plate 3101 of the central rotary table 31, thereby driving the central rotary table 31 to rotate. Furthermore, a motor cover 2107 is provided on the lower plate 2103 of the central base 21 to cover the drive motor 2106, which serves as a protective function.

[0054] As a preferred embodiment, the structure of the radial telescopic support arm 22 of the in-hole positioning support mechanism 2 can be as follows: (See Appendix) Figure 9 and attached Figure 10 The radial telescopic support arm 22 includes a first box 2201, a second box 2202, a first cylinder 2203, and an end support block 2204. Both the first box 2201 and the second box 2202 are long box structures. The first end of the first box 2201 is fixedly connected to the center seat 21. The second box 2202 is slidably installed coaxially with the first box 2201 through a first sliding assembly 2205. The first sliding assembly is preferably a combination of a limiting groove and a limiting block. The end support block is fixedly installed at the end of the second box 2202 away from the center seat 21. Block 2204, the end support block 2204 is preferably made of rubber, and the end support block 2204 abuts against the wall of the post-pour hole to ensure a stable contact effect with the hole wall; the first cylinder 2203 is fixedly installed inside the first section box 2201, and the actuating end of the first cylinder 2203 is connected to the inner wall of the second section box 2202. The first cylinder 2203 is used to drive the second section box 2202 to slide in the first section box 2201, that is, to realize the telescopic movement of the second section box 2202 in the first section box 2201, so as to adjust the arm length of the entire radial telescopic support arm 22. Furthermore, a lifting lug 22011 is provided on the top of the first section box 2201 for connecting with the lifting rope.

[0055] As a preferred embodiment, the structure of the radially telescopic chiseling arm 32 of the circumferential rotary chiseling mechanism 3 can be as follows: (See Appendix) Figure 11 and attached Figure 12 The radial telescopic chiseling arm 32 includes a first box arm 3201, a second box arm 3202, and a second cylinder 3203. Both the first box arm 3201 and the second box arm 3202 are long box-shaped structures. The head end of the first box arm 3201 is fixedly connected to the central rotating table 31. The second box arm 3202 is slidably mounted coaxially with the first box arm 3201 via a second sliding assembly 3204. The second sliding assembly is preferably a combination of a limiting groove and a limiting block. The second box arm 3202 is located away from the central rotating table. One end of the turntable 31 is fixedly mounted with an end mounting bracket 3205, which is used to mount the chisel 33; a second cylinder 3203 is fixedly mounted inside the first section of the box arm 3201. The actuating end of the second cylinder 3203 is connected to the inner wall of the second section of the box arm 3202. The second cylinder 3203 is used to drive the second section of the box arm 3202 to slide in the first section of the box arm 3201, that is, to realize the extension and retraction movement of the second section of the box arm 3202 in the first section of the box arm 3201, so as to adjust the arm length of the entire radial extension chisel arm 32.

[0056] As a preferred embodiment, the structure of the shaving machine 33 can be as follows: (See Appendix) Figure 13 and attached Figure 14The chisel tool 33 includes: a chisel tool housing 3301, chisel units 3302, and guide casters 3303. The chisel units 3302 are fixedly mounted on the chisel tool housing 3301 via mounting bases 3304. There are three chisel units 3302 arranged in a triangular pattern. Each chisel unit 3302 has three chisel hammers arranged side-by-side, which are used to chisel the walls of the post-cast holes. There are four guide casters 3303, which are fixedly mounted at the four corners of the chisel tool housing 3301, guiding the flow of water. Casters 3303 are used to form a rolling support by contacting the wall of the post-cast hole. That is, after the radial telescopic chiseling arm is extended, after the guide casters 3303 contact the wall of the post-cast hole, the pressure (air pressure) of the second cylinder 3203 gradually increases. After reaching the set pressure, the set pressure is maintained, so that the chiseling machine 33 can adapt to different hole diameter changes of the post-cast hole and can stably contact the hole wall to perform chiseling operations, ensuring the uniformity of chiseling depth and operational stability. In addition, it plays a rolling guiding role during the rotary chiseling operation.

[0057] Specifically, the construction method of the robot for roughening the post-cast holes of large-volume concrete bridge precast piers of the present invention includes the following steps:

[0058] S1. First, assemble the top support hoisting device 1, the in-hole positioning support mechanism 2, and the circumferential rotating chiseling operation mechanism 3 into a complete chiseling robot; fix the top support hoisting device 1 above the post-cast hole 01 of the precast pier of the large-volume concrete bridge, and place the in-hole positioning support mechanism 2 and the circumferential rotating chiseling operation mechanism 3 inside the post-cast hole 01.

[0059] S2, the lifting mechanism of the control hole top support hoisting device 1, the hoisting hole positioning support mechanism 2 and the circumferential rotating roughening operation mechanism 3 reach the set height position in the post-pouring hole.

[0060] S3. All radial telescopic support arms 22 of the control hole positioning support mechanism 2 extend synchronously, so that the ends of all radial telescopic support arms 22 abut against the inner wall of the post-cast hole, thereby achieving stable fixing of the control hole positioning support mechanism 2 in the post-cast hole.

[0061] S4. Control all radial telescopic chiseling arms 32 of the circumferential rotating chiseling operation mechanism 3 to extend synchronously, so that the chiseling machine 33 at the end of the radial telescopic chiseling operation arm 32 contacts the inner wall of the post-pouring hole.

[0062] S5. Start the chiseling machine 33 and drive the central rotary table 31 to rotate, so as to perform a rotary chiseling operation on the inner wall of the post-cast hole. During the rotary chiseling operation, the positioning support mechanism 2 inside the hole provides stable support. The central rotary table 31 stops after rotating at a set angle, completing a complete chiseling operation.

[0063] S6. All radial telescopic support arms 22 of the control hole positioning support mechanism 2 and all radial telescopic chiseling arms 32 of the circumferential rotating chiseling operation mechanism 3 retract to their original positions.

[0064] S7. The lifting mechanism of the control hole top support hoisting device 1, the hoisting hole positioning support mechanism 2 and the circumferential rotating roughening operation mechanism 3 reach the next construction height position in the post-pouring hole; then repeat S3 to S6 in sequence, and cycle until the inner wall of the post-pouring hole is completely roughened.

[0065] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0066] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0067] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. A robot for roughening post-cast holes in precast concrete bridge piers, characterized in that: This includes a hole top support hoisting device, a hole in-hole positioning support mechanism, and a circumferential rotating roughening operation mechanism; The hole-top support hoisting device includes a hole-top fixed support frame and a lifting mechanism installed on the hole-top fixed support frame. The hole-top fixed support frame is used to be fixedly installed above the post-cast hole of the precast pier of a large-volume concrete bridge. The lifting mechanism is used to provide lifting and hoisting functions. The hole-top fixed support frame includes connecting blocks, channel steel connectors, and positioning components. Each connecting block is connected to channel steel connectors at both ends to form a polygonal frame. The number of positioning components is at least three. The positioning components are set on the side wall of the connecting block facing the center of the post-cast hole. The positioning components are used to contact the top inner wall of the post-cast hole to fix the polygonal frame to the post-cast hole. The positioning components include a pair of vertically arranged guide rail plates. The pair of guide rail plates are fixed to the connecting block by side plates. Symmetrical vertical track grooves are provided on the inner side wall of the pair of guide rail plates. A locking block is installed in the vertical track groove and contacts the top inner wall of the post-cast hole by the locking block. Upper positioning pin holes and lower positioning pin holes are provided on the guide rail plates for positioning the locking block. The in-hole positioning support mechanism is connected to the lifting mechanism of the hole top support hoisting device by a sling rope. The in-hole positioning support mechanism includes a central seat and multiple sets of radial telescopic support arms evenly installed around the central seat. The ends of the radial telescopic support arms are used to abut against the inner wall of the post-cast hole to fix the in-hole positioning support mechanism inside the post-cast hole. The circumferential rotary chiseling mechanism includes a central rotary table and multiple sets of radially telescopic chiseling arms evenly installed around the central rotary table. Each radially telescopic chiseling arm has a chiseling machine at its end. The central rotary table is rotatably mounted directly below the central seat of the hole positioning support mechanism via a rotary support member. A drive motor is installed on the central seat to drive the central rotary table to rotate, enabling the multiple sets of radially telescopic chiseling arms to perform rotary chiseling operations on the inner wall of the post-cast hole. During the rotary chiseling operation, the hole positioning support mechanism provides stable support.

2. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 1, characterized in that: The lifting mechanism includes: a hoisting platform, an inclined support arm, a hoist, a rope sensor, and a control box. The hoisting platform is fixedly installed on the top of the inclined support arm, and the bottom of the inclined support arm is fixedly connected to the connecting block by bolts. The hoist, the rope sensor, and the control box are all installed on the hoisting platform. A cable threading hole is provided on the hoisting platform, through which the hoisting rope passes and is connected to the positioning support mechanism in the hole below. The rope sensor is used to detect the change data of the hoisting distance of the rope.

3. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 1, characterized in that: The center seat includes an upper plate, a middle stiffener plate, and a lower plate. The upper and lower plates are disc-shaped and are arranged opposite each other. The middle stiffener plate is vertically connected between the upper and lower plates. The first end of the radial telescopic support arm is fixedly installed between the upper and lower plates by bolts, and the left and right sides of the first end of the radial telescopic support arm are respectively close to the middle stiffener plate.

4. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 3, characterized in that: The central rotary table includes a top plate, a central rib plate, and a bottom plate. The top plate and bottom plate are disc-shaped and arranged opposite each other. The central rib plate is vertically connected between the top plate and the bottom plate. The head end of the radial telescopic chiseling arm is fixedly installed between the top plate and the bottom plate by bolts, and the left and right sides of the head end of the radial telescopic chiseling arm are respectively in close contact with the central rib plate. The top plate of the central rotary table and the lower plate of the central seat are connected by a rotating support. A drive motor is fixedly installed on the lower plate of the central seat, and the drive shaft of the drive motor is connected to the top plate of the central rotary table.

5. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 1, characterized in that: The radial telescopic support arm includes a first box section, a second box section, a first cylinder, and an end support block. Both the first and second box sections are long box structures. The first end of the first box section is fixedly connected to the center seat. The second box section is slidably installed coaxially with the first box section through a first sliding assembly. The end support block is fixedly installed at the end of the second box section away from the center seat. The first cylinder is fixedly installed inside the first box section. The actuating end of the first cylinder is connected to the inner wall of the second box section. The first cylinder is used to drive the second box section to slide within the first box section, thereby realizing the telescopic movement of the second box section within the first box section to adjust the overall length of the radial telescopic support arm.

6. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 5, characterized in that: A lifting lug is provided at the top of the first section of the radial telescopic support arm for connecting to the lifting rope.

7. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 1, characterized in that: The radial telescopic chiseling arm includes a first box arm, a second box arm, and a second cylinder. Both the first and second box arms are long box-shaped structures. The first end of the first box arm is fixedly connected to a central rotating platform. The second box arm is slidably mounted coaxially with the first box arm via a second sliding assembly. An end mounting bracket is fixedly mounted on the end of the second box arm away from the central rotating platform. This end mounting bracket is used to mount the chiseling machine. The second cylinder is fixedly mounted inside the first box arm. The actuating end of the second cylinder is connected to the inner wall of the second box arm. The second cylinder is used to drive the second box arm to slide within the first box arm, thereby achieving the telescopic movement of the second box arm within the first box arm and adjusting the overall length of the radial telescopic chiseling arm.

8. The robot for roughening post-cast holes in precast piers of large-volume concrete bridges according to claim 1, characterized in that: The chiseling machine includes: a chiseling machine housing, a chiseling unit, and guide casters. The chiseling unit is fixedly mounted on the chiseling machine housing via a mounting base. The guide casters are fixedly mounted on the chiseling machine housing and are used to abut against the wall of the post-pouring hole to form a rolling support function.

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