Automatic robot for chiseling and flushing concrete wall surface

Abstract

The invention relates to the technical field of concrete surface construction treatment, and particularly discloses an automatic robot for chiseling and flushing a concrete wall surface. Comprising a movable base, a multi-axis mechanical arm mounted on the movable base, a mounting rack connected with the multi-axis mechanical arm, a chiseling mechanism mounted on the mounting rack and sliding in the X-axis direction, a jet flow mechanism mounted on the mounting rack and in sliding fit with the mounting rack in the Y-axis direction, and a water storage tank mounted on the movable base and connected with the jet flow mechanism. The driving assembly is arranged on the mounting rack and is in transmission fit with the scabbling mechanism and the jet flow mechanism to scabbling and flushing the concrete wall surface; the jet flow mechanism is located below the scabbling mechanism. The problems that in the prior art, the function is single, the hair flushing or chiseling uniformity is poor, efficiency is low, and dust is likely to be generated to affect the environment can be effectively solved.

Description

Technical Field

[0001] This invention relates to the field of concrete surface treatment technology, and more specifically, to an automated robot for roughening and scabbing concrete walls. Background Technology

[0002] In the construction industry, roughening or burring concrete walls is a crucial step in ensuring the adhesion of subsequent coatings or decorative materials. Traditional roughening methods rely mainly on manual operation, using hand tools or simple mechanical equipment. This method is not only inefficient and labor-intensive, but also prone to uneven wall treatment and may even damage the wall surface. With technological advancements, automated roughening equipment has been gradually introduced to improve processing efficiency and results. However, existing automated roughening equipment still has many shortcomings, mainly in the following aspects: 1. Limited Functionality: Existing automated roughening or rinsing equipment typically only performs high-pressure water rinsing or mechanical roughening individually, unable to combine both methods simultaneously. High-pressure water rinsing roughens the wall surface by impacting it with high-pressure water jets, while mechanical roughening uses rotating brushes or impact heads to physically impact the surface. Each method has its advantages and disadvantages. High-pressure water rinsing is suitable for large-area processing but produces poor uniformity; mechanical roughening, while providing better uniformity, is less efficient and prone to dust generation. Existing equipment cannot flexibly switch between or combine these two methods according to actual needs, limiting its applicability and effectiveness.

[0003] 2. Poor uniformity of high-pressure water jetting: Existing high-pressure water jetting equipment typically uses fixed nozzles or simple oscillating mechanisms, resulting in a limited coverage area of ​​the high-pressure water flow and making it difficult to achieve a uniform jetting effect. Especially when treating large-area wall surfaces, the uneven intensity and distribution of the water flow impact can easily cause some areas to be over-jet-treated while other areas are under-jet-treated, affecting the overall quality of the wall surface.

[0004] 3. Mechanical chiseling is inefficient and generates a lot of dust: While mechanical chiseling equipment can achieve a relatively uniform chiseling effect, its efficiency is low, especially when dealing with large areas of walls, requiring a long operation time. Furthermore, mechanical chiseling generates a large amount of dust, posing a threat to the health of operators and potentially polluting the environment. The lack of effective dust removal measures for existing equipment further limits its application; at the same time, the mechanical equipment generates significant vibration and noise, which has a substantial impact on the environment.

[0005] In summary, existing chiseling or rinsing equipment suffers from drawbacks such as limited functionality, poor uniformity of construction, low efficiency, and dust generation, making it difficult to meet the modern construction industry's demand for efficient, uniform, and environmentally friendly concrete wall chiseling. Therefore, developing an automated robotic system that combines high-pressure water rinsing and mechanical chiseling in a highly efficient and environmentally friendly manner has become an urgent need in the industry. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an automated robot for roughening and scabbing concrete walls, which can effectively solve the problems of single function, poor uniformity of roughening or scabbing, low efficiency, and easy generation of dust that affect the environment in the prior art; The solution adopted by this invention to solve the technical problem is: An automated robot for roughening and scabbing concrete walls includes a movable base, a multi-axis robotic arm mounted on the movable base, a mounting frame connected to the multi-axis robotic arm, a roughening mechanism mounted on the mounting frame and sliding along the X-axis, a jetting mechanism mounted on the mounting frame and slidingly engaging with the mounting frame along the Y-axis, a water tank mounted on the movable base and connected to the jetting mechanism, and a drive assembly mounted on the mounting frame and drivingly engaging with the roughening and jetting mechanisms to roughen and scabble the concrete wall surface; the jetting mechanism is located below the roughening mechanism.

[0007] In some possible implementations, the bristling mechanism includes a steel brush roller located on the side of the mounting frame away from the multi-axis robotic arm, an adjusting frame slidably mounted on the mounting frame for rotating the steel brush roller, and an X-axis drive mechanism mounted on the mounting frame for controlling the movement of the adjusting frame along the X-axis direction. The steel brush roller is in transmission cooperation with the drive assembly. The axial direction of the steel brush roller is arranged along the Y-axis direction.

[0008] In some possible implementations, the X-axis drive mechanism includes a bracket mounted on a mounting frame, a lead screw arranged along the X-axis direction and rotatably engaged with the bracket, an X-axis motor drivenly connected to one end of the lead screw, a connecting frame fitted on the outside of the lead screw and connected to the top of the adjusting frame, and a sliding column mounted on the bracket and arranged parallel to the lead screw; the sliding column is slidably engaged with the connecting frame.

[0009] In some possible implementations, the jetting mechanism includes two sets of parallel jetting components located below the steel brush rollers, and a gear and rack transmission structure disposed between the two sets of jetting components and in transmission cooperation with the drive assembly; the two sets of jetting components are slidably engaged with the mounting frame along the Y-axis direction and in opposite directions; the two sets of jetting components are respectively connected to a water storage tank.

[0010] In some possible implementations, the jet assembly includes two sets of guide posts fixed on the side of the mounting frame away from the multi-axis robotic arm and with their axes arranged along the Y-axis direction, a jet assembly fitted on the outside of the guide posts and connected to a water tank, and an elastic element fitted on the outside of the guide posts and connected at both ends to the mounting frame and the jet assembly, respectively. The elastic elements in the two sets of jet assemblies are on different sides.

[0011] In some possible implementations, the gear and rack transmission structure includes racks respectively disposed on opposite sides of two sets of injection assemblies, and a gear disk respectively meshing with the two sets of racks and rotating about the X-axis; the gear disk is in transmission engagement with the drive assembly; the length direction of the rack is arranged along the Y-axis.

[0012] In some possible implementations, the gear disc includes a disc that rotates with the mounting frame about the X-axis, and tooth segments symmetrically arranged on the outer circumference of the disc and meshing with the rack, with the two sets of tooth segments close to each other at one end to form a gap.

[0013] In some possible implementations, the spray assembly includes a motion platform fitted on the outside of the guide column, a spray pipe mounted on the motion platform and connected at one end to a water tank, and nozzles arranged sequentially along the axial direction of the spray pipe and connected to the inside of the spray pipe; the spray pipe is arranged along the Y-axis direction.

[0014] In some possible implementations, the drive assembly includes a belt drive mechanism that drives the steel brush roller, a worm gear drive structure that drives the rack and pinion drive structure, and a punching drive mechanism that drives the belt drive mechanism and the worm gear drive structure.

[0015] In some possible implementations, the punching drive mechanism includes a drive motor mounted on the side of the mounting frame near the multi-axis robotic arm, and a drive shaft B connected to the output shaft of the drive motor and along the Y-axis direction. The worm gear transmission structure includes a worm installed between the output shaft of the drive motor and the drive shaft B, and a worm wheel that is driven by the worm gear and coaxially connected to the gear disk through the drive shaft A set along the X-axis. The belt drive mechanism includes a belt drive structure one that is connected to the drive shaft B, a belt drive structure two that is connected to the steel brush roller, and an intermediate shaft that connects belt drive structure one and belt drive structure two and is arranged along the Y-axis.

[0016] In some possible implementations, a pressurizing mechanism is also provided on the mounting frame, which is connected to the water storage tank and the jetting mechanism respectively and is driven by the punching mechanism. The pressurization mechanism includes a pump body connected to a water tank and a jet mechanism respectively, a drive shaft C set on the pump body and arranged along the Y-axis, a belt drive structure three connected to drive shaft C and drive shaft B, and the belt drive structure one cooperating with drive shaft C and intermediate shaft.

[0017] In some possible implementations, a tension adjuster that engages with the belt tension in the second belt drive structure is provided on the mounting frame.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention combines a jetting mechanism with a chiseling mechanism, enabling the coordinated operation of high-pressure water jetting and mechanical chiseling. Depending on actual needs, one can choose to use jetting or mechanical chiseling alone, or a combination of both. For example, the wall surface can be jetted once using the high-pressure jetting mechanism, and then chiseled once using the chiseling mechanism. This improves the efficiency of jetting and chiseling, and ensures the thoroughness and uniformity of jetting and chiseling. It overcomes the shortcomings of the single function of the equipment in the prior art and significantly improves the applicability and practicality of the equipment. This invention achieves the reciprocating motion of the spraying component through gear and rack drive, enabling the high-pressure water flow to evenly cover the wall surface. Compared with the fixed nozzle or simple swing mechanism in the prior art, the high-pressure water flow distribution of this invention is more uniform, avoiding the problem of over- or under-scraping and significantly improving the scraping effect. This invention can adjust the position and contact strength of the steel brush roller relative to the concrete wall surface to adapt to the roughening needs of different wall surfaces. Since the wall surface is wet after high-pressure water roughening, a large amount of dust will not be generated during the mechanical roughening process, reducing pollution to the environment and operators, and solving the problems of large amount of dust and poor environmental performance of existing mechanical roughening equipment. This invention achieves efficient power utilization by simultaneously driving the steel brush roller, toothed disc, and booster mechanism through a single drive assembly, reducing the structural complexity and energy consumption of the equipment. Compared with existing equipment that requires multiple independent power systems, this invention not only reduces manufacturing costs but also improves the reliability and ease of maintenance of the equipment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a structural schematic diagram of the present invention from another angle; Figure 4 This is a schematic diagram of the drive assembly in this invention; Figure 5 This is a schematic diagram of the jet structure, mounting frame, and chiseling mechanism in this invention; Figure 6This is a schematic diagram of the chiseling mechanism in this invention; Figure 7 This is a schematic diagram showing the connection relationship between the drive assembly, jet assembly, and steel brush roller in this invention; Figure 8 This is a schematic diagram of the structure of the drum, jet assembly, worm gear transmission structure, and pressurization mechanism in this invention. in: 1. Portable base; 2. Multi-axis robotic arm; 3. Install the rack; 4. Chipping mechanism; 41. Steel brush roller; 42. Adjustment frame; 43. X-axis drive mechanism; 431. Bracket; 432. Lead screw; 433. X-axis motor; 434. Connecting frame; 435. Sliding column; 5. Jet mechanism; 51. Jet assembly; 511. Spraying assembly; 5111, motion table; 5112, spray pipe; 5113, nozzle; 512. Elastic components; 52. Gear and rack transmission structure; 521. Gear rack; 522, Gear disc; 5221, Disc; 5222, Gear segment; 5223, Clearance; 6. Water storage tank; 7. Drive assembly; 71. Belt drive mechanism; 711. Belt drive structure one; 712. Belt drive structure two; 7121. Tension adjuster; 713. Intermediate shaft; 72. Worm gear transmission structure; 721. Worm gear; 722. Worm wheel; 723. Drive shaft A 73. Punching drive mechanism; 731. Drive motor; 732. Drive shaft B 74. Pressure boosting mechanism; 741. Drive shaft C; 742. Belt drive structure three. Detailed Implementation

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the existence of at least one. In the implementation of this application, "and / or" describes the association relationship of related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. For example, multiple positioning posts refer to two or more positioning posts. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] The present invention will now be described in detail.

[0022] like Figures 1-8 As shown: An automated robot for roughening and scabbing concrete walls includes a mobile base 1, a multi-axis robotic arm 2 mounted on the mobile base 1, a mounting frame 3 connected to the multi-axis robotic arm 2, a roughening mechanism 4 mounted on the mounting frame 3 and sliding along the X-axis, a jetting mechanism 5 mounted on the mounting frame 3 and slidingly engaged with the mounting frame 3 along the Y-axis, a water tank 6 mounted on the mobile base 1 and connected to the jetting mechanism 5, and a drive assembly 7 mounted on the mounting frame 3 and driven by the roughening mechanism 4 and the jetting mechanism 5 to roughen and scabble the concrete wall surface; the jetting mechanism 5 is located below the roughening mechanism 4; a water pump is installed in the water tank 6 to transport water from the water tank 6 to the jetting mechanism 5.

[0023] It should be noted that the multi-axis robotic arm 2 is an existing technology product, and its internal structure will not be described in detail in this invention. For example, a three-degree-of-freedom robotic arm can be used. Of course, other robotic arms can also be used. A chiseling mechanism 4 and a jetting mechanism 5 are set at the end of the multi-axis robotic arm 2 for chiseling or roughening the concrete wall surface. In use, the wall surface is roughened once by the jetting mechanism 5, and then roughened once by the chiseling mechanism 4. This improves the efficiency of roughening and chiseling, and ensures the thoroughness and uniformity of roughening and chiseling. This invention overcomes the shortcomings of the single function of the equipment in the prior art and significantly improves the applicability and practicality of the equipment. In this invention, the chiseling mechanism 4 is moved along the X-axis to control the chiseling depth, and the jet mechanism 5 is moved along the Y-axis to uniformly roughen the concrete wall surface.

[0024] In some possible implementations, the roughening mechanism 4 includes a steel brush roller 41 located on the side of the mounting frame 3 away from the multi-axis robotic arm 2 and used for roughening the concrete wall surface; an adjusting frame 42 slidably mounted on the mounting frame 3 and used for mounting the steel brush roller 41; and an X-axis drive mechanism 43 mounted on the mounting frame 3 and used for controlling the movement of the adjusting frame 42 along the X-axis direction. The axial direction of the steel brush roller 41 is arranged along the Y-axis direction. Both ends of the steel brush roller 41 are rotatably engaged with the adjusting frame 42 through bearings. The steel brush roller 41 is driven by the drive assembly 7 to achieve reverse rotation of the steel brush roller 41 around the Y-axis. The steel brush roller 41 includes a cylinder body and a steel brush head disposed on the outside of the cylinder body. During use, the steel brush head is controlled by the X-axis drive mechanism 43 to move towards the side closer to the concrete wall and to make the steel brush head contact and abut against the concrete wall. Then, the drive assembly 7 controls the cylinder body to rotate around its axis to achieve roughening. The two ends of the cylinder body are mounted on the adjustment frame 42 and rotate together.

[0025] In some possible implementations, in order to effectively control the movement of the adjustment frame 42 along the X-axis direction by the X-axis drive mechanism 43, thereby enabling effective control of the chiseling depth, the X-axis drive mechanism 43 includes a bracket 431 mounted on the mounting frame 3, a lead screw 432 arranged along the X-axis direction and rotatably engaged with the bracket 431, an X-axis motor 433 drivenly connected to one end of the lead screw 432, a connecting frame 434 sleeved on the outside of the lead screw 432 and connected to the top of the adjustment frame 42, and a sliding column 435 mounted on the bracket 431 and arranged parallel to the lead screw 432; the sliding column 435 is slidably engaged with the connecting frame 434.

[0026] The connecting frame 434 is provided with a guide hole, and the sliding column 435 is fitted into the guide hole; the X-axis motor 433 is located on the side of the mounting frame 3 near the multi-axis robotic arm 2, and is used to control the rotation of the lead screw 432 around its axis; since the connecting frame 434 is screwed to the lead screw 432 and slides with the sliding column 435, the connecting frame 434 is controlled to move along the X-axis, thereby driving the adjusting frame 42 to move along the X-axis, and finally controlling the movement of the steel brush roller 41 along the X-axis.

[0027] In some possible implementations, to effectively achieve uniform roughening of the concrete wall surface using the jetting mechanism 5, the jetting mechanism 5 includes two sets of parallel jetting components 51 located below the steel brush roller 41, and a gear and rack transmission structure 52 disposed between the two sets of jetting components 51 and engaging with the drive assembly 7; the two sets of jetting components 51 are slidably engaged with the mounting frame 3 along the Y-axis in opposite directions; the two sets of jetting components 51 are respectively connected to the water storage tank 6. The two sets of jetting components 51 are arranged vertically in sequence.

[0028] Driven by the gear and rack transmission structure 52, the two sets of jet components 51 move along the Y-axis in opposite directions. By continuously performing interlaced movements under the drive of the gear and rack transmission structure 52, the concrete wall surface can be roughened more evenly, and the roughening effect is excellent. In some possible implementations, in order to effectively control the jet assembly 51 to reciprocate along the Y-axis and roughen the concrete wall surface, the jet assembly 51 includes two sets of guide columns fixed on the side of the mounting frame 3 away from the multi-axis robotic arm 2 and with their axes arranged along the Y-axis; a spray assembly 511 fitted on the outside of the guide columns and connected to the water tank 6; and elastic elements 512 fitted on the outside of the guide columns and connected at both ends to the mounting frame 3 and the spray assembly 511 respectively; the elastic elements 512 in the two sets of jet assemblies 51 are on different sides. Preferably, the elastic element 512 is a compression spring.

[0029] The mounting frame 3 is provided with a fixing seat for fixing the two ends of the guide column; the spray assembly 511 is slidably fitted on the outside of the guide column; the elastic element 512 is fitted on the outside of the guide column and one end is connected to the fixing seat, and the other end is connected to the jet assembly 51; the gear and rack transmission structure 52 controls the two jet assemblies 51 to move closer and further away from each other along the Y-axis direction under the control of the drive assembly 7.

[0030] In some possible embodiments, the gear and rack transmission structure 52 includes racks 521 respectively disposed on one side of two sets of spray assemblies 511 close to each other, and a gear disk 522 respectively meshing with the two sets of racks 521 and rotating about the X-axis; the gear disk 522 is in transmission cooperation with the drive assembly 7; the gear disk 522 includes a disc 5221 that rotates with the mounting frame 3 about the X-axis, and tooth segments 5222 symmetrically disposed on the outer circumference of the disc 5221 and meshing with the two sets of racks 521 respectively, with the two sets of tooth segments 5222 forming a gap 5223 at one end close to each other; the spray assembly 511 includes a motion platform 5111 fitted on the outside of the guide column, a spray pipe 5112 mounted on the motion platform 5111 and connected at one end to the water tank 6, and nozzles 5113 arranged sequentially along the axial direction of the spray pipe 5112 and connected to the inside of the spray pipe 5112; multiple sets of spray pipes 5112 are evenly arranged along the Y-axis.

[0031] Specifically, the upper moving table 5111 located near the chiseling mechanism 4 is the moving table 5111, and the other moving table 5111 is the lower moving table 5111. The two moving tables 5111 are slidably engaged with their corresponding guide posts. Racks 521 are respectively mounted on the bottom surface of the upper moving table and the top surface of the lower moving table. The gear plate 522 meshes with the two sets of racks 521 and rotates with the mounting frame 3 around the Y-axis. Two sets of tooth segments 5222 are mounted on the gear plate 522 and are centrally symmetrically arranged. In use, the drive assembly 7 controls the rotation of the gear plate 522. A set of toothed segments 5222 on the disc 522 works with the rack 521 to push the upper motion table in a linear motion, and another set of toothed segments 5222 works with the toothed segments 5222 to push the lower motion table in a linear motion. At the same time, the corresponding elastic element 512 is compressed, and the upper and lower motion tables move in opposite directions. When the toothed segment 5222 disengages from the corresponding rack 521, that is, when the gap 5223 corresponds to the rack 521, the upper and lower motion tables move in opposite directions in a linear motion under the elastic force of the elastic element 512. When the concrete wall surface is roughened by the jetting mechanism 5, water can be pumped to the jetting pipe 5112 by a submersible pump, and high-pressure water jets can be sprayed out through the nozzle 5113. At the same time, because the upper and lower moving platforms are constantly reciprocating along the Y-axis, the high-pressure water jets sprayed by the two sets of jetting components 511 are also constantly moving left and right in an alternating manner. This structure can roughen the concrete wall surface more evenly and achieve excellent roughening effect. Furthermore, when using the jetting mechanism 5 in combination with the chiseling mechanism 4, the concrete wall surface can be roughened once by the jetting mechanism 5. Afterwards, if further chiseling is required, the wall surface can be chiseled by the chiseling mechanism 4 to make the roughening of the concrete wall surface more thorough and uniform. Of course, it is also possible to determine whether to use the rotating chiseling mechanism 4 for chiseling according to the needs. Since the wall surface is wet after the first roughening, the second chiseling will not generate a lot of dust and can also avoid damage to the concrete wall surface.

[0032] In some possible implementations, the drive assembly 7 includes a belt drive mechanism 71 that drives the steel brush roller 41, a worm gear drive structure 72 that drives the rack and pinion drive structure 52, and a punching drive mechanism 73 that drives the belt drive mechanism 71 and the worm gear drive structure 72.

[0033] By connecting the belt drive mechanism 71, the worm gear drive structure 72, and the punching drive mechanism 73, chiseling and punching can be achieved using only one set of punching drive mechanisms 73; this achieves efficient power utilization and reduces the structural complexity and energy consumption of the equipment. Compared with existing equipment that requires multiple independent power systems, this invention not only reduces manufacturing costs but also improves the reliability and ease of maintenance of the equipment.

[0034] In some possible implementations, in order to effectively achieve transmission cooperation with the belt drive mechanism 71, worm gear 722 and worm 721 through the punching drive mechanism 73, the punching drive mechanism 73 includes a drive motor 731 mounted on the side of the mounting frame 3 near the multi-axis robotic arm 2, and a drive shaft B732 connected to the output shaft of the drive motor 731 and along the Y-axis direction. The worm gear transmission structure 72 includes a worm 721 installed between the output shaft of the drive motor 731 and the drive shaft B732, and a worm wheel 722 that is driven by the worm 721 and coaxially connected to the gear disk 522 through the drive shaft A723 arranged along the X-axis direction. Specifically, the worm gear 721 is positioned between the drive shaft B732 and the output shaft of the drive motor 731. The drive shaft A723 is coaxially connected to the gear disk 522, and the worm wheel 722 is coaxially connected to the drive shaft A723 and engages with the worm gear 721 for transmission. As the worm gear 721 rotates, the worm wheel 722 will rotate around the X-axis, thereby driving the gear disk 522 to rotate via the drive shaft A723; thus achieving linear motion control of the injection assembly 511. The belt drive mechanism 71 includes a belt drive structure 711 that is driven by the drive shaft B732, a belt drive structure 712 that is driven by the steel brush roller 41, and an intermediate shaft 713 that is used to connect the belt drive structure 711 and the belt drive structure 712 and is arranged along the Y-axis direction; the intermediate shaft 713 and the drive shaft B732 are rotatably engaged with the mounting frame 3. The belt drive structure 711 includes a main belt pulley coaxially mounted on the outside of the drive shaft B732, a secondary belt pulley coaxially mounted on the outside of the intermediate shaft 713, and a belt that drives and cooperates with the main belt pulley and the secondary belt pulley. The belt drive structure 2 712 includes a belt main pulley 2 coaxially mounted on the outside of the intermediate shaft 713, a belt auxiliary pulley 2 coaxially mounted on the outside of the core shaft of the steel brush roller 41, and a belt 2 that drives and cooperates with the belt main pulley 2 and the belt auxiliary pulley 2. Specifically, the drive shaft B732 rotates to drive the first belt pulley to rotate, which in turn drives the intermediate shaft 713 to rotate. The rotation of the intermediate shaft 713 drives the second belt pulley to rotate, which in turn drives the steel brush roller 41 to rotate.

[0035] In some possible implementations, a pressurizing mechanism 74 is also provided on the mounting frame 3, which is connected to the water storage tank 6 and the jet mechanism 5 respectively and is driven by the punching drive mechanism 73; the pressurizing mechanism 74 driven by the punching drive mechanism 73 will effectively ensure that the water jetted from the jet assembly 511 has a high water pressure, thereby effectively achieving the rinsing effect. The pressurization mechanism includes a pump body connected to the water tank 6 and the jet mechanism 5 respectively, a drive shaft C741 mounted on the pump body and arranged along the Y-axis, a belt drive structure 742 connected to the drive shaft C741 and the drive shaft B732, and the belt drive structure 711 engaging with the drive shaft C741 and the intermediate shaft 713; the drive shaft C741 is rotatably engaged with the mounting frame 3. The pump body is mounted on the side of the mounting frame near the drive motor 731. Specifically, when a pressurization structure is provided, the belt drive structure 742 includes a main belt pulley 3 coaxially connected to the drive shaft B732, a secondary belt pulley 3 coaxially mounted on the outside of the drive shaft C741, and a belt 3 that drives and cooperates with the main belt pulley 3 and the secondary belt pulley 3; the main belt pulley 3 coaxially mounted on the outside of the drive shaft C741, and the secondary belt pulley 3 coaxially mounted on the outside of the intermediate shaft 713 located above the drive shaft C741 and arranged along the Y-axis; the main belt pulley 2 coaxially mounted on the outside of the intermediate shaft 713, and the secondary belt pulley 2 mounted on the spindle of the steel brush roller 41; thus, control can be achieved through the drive motor 731; In use, the drive shaft B732 drives the belt pulley three to rotate under the drive motor 731, which in turn drives the drive shaft C741 to rotate, thereby causing the pump body to start pressurizing the water flow. The pressurized water is delivered to the spray pipe 5112 and sprayed onto the concrete wall through the nozzle 5113. At the same time, when the drive shaft C741 rotates, it will drive the belt pulley one to rotate, which will drive the intermediate shaft 713 to rotate through the belt drive structure one 711. The rotation of the intermediate shaft 713 will drive the steel brush roller 41 to rotate through the belt drive structure one 711. Furthermore, drive shaft B732, drive shaft C741, and intermediate shaft 713 are arranged from bottom to top on one side of the mounting frame 3 near the multi-axis robotic arm 2; It should be noted that a clearance area is provided in the mounting frame 3 to allow belt 2 to pass through the mounting frame 3 and engage with belt wheel 1 mounted on the spindle of the steel brush roller 41.

[0036] In some possible implementations, since the steel brush roller 41 can move along the X-axis during use, in order to ensure that the belt drive structure 712 is always under tension and to ensure power transmission, a tension adjuster 7121 that cooperates with the belt tension in the belt drive structure 712 is provided on the mounting frame 3. In this way, the drive motor 731 can also drive the steel brush roller 41 to rotate in real time. Specifically, the tension adjuster 7121 can be installed in the clearance area.

[0037] To achieve the automatic and intelligent brushing or chiseling operation of the present invention, a camera is installed at the end of the multi-axis robotic arm 2 or on the mounting frame 3, and a laser radar and ultrasonic sensor are installed around the mobile base 1. The ultrasonic sensor, camera, and laser radar are connected to the control system. The LiDAR scans the surrounding environment and transmits the data to the control system, which then generates a 3D point cloud map. Combined with the SLAM (Simultaneous Localization and Mapping) algorithm, the robot achieves autonomous navigation and path planning. The ultrasonic sensor detects the distance to obstacles in real time and transmits the data to the control system. The control system then determines whether the invention is operating within a safe distance and provides an early warning. The control system uses the information transmitted by the camera to determine whether roughening or chiseling is necessary, as well as the depth and extent of the work. The lidar generates a 3D point cloud map, which, combined with the SLAM (Simultaneous Localization and Mapping) algorithm, enables the robot to achieve autonomous navigation and path planning.

[0038] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. An automated robot for roughening and scabbing concrete walls, characterized in that, The device includes a movable base, a multi-axis robotic arm mounted on the movable base, an installation frame connected to the multi-axis robotic arm, a chiseling mechanism mounted on the installation frame and sliding along the X-axis, a jetting mechanism mounted on the installation frame and slidingly engaging with the installation frame along the Y-axis, a water storage tank mounted on the movable base and connected to the jetting mechanism, and a drive assembly mounted on the installation frame and drivingly engaging with the chiseling mechanism and the jetting mechanism to achieve chiseling and roughening of the concrete wall surface; the jetting mechanism is located below the chiseling mechanism.

2. The automated robot for roughening and scabbing concrete walls according to claim 1, characterized in that, The bristling mechanism includes a steel brush roller located on the side of the mounting frame away from the multi-axis robotic arm, an adjusting frame slidably mounted on the mounting frame for rotating the steel brush roller, and an X-axis drive mechanism mounted on the mounting frame for controlling the adjusting frame to move along the X-axis direction. The steel brush roller is in transmission cooperation with the drive assembly. The axial direction of the steel brush roller is set along the Y-axis direction.

3. An automated robot for roughening and scabbing concrete walls according to claim 2, characterized in that, The X-axis drive mechanism includes a bracket mounted on a mounting frame, a lead screw arranged along the X-axis direction and rotatably engaged with the bracket, an X-axis motor that is drivenly connected to one end of the lead screw, a connecting frame fitted on the outside of the lead screw and connected to the top of the adjustment frame, and a sliding column mounted on the bracket and arranged parallel to the lead screw; the sliding column is slidably engaged with the connecting frame.

4. An automated robot for roughening and scabbing concrete walls according to claim 2, characterized in that, The jetting mechanism includes two sets of parallel jetting components located below the steel brush rollers, and a gear and rack transmission structure disposed between the two sets of jetting components and in transmission cooperation with the drive assembly; the two sets of jetting components are slidably engaged with the mounting frame along the Y-axis direction and in opposite directions; the two sets of jetting components are respectively connected to the water storage tank.

5. An automated robot for roughening and scabbing concrete walls according to claim 4, characterized in that, The jet assembly includes two sets of guide columns fixed on the side of the mounting frame away from the multi-axis robotic arm and with the axis arranged along the Y-axis direction, a jet assembly fitted on the outside of the guide columns and connected to the water tank, and an elastic element fitted on the outside of the guide columns and connected at both ends to the mounting frame and the jet assembly respectively. The elastic elements in the two sets of jet assemblies are on different sides.

6. An automated robot for roughening and scabbing concrete walls according to claim 5, characterized in that, The gear and rack transmission structure includes racks respectively disposed on one side of two sets of injection components close to each other, and a gear disk that meshes with the two sets of racks and rotates around the X-axis; the gear disk is in transmission cooperation with the drive assembly; the length direction of the rack is arranged along the Y-axis.

7. An automated robot for roughening and scabbing concrete walls according to claim 6, characterized in that, The gear disc includes a disc that rotates with the mounting frame around the X-axis and tooth segments symmetrically arranged on the outer circumference of the disc and meshing with the rack. The two sets of tooth segments are close to each other at one end to form a gap.

8. An automated robot for roughening and scabbing concrete walls according to claim 5, characterized in that, The spraying assembly includes a motion platform fitted on the outside of the guide column, a spray pipe mounted on the motion platform with one end connected to a water tank, and nozzles arranged sequentially along the axial direction of the spray pipe and connected to the inside of the spray pipe; the spray pipe is arranged along the Y-axis direction.

9. An automated robot for roughening and scabbing concrete walls according to claim 5, characterized in that, The drive assembly includes a belt drive mechanism that is coupled with the steel brush roller drive, a worm gear drive structure that is coupled with the gear and rack drive structure, and a punching drive mechanism that is coupled with the belt drive mechanism and the worm gear drive structure.

10. An automated robot for roughening and scabbing concrete walls according to claim 9, characterized in that, The punching drive mechanism includes a drive motor mounted on the side of the mounting frame near the multi-axis robotic arm, and a drive shaft B connected to the output shaft of the drive motor and along the Y-axis direction. The worm gear transmission structure includes a worm installed between the output shaft of the drive motor and the drive shaft B, and a worm wheel that is driven by the worm gear and coaxially connected to the gear disk through the drive shaft A set along the X-axis. The belt drive mechanism includes a belt drive structure one that is connected to the drive shaft B, a belt drive structure two that is connected to the steel brush roller, and an intermediate shaft that connects belt drive structure one and belt drive structure two and is arranged along the Y-axis.

11. An automated robot for roughening and scabbing concrete walls according to claim 10, characterized in that, The mounting frame is also equipped with a pressurizing mechanism that is connected to the water storage tank and the jetting mechanism respectively and is driven by the punching drive mechanism. The pressurization mechanism includes a pump body connected to a water tank and a jet mechanism respectively, a drive shaft C set on the pump body and arranged along the Y-axis, a belt drive structure three connected to drive shaft C and drive shaft B, and the belt drive structure one cooperating with drive shaft C and intermediate shaft.

12. An automated robot for roughening and scabbing concrete walls according to claim 10, characterized in that, A tension adjuster that works in conjunction with the belt tensioning in the second belt drive structure is provided on the mounting frame.

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