Precast component surface defect detection and intelligent trimming apparatus

Abstract

This invention discloses a device for detecting and intelligently repairing surface defects in precast components, comprising a conveyor platform, a moving frame, a combined detection unit, a control cabinet, and an intelligent repair mechanism. The combined detection unit includes an industrial camera and a laser scanning mechanism. The industrial camera initially identifies the defect area, while the laser scanner performs a high-precision three-dimensional scan of the defect area. The control processing module calculates the quantitative parameters of the defect and the amount of repair agent needed based on the scan data. The intelligent repair mechanism includes a rotatable rotating carrier, which integrates a local application repair mechanism and a single-point precision repair mechanism. The repair mode is automatically switched according to the defect type. Large areas of pitted surfaces are repaired with uniform application, while isolated pits or cracks are repaired with targeted and quantitative filling. This invention achieves automated detection and precise repair of surface defects in precast components, balancing repair efficiency and accuracy while saving repair materials.

Description

Technical Field

[0001] This invention relates to the field of precast component quality inspection technology, and specifically discloses a device for detecting and intelligently repairing surface defects in precast components. Background Technology

[0002] During the production of precast components, surface defects such as pitting, craters, grout lines, and cracks often appear on the surface due to factors such as mold precision, demolding process, and curing conditions. These defects not only affect the appearance quality of the components but may also adversely impact their durability and subsequent decoration. Therefore, effective detection and repair of surface defects in precast components is a crucial step in ensuring the quality of the components upon leaving the factory.

[0003] Currently, the repair of surface defects in large precast slab components still mainly relies on manual labor. Workers first visually identify defects, then manually prepare repair grout using tools such as scrapers and trowels to fill and smooth them. This traditional manual repair method suffers from high labor intensity, low efficiency, and difficulty in guaranteeing the smoothness and consistency of the repaired surface.

[0004] To address these issues, some manufacturers have attempted to introduce mechanized repair equipment. However, existing automated repair devices often suffer from simplistic design concepts, typically employing fixed, large-area application or simple spot spraying. For instance, some devices, when dealing with pitted areas on precast slabs, apply the repair agent evenly across the entire area using a wide-scraping method, regardless of the size or depth of the pitting. The same method is used for isolated pits or cracks. This approach has significant drawbacks. While large-area application can cover large pitted areas, it results in excessive agent coverage of undamaged areas, leading to significant waste and increased production costs. Furthermore, excess agent accumulates on intact surfaces after scraping, affecting component flatness and potentially causing shrinkage cracks or detachment after hardening. Conversely, using spot spraying for large pitted areas requires repeated operations, resulting in extremely low efficiency and difficulty in ensuring uniform filling of pits and depressions. Based on this, this application proposes a precast component surface defect detection and intelligent repair device that can adaptively select the repair mode according to the defect characteristics, thereby solving the problems of serious waste of repair agent, poor repair effect, and difficulty in balancing repair efficiency and repair accuracy of existing equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a precast component surface defect detection and intelligent repair device that can adaptively select the repair mode according to the defect characteristics, so as to achieve rapid, accurate and low-cost repair of surface defects of large-size precast slabs.

[0006] This invention is achieved through the following technical solution: A device for detecting and intelligently repairing surface defects in precast components, the main body of which includes a conveyor platform, a moving frame, a combined detection unit, a control cabinet, and an intelligent repair mechanism. Wherein: Conveying platform, used to support and transport prefabricated components; A movable frame is arranged across the conveyor support platform and moves along its length. A combined detection unit, mounted on the mobile frame, is used to perform online detection on the surface of precast components and obtain the location and three-dimensional data of defects. The control cabinet is electrically connected to the combined detection unit. Its internal control processing module calculates the amount of repair agent required for defect repair based on the three-dimensional data and generates control commands. The intelligent trimming mechanism is mounted on a movable frame directly above the conveyor platform and is electrically connected to the control cabinet. It trims defects on the surface of the precast components according to control commands.

[0007] In its specific design, the intelligent trimming mechanism includes a rotating carrier, a localized application trimming mechanism, a single-point precision repair mechanism, and a rotating drive assembly. Wherein: A rotating carrier is rotatably mounted on the movable frame; A local coating and repair mechanism is set on the first side of the rotating carrier and is used to uniformly coat and repair large-area pitted defects. A single-point precision repair mechanism is set on the second side of the rotating carrier and is used to fill and repair isolated pits or cracks at specific points. A rotary drive assembly, which is connected to the rotary carrier, is used to drive the rotary carrier to rotate so as to switch the local application and repair mechanism or the single-point precision repair mechanism to the working position according to the defect type.

[0008] As a further provision of the above scheme, the combined detection unit includes an industrial camera and a laser scanning mechanism; the industrial camera is used to acquire image information of the surface of the prefabricated component, identify defect areas and determine their coordinate positions; the laser scanning mechanism includes a laser scanner and a first longitudinal moving component that drives the laser scanner to move, and the laser scanner performs three-dimensional scanning on the defect areas identified by the industrial camera.

[0009] As a further provision of the above solution, the local application and finishing mechanism includes a first lateral moving component, a strip plate, a coating strip box, a first metering slurry pump, and a coating scraper. Wherein: The first lateral movement component is disposed on the side of the rotating carrier; A strip plate is connected to the first lateral movement component to achieve lateral movement; A slurry coating box is disposed on the strip plate, with its discharge end facing the surface of the precast component; The first metering slurry pump is connected at both ends to the slurry coating box and the slurry storage tank respectively through the first slurry delivery pipe, and is used to quantitatively deliver the repair agent slurry to the slurry coating box; A scraper, set on the strip plate and driven by a cylinder, contacts the surface of the precast component to scrape and press the applied repair agent slurry into the pitted surface and smooth the surface.

[0010] As a further feature of the above solution, the single-point precision repair mechanism includes a second lateral movement component, a vertical movement adjustment component, a slurry extrusion nozzle, a second metering slurry pump, and a scraper plate. Wherein: The second lateral movement component is disposed on the side of the rotating carrier; A vertical movement adjustment component is connected to the second horizontal movement component to achieve horizontal movement; A slurry extrusion nozzle is disposed on the second lateral moving component to achieve vertical movement; The second metering slurry pump is connected at both ends to the slurry extrusion nozzle and the slurry storage tank respectively through the second slurry delivery pipe, and is used to quantitatively deliver the repair agent slurry to the slurry extrusion nozzle; A scraper plate is fixedly installed on the side of the rotating carrier and is used to scrape off and smooth the excess repair slurry on the surface of the precast component during the movement of the moving frame.

[0011] As a further provision of the above solution, the vertical movement adjustment component includes a vertical frame connected to the second horizontal movement component. The vertical frame is provided with a vertical lead screw and a slide rail parallel to the vertical lead screw. One end of the vertical lead screw is connected to a lead screw motor. The slide rail is provided with a sliding block that is threadedly engaged with the vertical lead screw. The slurry extrusion nozzle is fixedly mounted on the sliding block.

[0012] As a further provision of the above scheme, a surface pretreatment mechanism is provided on the side of the rotating carrier located between the local coating and repair mechanism and the single-point precision repair mechanism. The surface pretreatment mechanism is used to grind and wet the surface of the precast component before the defect repair operation.

[0013] As a further provision of the above scheme, the surface pretreatment mechanism includes a grinding roller and a spray pipe; the grinding roller is driven by a grinding motor and is used to remove protruding slurry nodules on the surface of the precast component; the spray pipe is connected to a storage tank through a liquid inlet pipe and a liquid inlet pump, and is equipped with several nozzles for spraying and wetting the surface of the precast component.

[0014] As a further provision of the above scheme, the mobile frame includes a gantry frame body and a traveling track. Two traveling tracks are arranged on both sides of the conveying platform. The lower ends of both sides of the gantry frame body are provided with traveling parts that interact with the traveling tracks. A rack is fixed on the traveling track, and a first gear driven by a traveling motor and meshing with the rack is provided on the traveling part.

[0015] As a further feature of the above solution, the intelligent trimming mechanism also includes a second longitudinal moving component mounted on the gantry frame. A movable seat is connected to the second longitudinal moving component, and a lifting device is mounted on the movable seat. An end plate is connected to the lower end of the lifting device, and a bearing column is fixed on the end plate along the forward direction of the gantry frame. The rotating carrier is rotatably mounted on the bearing column.

[0016] As a further provision of the above scheme, an end ring rotatably connected to the support column is provided on the end face of the rotating carrier, and a second gear is provided on the end ring; the rotating drive assembly includes a rotating motor fixed on the support column, and a third gear meshing with the second gear is provided on the motor shaft of the rotating motor.

[0017] The core operation process of this precast component surface defect detection and intelligent repair equipment is divided into three continuous stages: detection and identification, decision calculation, and intelligent repair, realizing closed-loop control of the entire process from defect discovery to automatic repair.

[0018] Detection and Identification Phase: After the equipment is started, the moving frame moves at a constant speed along the length of the conveyor platform. An industrial camera mounted on top of the gantry frame continuously acquires images of the precast slab surface, initially identifying defect areas and determining their approximate coordinates. Subsequently, the first longitudinal moving component of the laser scanning mechanism drives the laser scanner to move to this area for high-precision 3D scanning, acquiring point cloud data of the defects. The control processing module then performs 3D reconstruction on the point cloud data, calculating quantitative parameters such as the area, depth, and volume of the defects.

[0019] In the decision-making and calculation phase, the control and processing module automatically determines the type of defect and formulates a repair strategy based on the 3D defect data. Specifically, for large-area pitting, a localized uniform application mode is used, and the total amount of repair agent is calculated; for isolated pits or cracks, a single-point precise repair mode is used, and the precise extrusion volume and movement path are calculated. Furthermore, if raised nodules are present, the surface pretreatment process is triggered first. Simultaneously, the system plans the travel path of the moving frame and the positions of each moving mechanism based on the defect coordinates.

[0020] Intelligent finishing stage: The rotary motor drives the rotary carrier to rotate, switching the corresponding finishing mechanism to the working position. For large areas of pitted surfaces, the first lateral moving component of the local application finishing mechanism drives the strip plate to reciprocate, the slurry strip box evenly applies the repair agent, and the application scraper scrapes and presses it into the pitted surface; for isolated pits or cracks, the slurry extrusion nozzle of the single-point precision repair mechanism is precisely aligned with the defect position, and the calculated amount is extruded and filled, and then the scraper plate scrapes away and smooths the excess repair agent; for raised slurry nodules, the grinding roller of the surface pretreatment mechanism first grinds and removes them, and then the spray pipe wets the base surface, creating conditions for subsequent repair.

[0021] Compared with the prior art, the present invention has the following beneficial effects: This invention integrates a combined detection unit and an intelligent repair mechanism onto a movable gantry, constructing a complete automated closed-loop system of "detection-decision-repair". The combination of industrial camera coarse inspection and laser scanning fine measurement enables rapid location of defect areas and obtains accurate three-dimensional quantitative data of defects, providing a reliable basis for subsequent precise repair. The control and processing module automatically calculates the amount of repair agent and generates control commands based on the three-dimensional defect data. The entire process requires no manual intervention, significantly reducing labor intensity and greatly improving the automation level and production efficiency of surface defect repair of precast components.

[0022] The intelligent repair mechanism in this invention employs a rotating carrier design, integrating a local application repair mechanism and a single-point precision repair mechanism into one unit. It can automatically switch repair modes according to the type of defect. For large areas of pitted surfaces or densely packed pits, the local application repair mechanism uses lateral reciprocating motion to evenly apply the repair agent, combined with repeated scraping and pressing by the application scraper to ensure the repair agent fully fills the pits. For isolated pits or cracks, the single-point precision repair mechanism uses precise two-dimensional movement and vertical adjustment to align the slurry extrusion nozzle with the defect location, filling the pits precisely according to the amount calculated by laser scanning, and then smoothing and polishing with a scraper. This dual-mode design of the intelligent repair mechanism solves the efficiency problem of repairing large areas of pitted surfaces while avoiding the material waste caused by traditional large-area application methods for isolated pits, achieving a balance between repair efficiency and precision, while also saving on repair material costs.

[0023] The present invention further includes a surface pretreatment mechanism on the rotating carrier, which can grind and remove protruding slurry nodules on the surface of the precast component before the repair operation, and spray and wet the repair area. Through pretreatment, it not only effectively avoids the protrusions from damaging the subsequent application scraper or scraper plate, but also improves the adhesion of the repair agent by wetting the base surface, thus significantly improving the repair quality and the finished product qualification rate. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention from a first angle; Figure 2 This is a schematic diagram of the second-angle three-dimensional structure of the present invention; Figure 3 This is a three-dimensional structural diagram of the movable frame, combined detection unit, etc. in this invention; Figure 4 This is a three-dimensional structural diagram of the intelligent trimming mechanism in this invention from a first angle; Figure 5 This is a schematic diagram of the second angle of the intelligent trimming mechanism in this invention. Figure 6 This is a schematic diagram of the internal planar structure of the intelligent trimming mechanism in this invention; Figure 7 This is a first-angle three-dimensional plan view of the local coating and trimming mechanism in this invention; Figure 8 This is a second-angle three-dimensional plan view of the local coating and trimming mechanism in this invention; Figure 9 This is a three-dimensional structural diagram of the single-point precision repair mechanism in this invention; Figure 10 This is the control logic diagram of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following will refer to the appendix... Figures 1-10 This application will be described in detail with reference to the embodiments. Example 1

[0028] Example 1 discloses a device for detecting and intelligently repairing surface defects in precast components, such as... Figure 1 and Figure 2As shown, the main body of the equipment includes a conveying platform 10 for carrying the precast slab 100, a movable frame 20 that spans the conveying platform 10 and can move along its length, a control cabinet 30 (which integrates a corresponding control processing module) mounted on the movable frame 20, a set of combined detection units 40 mounted on the movable frame 20 for detecting the upper surface of the precast slab 100, and an intelligent trimming mechanism 50 mounted on the movable frame 20 and located directly above the conveying platform 10.

[0029] During operation, the mobile frame 20 moves along the length of the conveyor platform 10, and the combined detection unit 40 performs online detection of surface defects on the precast slab 100. The control cabinet 30 sends a control signal based on the detection results to drive the intelligent trimming mechanism 50 to perform corresponding trimming treatment on the surface defects of the precast slab 100.

[0030] The conveying platform 10 is a conventional design, including a conveying platform. The lower end of the conveying platform is stably supported by several brackets, and a row of conveying rollers is rotatably installed on the upper end of the conveying platform for stable bearing and fixed-distance conveying of the precast slab 100.

[0031] The mobile frame 20 includes a gantry frame 21 and traveling tracks 22 located on both sides of the conveyor platform 10. Both ends of the gantry frame 21 are equipped with traveling sections 23 with rollers, which are adapted to the roller grooves on the traveling tracks 22. A rack 24 is fixedly mounted on the traveling tracks 22, and a servo-controlled traveling motor 25 is mounted on the traveling section 23. A first gear 26 meshing with the rack 24 is mounted on the output shaft of the traveling motor 25. By precisely controlling the operation of the traveling motor 25, the gantry frame 21 can be moved accurately along the length of the traveling track 22.

[0032] like Figure 3 As shown, the combined detection unit 40 in this embodiment includes a set of industrial cameras 41 and a laser scanning mechanism 42. Both the industrial cameras 41 and the laser scanning mechanism 42 are electrically connected to the control processing module in the control cabinet 30 via data cables. The set of industrial cameras 41 are evenly mounted on the top of the gantry frame 21 and tilted downwards towards the forward direction to collect image information of the precast slab 100 surface. The control processing module uses image recognition algorithms to preliminarily determine whether defects such as pits, craters, and nodules exist, and determines the approximate coordinates of each defect area.

[0033] The laser scanning mechanism 42 includes a first longitudinal moving component 421 disposed on the front side (i.e., the forward direction) of the upper end of the gantry frame 21. A mounting component 422 is connected to the first longitudinal moving component 421, and a laser scanner 423 is disposed within the mounting component 422. When the industrial camera 41 initially detects a defect on the surface of the precast plate 100 and determines its approximate coordinates, the first longitudinal moving component 421 drives the mounting component 422 to move to the longitudinal position corresponding to those coordinates. Subsequently, the laser scanner 423 performs a high-precision three-dimensional scan of the defect area, acquires point cloud data, and feeds it back to the control processing module. The control processing module performs three-dimensional reconstruction of the defect area based on the point cloud data, calculates quantitative parameters such as the area, depth, and volume of pits and craters, and then accurately calculates the amount of repair agent required to repair the defect, generating control commands to control the operation of the intelligent repair mechanism 50.

[0034] like Figures 3-6 As shown, the intelligent trimming mechanism 50 includes a second longitudinal moving component 51 disposed on the rear side of the upper end of the gantry frame 21, and a moving seat 52 is connected to the second longitudinal moving component 51. In specific design, both the second longitudinal moving component 51 and the first longitudinal moving component 421 adopt a servo control combination structure combining belt drive and guide sliding, so that the moving seat 52 can move precisely along the longitudinal direction under the drive of the second longitudinal moving component 51.

[0035] A lifting device 53 is provided at the upper end of the movable seat 52, and an end plate 54 is connected to the lower end of the lifting device 53. A support column 55 is fixedly provided on the end plate 54 along the forward direction, and a rotating carrier 56 is rotatably mounted on the support column 55. A local application and finishing mechanism 57 and a single-point precision repair mechanism 58 are respectively provided on two different sides of the rotating carrier 56.

[0036] In the specific design, the lifting device 53 can be any one of a screw jack, a hydraulic telescopic rod, or a telescopic cylinder. Its lower end is connected to the end plate 54, and the end plate 54 is provided with a guide rod that vertically penetrates the moving seat 52 to achieve stable lifting. In this embodiment, the rotating carrier 56 is a hollow cuboid shell, and both end faces are provided with end rings 561 that are rotatably connected to the bearing column 55. A second gear 562 is provided on the outer circumference of one end ring 561. A rotary motor 59 is fixedly installed on the bearing column 55 inside the rotating carrier 56. A third gear 591 that meshes with the second gear 562 is provided on the motor shaft of the rotary motor 59. The rotary motor 59 is preferably a servo motor. Through servo control and gear meshing transmission, the rotating carrier 56 can be driven to rotate around the bearing column 55 by a set angle to achieve precise workstation switching.

[0037] like Figure 5 , Figure 7 and Figure 8As shown, the local coating and finishing mechanism 57 includes a first lateral moving component 571 disposed on the side of the rotating carrier 56. A strip plate 572 is slidably connected to the upper limit of the first lateral moving component 571. A coating strip box 573 with its discharge end facing outward is disposed in the middle of the strip plate 572. A first slurry delivery pipe 574 is connected to the coating strip box 573. A first metering slurry pump 575 is disposed in the middle of the first slurry delivery pipe 574. A slurry storage tank 501 fixed to the rotating carrier 56 is connected to the end of the first slurry delivery pipe 574. A cylinder 576 is disposed on each of the strip plates 572 on both sides of the coating strip box 573. An outwardly extending coating scraper 577 is connected to the telescopic end of each cylinder 576.

[0038] When the combined detection unit 40 detects a large area of ​​pitting or dense pits on the surface of the precast slab 100, the rotating carrier 56 is moved to directly above the area by the lateral movement of the gantry frame 21 and the longitudinal movement of the moving seat 52. The rotating motor 59 is started, and the side carrying the local application and repair mechanism 57 is rotated and adjusted to face vertically downwards. Then, according to the amount of repair agent calculated by laser scanning, the first metering slurry pump 575 is started to quantitatively deliver the repair agent slurry in the storage tank 501 to the slurry application box 573. The first lateral movement component 571 drives the slurry application box 573 to reciprocate laterally, so that the repair agent slurry is evenly applied to the pitted area on the surface of the precast slab 100. The application scrapers 577 located on both sides of the slurry application box 573 are always in contact with the slab surface under the drive of the cylinder 576. With the reciprocating movement of the strip plate 572, the applied slurry is repeatedly scraped and pressed, so that it fully fills the pitted pits and smooths the surface, completing the repair of a large area.

[0039] like Figure 4 and Figure 9As shown, the single-point precision repair mechanism 58 includes a second lateral movement component 581 disposed on the side of the rotating carrier 56. The second lateral movement component 581 has the same structure as the first lateral movement component 571 and can adopt a servo-controlled belt drive and guide sliding combination structure or a servo-controlled screw drive mechanism. A vertical movement adjustment component is connected to the second lateral movement component 581. The vertical movement adjustment component includes a vertical frame 582. One end of the vertical frame 582 is provided with a servo-controlled screw motor 583. The output end of the screw motor 583 is connected to a vertical screw 584 located in the vertical frame 582. A slide rail 585 parallel to the vertical screw 584 is fixed on the vertical frame 582. A sliding block 580 is slidably disposed on the slide rail 585. The sliding block 580 has a threaded hole adapted to the vertical screw 584. The sliding block 580 has a slurry extrusion nozzle 586 with its tip pointing outwards on its side. The side end of the slurry extrusion nozzle 586 is connected to a second slurry delivery pipe 587. A second metering slurry pump 588 is installed in the middle of the second slurry delivery pipe 587. The end of the second metering slurry pump 588 is connected to the slurry storage tank 501. Finally, an outwardly extending scraper plate 589 is fixedly installed at the rear end of the side of the rotating carrier 56.

[0040] When the combined detection unit 40 detects isolated pits or cracks on the surface of the precast slab 100, the rotating carrier 56 is moved to directly above the area by the lateral movement of the gantry frame 21 and the longitudinal movement of the moving seat 52. The rotating motor 59 is then activated, rotating and adjusting the side carrying the single-point precision repair mechanism 58 so that it faces vertically downwards. Next, based on the three-dimensional defect data obtained by laser scanning, the control system calculates the required amount of repair agent and the movement trajectory of the slurry extrusion nozzle 586.

[0041] When repairing isolated pits, the second lateral movement component 581 and the vertical movement adjustment component move the slurry extrusion nozzle 586 directly above and align it with the pit. The second metering slurry pump 588 then extrudes the repair agent slurry according to the calculated dosage, filling the pit. When repairing cracks, the control system plans a path based on the crack trajectory obtained by laser scanning, driving the slurry extrusion nozzle 586 to move along the crack. Simultaneously, the second metering slurry pump 588 extrudes slurry, achieving continuous filling of the crack. Finally, after filling is completed, the moving frame 20 continues to move forward, and the scraper plate 589 fixed to the rear end of the rotating carrier 56 slides across the surface of the repair area, scraping away and smoothing off any excess repair agent protruding from the plate surface, ensuring the smoothness of the repaired surface. The overall operation control logic of the equipment is as follows: Figure 10 As shown. Example 2

[0042] Example 2 discloses a precast component surface defect detection and intelligent repair device that is further optimized based on Example 1. The similarities with Example 1 will not be repeated here. In this Example 2, a surface pretreatment mechanism 60 is also provided on the side of the rotating carrier 56 between the local coating repair mechanism 57 and the single-point precision repair mechanism 58.

[0043] like Figure 4 and Figure 5 As shown, in this embodiment 2, the surface pretreatment mechanism 60 is disposed on the lower side of the rotating carrier 56, and the local coating and trimming mechanism 57 and the single-point precision repair mechanism 58 are respectively located on the left and right sides of the rotating carrier 56. The surface pretreatment mechanism 60 includes a grinding roller 61 and a spray pipe 62. The spray pipe 62 is disposed in front of the grinding roller 61, and its end is connected to the storage tank 65 through the infusion pipe 63 and the infusion pump 64. A row of nozzles is evenly arranged on the spray pipe 62 parallel to the lower end of the segment of the grinding roller 61. The roller shaft at one end of the grinding roller 61 is connected to a fixedly installed grinding motor 66 through a transmission belt or transmission wheel.

[0044] When pretreatment of the area to be repaired is required, the rotary motor 59 drives the rotary carrier 56 to rotate, adjusting the surface pretreatment mechanism 60 to face vertically downwards. First, the grinding motor 66 is started to drive the grinding roller 61 to rotate at high speed, while the moving frame 20 moves back and forth along the travel track 22, so that the grinding roller 61 grinds and removes the protruding slurry nodules on the surface of the precast slab; the dust generated during the grinding process is collected by an external dust collection device (not shown in the figure). After grinding is completed, the infusion pump 64 is started, and the spray pipe 62 sprays and wets the ground area, providing good base conditions for the subsequent application of the repair agent.

[0045] After the pretreatment is completed, the rotary motor 59 drives the rotary carrier 56 to rotate again. Depending on the defect type, the local application and repair mechanism 57 or the single-point precision repair mechanism 58 is switched to the working position. The repair agent is applied or filled according to the method described in Example 1, and finally the repair is completed by scraping.

[0046] In this embodiment 2, the surface pretreatment mechanism 60 is designed to effectively remove protruding slurry nodules on the surface of the precast slab before repair and to wet the repair substrate, so as to avoid damage to the subsequent application scraper 577 or scraper plate 589 due to protrusions during operation and ensure repair quality.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for detecting and intelligently repairing surface defects in precast components, characterized in that, include: Conveying platform, used to support and transport prefabricated components; A movable frame is arranged across the conveyor support platform and moves along its length. A combined detection unit, mounted on the mobile frame, is used to perform online detection on the surface of precast components and obtain the location and three-dimensional data of defects. The control cabinet is electrically connected to the combined detection unit. Its internal control processing module calculates the amount of repair agent required for defect repair based on the three-dimensional data and generates control commands. The intelligent trimming mechanism is mounted on a movable frame directly above the conveyor platform and is electrically connected to the control cabinet. It trims defects on the surface of the precast components according to control commands. The intelligent trimming mechanism includes: A rotating carrier is rotatably mounted on the movable frame; A local coating and repair mechanism is set on the first side of the rotating carrier and is used to uniformly coat and repair large-area pitted defects. A single-point precision repair mechanism is set on the second side of the rotating carrier and is used to fill and repair isolated pits or cracks at specific points. A rotary drive assembly, which is connected to the rotary carrier, is used to drive the rotary carrier to rotate so as to switch the local application and repair mechanism or the single-point precision repair mechanism to the working position according to the defect type.

2. The precast component surface defect detection and intelligent repair equipment according to claim 1, characterized in that, The combined detection unit includes an industrial camera and a laser scanning mechanism; the industrial camera is used to acquire image information of the surface of the prefabricated component, identify defect areas and determine their coordinate positions; the laser scanning mechanism includes a laser scanner and a first longitudinal moving component that drives the laser scanner to move, and the laser scanner performs three-dimensional scanning on the defect areas identified by the industrial camera.

3. The precast component surface defect detection and intelligent repair equipment according to claim 1, characterized in that, The localized application and finishing mechanism includes: The first lateral movement component is disposed on the side of the rotating carrier; A strip plate is connected to the first lateral movement component to achieve lateral movement; A slurry coating box is disposed on the strip plate, with its discharge end facing the surface of the precast component; The first metering slurry pump is connected at both ends to the slurry coating box and the slurry storage tank respectively through the first slurry delivery pipe, and is used to quantitatively deliver the repair agent slurry to the slurry coating box; A scraper, set on the strip plate and driven by a cylinder, contacts the surface of the precast component to scrape and press the applied repair agent slurry into the pitted surface and smooth the surface.

4. The precast component surface defect detection and intelligent repair equipment according to claim 1, characterized in that, The single-point precision repair mechanism includes: The second lateral movement component is disposed on the side of the rotating carrier; A vertical movement adjustment component is connected to the second horizontal movement component to achieve horizontal movement; A slurry extrusion nozzle is disposed on the second lateral moving component to achieve vertical movement; The second metering slurry pump is connected at both ends to the slurry extrusion nozzle and the slurry storage tank respectively through the second slurry delivery pipe, and is used to quantitatively deliver the repair agent slurry to the slurry extrusion nozzle; A scraper plate is fixedly installed on the side of the rotating carrier and is used to scrape off and smooth the excess repair slurry on the surface of the precast component during the movement of the moving frame.

5. The precast component surface defect detection and intelligent repair equipment according to claim 4, characterized in that, The vertical movement adjustment assembly includes a vertical frame connected to the second horizontal movement assembly. The vertical frame is provided with a vertical lead screw and a slide rail parallel to the vertical lead screw. One end of the vertical lead screw is connected to a lead screw motor. The slide rail is provided with a sliding block that is threadedly engaged with the vertical lead screw. The slurry extrusion nozzle is fixedly mounted on the sliding block.

6. The precast component surface defect detection and intelligent repair equipment according to claim 1, characterized in that, A surface pretreatment mechanism is provided on the side of the rotating carrier located between the local coating and repair mechanism and the single-point precision repair mechanism. The surface pretreatment mechanism is used to grind and wet the surface of the precast component before the defect repair operation.

7. The precast component surface defect detection and intelligent repair equipment according to claim 6, characterized in that, The surface pretreatment mechanism includes a grinding roller and a spray pipe; the grinding roller is driven by a grinding motor and is used to remove protruding slurry nodules from the surface of the precast component; the spray pipe is connected to a storage tank through a liquid inlet pipe and a liquid inlet pump, and is equipped with several nozzles for spraying and wetting the surface of the precast component.

8. The precast component surface defect detection and intelligent repair equipment according to claim 1, characterized in that, The mobile frame includes a gantry frame body and a traveling track. Two traveling tracks are arranged on both sides of the conveying platform. The lower ends of both sides of the gantry frame body are provided with traveling parts that interact with the traveling tracks. A rack is fixed on the traveling track, and a first gear driven by a traveling motor and meshing with the rack is provided on the traveling part.

9. The precast component surface defect detection and intelligent repair equipment according to claim 1, characterized in that, The intelligent trimming mechanism also includes a second longitudinal moving component mounted on the gantry frame. A moving seat is connected to the second longitudinal moving component. A lifting device is mounted on the moving seat. An end plate is connected to the lower end of the lifting device. A bearing column is fixed on the end plate along the forward direction of the gantry frame. The rotating carrier is rotatably mounted on the bearing column.

10. The precast component surface defect detection and intelligent repair equipment according to claim 9, characterized in that, The rotating carrier has an end ring rotatably connected to the support column on its end face, and a second gear is provided on the end ring; the rotating drive assembly includes a rotating motor fixed on the support column, and a third gear meshing with the second gear is provided on the motor shaft of the rotating motor.

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