An adaptive anchoring integrated construction device and a construction method thereof

Abstract

This invention discloses a construction method for an adaptive integrated anchoring construction device, comprising a fixed plate with a movable plate slidably connected to its upper surface; an mounting plate mounted on the movable plate; a sliding frame slidably connected to the mounting plate, the sliding frame being lockable along its sliding position on the mounting plate; and a drilling sleeve slidably connected to the sliding frame, the drilling sleeve being lockable along its sliding position on the sliding frame. Using these components, a detection component can be used to detect the wall strength and generate a degradation grading heat map, adjusting the anchoring points to the medium-to-high strength region. When the centroid offset is excessive, the anchor bolts are compensated in the adjacent medium-to-high strength region, ensuring uniform anchoring force distribution while reducing the probability of anchoring failure. The horizontal position of the drilling sleeve is adjusted by sliding the drilling sleeve, and the vertical position of the drilling sleeve is adjusted by sliding the sliding frame, ensuring that the drilling sleeve corresponds to the adjusted anchoring point, suitable for different anchoring requirements.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to an adaptive anchoring integrated construction device and its construction method. Background Technology

[0002] After long-term service, the exterior walls of old residential buildings generally suffer from deterioration such as hollow plaster, cracking, and crumbling. In the current technology, the anchor bolt hole positions still rely on manual marking and positioning, without taking into account the actual deterioration distribution of the wall surface. When the anchor hole happens to fall in a hollow or low-strength area, the effective anchoring depth of the anchor bolt is insufficient, resulting in the anchoring force not meeting the design requirements and a significantly increased probability of anchoring failure. Summary of the Invention

[0003] A positioning drilling module includes: a fixed plate with a movable plate slidably connected to its upper surface; a mounting plate mounted on the movable plate; a sliding frame slidably connected to the mounting plate, the sliding frame being lockable along its sliding position on the mounting plate; and a drilling sleeve slidably connected to the sliding frame, the drilling sleeve being lockable along its sliding position on the sliding frame. Using these components, the vertical position of the corresponding drilling sleeve can be adjusted by sliding the sliding frame, and the horizontal position of the drilling sleeve located within the sliding frame can be adjusted. This allows the drilling sleeve to be adjusted to the position corresponding to the drilling point, enabling anchoring of insulation boards of different sizes. The anchoring point can also be adjusted according to the wall conditions. After adjustment, the sliding frame and drilling sleeve are fixed by tightening the bolts of the corresponding components. Operators can then pass an electric hammer drill through the drilling sleeve to drill holes, preventing drilling deviation.

[0004] Furthermore, bolts and nuts are provided between the sliding frame and the mounting plate. The nuts of the bolts are located on the front of the sliding frame and the back of the mounting plate, respectively. By tightening the bolts and nuts, the sliding frame and the mounting plate can be pressed together, and the sliding frame can be locked by friction. Bolts are provided between the drilling sleeve and the sliding frame. The bolt shank is threadedly connected to the drilling sleeve, and the nut of the bolt is located on the outside of the sliding frame. By tightening the bolts, the drilling sleeve can be pressed against the inside of the sliding frame, and the drilling sleeve can be locked by friction.

[0005] Furthermore, the mounting plate is equipped with vacuum suction cups, which are corrugated sponge rubber composite suction cups. The sealing lip is made of closed-cell EPDM foam rubber with a thickness of 8-12mm and a Shore A hardness of A20-30. It can adaptively deform and seal under conditions where the wall surface flatness deviation is 3-5mm. The working vacuum degree is -40kPa to -60kPa, and the suction force of a single plate is not less than 300N. The template 41 also has bolt holes at its four corners for mechanical fixation with M6×80mm nylon expansion bolts in areas where vacuum adsorption fails. With these components, the mounting plate can be quickly fixed and disassembled, and it is easy to drill holes using a drilling sleeve. The use of corrugated sponge rubber composite suction cups is specifically designed for the exterior walls of old buildings, reducing the probability of adsorption failure.

[0006] Furthermore, a laser locator is mounted on the mounting plate. The laser locator includes a laser emitter and a dual-axis galvanometer positioned in the optical path. The dual-axis galvanometer is driven by a stepper motor to deflect around two mutually perpendicular axes, with a deflection angle range of ±15° and a positioning accuracy of ±0.1°. The system also includes a control system that controls the galvanometer deflection angle based on the anchor point coordinates output by an optimized algorithm, allowing the laser points to be projected sequentially or cyclically to the target positions of each anchor point. Through these components, the stepper motor can control the dual-axis galvanometer to rotate around the X and Y axes respectively, thereby adjusting the laser emitter's laser illumination points. This allows for rapid cyclic illumination of multiple points, utilizing the persistence of vision effect to make multiple marked points visible simultaneously.

[0007] An adaptive anchoring integrated construction device includes a positioning drilling module as described above, and further includes a walking component, a lifting component, and a detection component. The walking component is equipped with hydraulic outriggers. The lifting component is mounted on the upper surface of the walking component, and a working platform is mounted on the top of the lifting component. The working platform is equipped with railings and working railings. The detection component is mounted on the working railings, and the top of the working railings is fixedly connected to the lower surface of a fixed plate. The working platform, with railings and working railings, has a height of not less than 1.2m and a 180mm high toe board, a platform width of not less than 0.8m, and a load-bearing capacity of not less than 200kg. The hydraulic outriggers include a hydraulic system for driving the lifting and lowering of the bottom walking component. The outriggers also include hydraulic cylinders and control valve groups. When the piston rod of the hydraulic cylinder extends, it can lift the bottom walking component off the ground. The control valve group is used to control the action of the hydraulic cylinder. The specific oil circuit connections and valve group configuration of the hydraulic system refer to the hydraulic support system of existing self-propelled aerial work platforms. With the above components, operators can stand on the work platform to complete the alignment and adjustment of the drilling sleeve, drilling with an electric hammer drill, and anchor bolt installation. The vertical position of the work platform can be adjusted by the lifting component, and the horizontal position of the work platform can be adjusted by the walking component, thereby detecting various positions of the wall and anchoring the insulation board. After reaching the corresponding position, the walking component can be lifted by extending the hydraulic outriggers to remove it from contact with the ground, thereby preventing the walking component from moving.

[0008] Furthermore, the walking component is a tracked electric chassis with a maximum walking speed of 0.5 m / s, capable of autonomous movement on temporary construction access roads erected around the building; the lifting component is a scissor lift platform with a maximum lifting height of 20 m and a positioning accuracy of ±5 mm. These components enable the insulation renovation of the majority of older six-story residential buildings, with a maximum walking speed set to prevent operators from being thrown off the work platform.

[0009] Furthermore, the work platform is equipped with a power supply, a processor, and a controller, all of which are electrically connected to the laser positioner, the walking mechanism, the hydraulic outriggers, the lifting mechanism, and the detection mechanism. These components provide power to the laser positioner, the walking mechanism, the hydraulic outriggers, the lifting mechanism, and the detection mechanism; the processor processes information; and the controller allows for manual or automatic operation.

[0010] Furthermore, the detection component includes a hanging frame, a rebound hammer module, an infrared thermal imaging sensor, and an acoustic wave detector; the rebound hammer module, infrared thermal imaging sensor, and acoustic wave detector are installed inside the hanging frame, which is mounted on the work railing; the rebound hammer module is used to detect the surface hardness of the wall at an array spacing of 4-8 cm and output the rebound value R; the infrared thermal imaging sensor is used to acquire the wall surface temperature distribution with a resolution of no more than 0.05℃ and output the temperature difference ΔT; the acoustic wave detector is used to emit and receive sound waves in the 16-20kHz frequency band. The system uses reflected signals to detect hollow areas within the wall surface and outputs a frequency offset Δf. The detection component also includes a built-in data processing unit that converts the rebound value R into bonding strength σ (σ = 0.006R + 0.02, unit MPa), and jointly determines the boundary of the hollow area using the temperature difference ΔT and frequency offset Δf. This comprehensive analysis generates a wall surface deterioration grading heat map, classifying the wall surface into three grades based on bonding strength: Grade A (σ ≥ 0.15 MPa), Grade B (0.08 MPa ≤ σ < 0.15 MPa), and Grade C (σ < 0.08 MPa). Through these components, the condition of various locations within the wall can be detected, and corresponding deterioration grading heat maps can be generated. This allows for adjustment of anchoring points, ensuring the anchoring effect of the anchor bolts and reducing the probability of anchoring failure.

[0011] The "Technical Specification for Testing the Compressive Strength of Concrete by Ultrasonic Rebound Method" is an industry standard that regulates and guides the application of the ultrasonic rebound method. The publication and implementation of this specification indicates that the integrated testing of rebound and ultrasonic methods has been incorporated into industry standards as a mature technology. It is feasible to test the wall using a rebound hammer module, an infrared thermal imaging sensor, and an acoustic detector to obtain a thermal map of deterioration grading.

[0012] Before using the rebound hammer module, the instrument should be placed at room temperature for at least 24 hours to eliminate the influence of temperature difference. When using the rebound hammer module, it should be calibrated with a standard steel anvil to ensure that it is in normal condition. The axis of the rebound hammer must always be perpendicular to the surface being measured, and pressure should be applied evenly and slowly. The infrared thermal imaging sensor must not be used outdoors in rainy or snowy weather, and should be kept away from fog and haze to prevent measurement errors. During operation, direct sunlight or strong light should be avoided on the instrument and the object being measured to avoid reflection interference or causing overestimation of temperature. The acoustic wave detector should be kept away from ventilation equipment and strong airflow to prevent wind from affecting the sound wave propagation distance and potentially causing misjudgment. Large-scale airflow and too many doors and windows should be avoided to reduce false alarms.

[0013] The detection component generates thermal map data for wall deterioration grading, adjusts anchor points in the C-level area, automatically avoids the C-level area and adjusts them to adjacent B-level or higher areas, while meeting the arrangement requirements of anchor bolt spacing of 300-500mm and edge distance of not less than 100mm; the laser locator projects anchor point marks on the wall surface using the optimized anchor point coordinate matrix provided by the detection component; the laser emitter is a red semiconductor laser with a wavelength of 650nm and a power ≤5mW, conforming to the Class I laser safety standard of GB 7247.1; the perpendicularity deviation between the axis of the drilling sleeve and the plane of the mounting plate is not greater than 2°; the detection component generates thermal map data for wall deterioration grading, which is a commonly used detection method in the existing construction field and has technical support. Using the above components, the anchoring points are adjusted based on the degradation grading heat map, and the data is sent to the processor. The processor then transmits the point information to the controller, which controls the laser locator to irradiate the corresponding anchoring points, eliminating the need for operators to locate the anchoring points by comparing them with the heat map.

[0014] A construction method for an adaptive anchoring integrated construction device includes the following steps:

[0015] S1. Device positioning and parameter setting: Move the integrated construction device to the starting position of the wall to be constructed, adjust the initial height of the lifting component according to the height of the wall, set the detection travel speed to 0.1-0.3m / s, set the anchor bolt spacing to 300-500mm, and set the edge distance to not less than 100mm.

[0016] S2. Intelligent detection and grading of wall deterioration: The detection and grading are carried out in batches according to construction sections. The width of a single construction section is 3-6m (corresponding to a unit wall). The detection component is activated, and the walking component is controlled to move horizontally along the wall. The lifting component cooperates with the detection component to lift and scan column by column, and simultaneously collects the rebound value R, infrared temperature difference ΔT and sound wave frequency offset Δf. The data processing unit generates a heat map of wall deterioration grading for this construction section in real time and marks it with three colors: A / B / C.

[0017] S3. Selective base treatment: Based on the deterioration grading heat map of this construction section produced in step S2, only the C-level areas are removed and redone, with the removal boundary extending at least 50mm beyond the edge of the C-level area; the B-level areas are locally repaired and leveled using polymer-modified mortar; and the A-level areas are cleaned.

[0018] S4. Anchorage point adaptive optimization: Import the heat map data of the deterioration classification of this construction section into the positioning borehole module, mark the target anchorage point that falls in the C-level area, adjust the corresponding anchorage point to the nearest B-level area, and output the optimized anchorage point coordinate matrix.

[0019] If most of the anchor points of the insulation board are located in a Class C area, the plaster layer in that area should be removed and redone, and longer anchor bolts should be used for installation.

[0020] S5. Drilling Positioning and Drilling: The mounting plate is attached to the wall by vacuum suction cup. The laser positioner projects anchor point marks. The drilling sleeve is adjusted to align with the marks. The electric hammer drill is guided and positioned by the drilling sleeve. Holes are drilled one by one at each point to prevent the electric hammer drill from deviating during drilling.

[0021] S6. Anchor installation: Inject anchoring adhesive into the drilled hole and insert the anchor bolt. The anchoring depth of the anchor bolt shall not be less than 50mm. After the anchoring adhesive has cured, proceed to the next construction step.

[0022] S7. Repeated construction: Repeat steps S2-S6 to complete the construction of each construction section.

[0023] Furthermore, in step S2, the rebound value R is converted into the bonding strength σ using the formula σ=0.006R+0.02. Grade A corresponds to σ≥0.15MPa, Grade B corresponds to 0.08MPa≤σ<0.15MPa, and Grade C corresponds to σ<0.08MPa.

[0024] Furthermore, in step S3, the water-cement ratio of the polymer-modified mortar used for repairing the B-level area is 0.35-0.40, the polymer content is 3%-5% of the mass of the cementitious material, and the repair thickness does not exceed 1.5 times the thickness of the original plaster layer.

[0025] Furthermore, in step S4, when the anchor bolt density per square meter does not meet the standard, the anchoring points are determined point by point from the edge of the B-level area to the center until the required density of at least 6 anchor bolts per square meter is met. During the optimization of the anchoring points, it should be ensured that the number of anchor bolts within the range of a single insulation board is not less than the design value, and the centroid of each anchor bolt after adjustment should not deviate from the original design centroid by more than 50mm. When the deviation exceeds this limit, additional anchor bolts are added in the adjacent B-level area to compensate for the deviation of the centroid and ensure that the anchoring force of the insulation board is uniform.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The vertical position of the corresponding drilling sleeve can be adjusted by sliding the sliding frame. The horizontal position of the drilling sleeve located in the sliding frame can be adjusted to the position corresponding to the drilling point. After adjustment, the sliding frame and drilling sleeve can be fixed by tightening the bolts of the corresponding parts. The operator can drill through the drilling sleeve with an electric hammer drill to prevent drilling deviation and can adjust the drilling position according to the wall conditions.

[0028] 2. By integrating a rebound hammer, an infrared thermal imaging sensor, and an acoustic detector, a thermal map of degradation grading is drawn, and targets falling in low-intensity areas are marked and adjusted to nearby medium-to-high-intensity areas. At the same time, the centroid offset distance is detected. If the centroid offset exceeds the specified range, it will cause uneven anchoring force of the insulation board, that is, cause the centroid of the insulation board to shift. At this time, the anchor bolts in the nearby medium-to-high-intensity areas are compensated to adjust the position of the centroid of the insulation board, ensuring uniform distribution of anchoring force while reducing the probability of anchoring failure.

[0029] 3. By transmitting the optimized anchoring point coordinate matrix to the laser locator, and then driving the dual-axis galvanometer to deflect around two mutually perpendicular axes by the internal stepper motor, the laser emitter's laser landing point is adjusted. This allows the laser locator to mark each point in the anchoring point coordinate matrix, enabling the operator to mark them with a marker. Subsequently, the anchoring points are scanned cyclically at a certain frequency. Utilizing the persistence of vision effect, multiple marked points are visible simultaneously, facilitating the operator to align the drilling sleeve with the anchoring point. Attached Figure Description

[0030] Figure 1 This is an overall structural diagram of the positioning drilling module;

[0031] Figure 2 A rear structural diagram of the positioning drilling module;

[0032] Figure 3 Exploded view of the positioning drilling module;

[0033] Figure 4 A front cross-sectional view of the drilling sleeve for positioning the drilling module;

[0034] Figure 5 This is a structural diagram of the adaptive anchoring integrated construction device.

[0035] Figure 6 A thermal map showing the degradation grading of anchorage points;

[0036] Figure 7 Diagram showing the centroid position of the insulation board for adjusting anchoring points;

[0037] Figure 8 A thermal map to compensate for the deterioration of anchorage points;

[0038] Figure 9 Diagram showing the centroid position of the insulation board at the anchoring points.

[0039] Legend:

[0040] 1. Fixed plate; 11. Moving plate; 2. Mounting plate; 21. Vacuum suction cup; 22. Laser positioner; 3. Sliding frame; 4. Drilling sleeve; 5. Walking component; 51. Hydraulic outrigger; 6. Lifting component; 61. Working platform; 62. Guardrail; 7. Detection component; 71. Lifting frame; 72. Rebound hammer module; 73. Infrared thermal image sensor; 74. Acoustic wave detector. Detailed Implementation

[0041] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0042] Example 1

[0043] like Figure 1 and Figure 2 The positioning drilling module shown includes: a fixed plate 1, with a movable plate 11 slidably connected to the upper surface of the fixed plate 1; a mounting plate 2, which is mounted on the movable plate 11; a sliding frame 3, which is slidably connected to the mounting plate 2, and the sliding frame 3 can be locked at a sliding position along the mounting plate 2; and a drilling sleeve 4, which is slidably connected to the sliding frame 3, and the drilling sleeve 4 can be locked at a sliding position along the sliding frame 3.

[0044] The horizontal position of the sliding drilling sleeve 4 can be adjusted, and the vertical position of the internal drilling sleeve 4 can be adjusted by sliding the sliding frame 3, so that the drilling sleeve 4 can be connected with the point that needs to be anchored, and the drilling sleeve 4 and the sliding frame 3 can be locked, so that the operator can guide the electric hammer drill through the drilling sleeve 4 and ensure that the electric hammer drill can drill holes stably.

[0045] Bolts and nuts are provided between the sliding frame 3 and the mounting plate 2. The bolt nuts and nuts are located on the front of the sliding frame 3 and the back of the mounting plate 2, respectively. By tightening the bolts and nuts, the sliding frame 3 and the mounting plate 2 can be pressed together, and the sliding frame 3 can be locked by friction. Bolts are provided between the drilling sleeve 4 and the sliding frame 3. The bolt shank is threadedly connected to the drilling sleeve 4, and the bolt nut is located on the outside of the sliding frame 3. By tightening the bolts, the drilling sleeve 4 can be pressed against the inside of the sliding frame 3, and the drilling sleeve 4 can be locked by friction.

[0046] Vacuum suction cup 21 is installed on mounting plate 2. Vacuum suction cup 21 is a corrugated sponge rubber composite suction cup. The sealing lip is made of closed-cell EPDM foam rubber with a thickness of 8-12mm, Shore hardness A20-30, working vacuum degree of -40--60kPa, and single-cup adsorption force ≥300N. Vacuum suction cup 21 is connected to power supply and control system by wires.

[0047] When the vacuum suction cup 21 is activated, it can be adsorbed onto the wall to fix the mounting plate 2, which is especially suitable for fixing the exterior walls of old buildings.

[0048] A laser positioner 22 is installed on the mounting plate 2. The laser positioner 22 includes a laser emitter and a dual-axis galvanometer set in the optical path. The dual-axis galvanometer is driven by a stepper motor to deflect around two mutually perpendicular axes. The deflection angle range is ±15° and the positioning accuracy is ±0.1°. The control system controls the deflection angle of the galvanometer according to the anchor point coordinates output by the optimization algorithm, so that the laser point is projected sequentially or cyclically to the target position of each anchor point. The laser positioner 22 is connected to the power supply and control system wires.

[0049] By driving a stepper motor to deflect a dual-axis galvanometer around two mutually perpendicular axes, the laser positioner 22 can irradiate the points on the insulation board that need to be anchored, making it easy for operators to mark the anchoring points. It can also irradiate cyclically at a certain frequency, and by utilizing the persistence of vision effect, multiple anchoring points can be seen simultaneously.

[0050] Example 2

[0051] like Figure 1-3 The adaptive anchoring integrated construction device, based on Embodiment 1, further includes a walking component 5, a lifting component 6, and a detection component 7. The walking component 5 is equipped with hydraulic outriggers 51. The lifting component 6 is installed on the upper surface of the walking component 5. A working platform 61 is installed at the top of the lifting component 6. The working platform 61 is provided with guardrails 62 and working railings 63. The detection component 7 is installed on the working railings 63. The top of the working railings 63 is fixedly connected to the lower surface of the fixing plate 1.

[0052] The upper component can be controlled to move horizontally along the side of the wall via the walking component 5, and the height of the upper component can be adjusted via the lifting component 6, thereby enabling the inspection and drilling of various parts of the entire wall surface; hydraulic outriggers 51 are provided on the surface of the walking component 5, which, when extended, can touch the ground and lift the walking component 5 and the upper component, so that the walking component 5 is no longer in contact with the ground and prevents the walking component 5 from moving; a working platform 61 is provided for operators to work on its upper surface, and a guardrail 62 is provided on the working platform 61 to prevent operators from falling.

[0053] The walking component 5 is a tracked electric chassis with a maximum walking speed of 0.5m / s; the lifting component 6 is a scissor lift platform with a maximum lifting height of 20m and a positioning accuracy of ±5mm.

[0054] The work platform 61 is equipped with a power supply, a processor, and a controller, all of which are electrically connected to the laser positioner 22, the walking component 5, the hydraulic outriggers 51, the lifting component 6, and the detection component 7.

[0055] It supplies power to the laser positioner 22, walking component 5, hydraulic outrigger 51, lifting component 6, rebounder module 72, infrared thermal image sensor 73 and acoustic detector 74, processes information through the processor, and controls them manually or automatically through the controller.

[0056] The detection component 7 includes a hanging frame 71, a rebound hammer module 72, an infrared thermal image sensor 73, and an acoustic detector 74. The rebound hammer module 72, infrared thermal image sensor 73, and acoustic detector 74 are installed inside the hanging frame 71, which is mounted on the work railing 63. This allows operators to easily use the rebound hammer module 72, infrared thermal image sensor 73, and acoustic detector 74 for detection, or to remove the rebound hammer module 72, infrared thermal image sensor 73, and acoustic detector 74 for individual use.

[0057] Example 3

[0058] Taking the exterior wall insulation renovation project of a six-story brick-concrete structure old residential building in a certain city, built in 1995, as an example, the building's exterior walls consist of 240mm thick solid clay brick walls (the original wall structure was retained during the building energy-saving renovation), with a 20mm thick cement mortar surface layer applied. Preliminary investigation revealed that the wall surface had a hollow rate of approximately 35%, with cracks and peeling in multiple areas of the plaster layer, and the measured bonding strength was unevenly distributed within the range of 0.05-0.18MPa. The proposed exterior wall insulation renovation project utilizes a 60mm thick B1 grade extruded polystyrene board (XPS) thin-plaster exterior wall insulation system.

[0059] A construction method for an adaptive anchoring integrated construction device includes the following steps:

[0060] S1. Device Placement and Parameter Setting: Construct a 1.2m wide temporary steel pipe scaffolding construction passage (compliant with JGJ 130 standard) around the building perimeter, and hoist the traveling component 5 onto the passage. Adjust the initial height of the lifting component 6 to 0.5m above the ground, set the detection travel speed to 0.2m / s, and set the anchor bolt spacing to 400mm and the edge distance to 120mm.

[0061] S2. Intelligent Detection and Grading of Wall Deterioration: The construction wall is divided into several construction sections, each approximately 5m wide (corresponding to the exterior wall of one residential unit), with a total of 6 construction sections for the entire building. The detection component 7 is activated, and the rebound hammer module 72 prioritizes detecting and collecting the rebound value R at the original drilling points of the insulation board. The rebound value R is converted into the bonding strength σ using the formula σ=0.006R+0.02. Grade A corresponds to σ≥0.15MPa, Grade B corresponds to 0.08MPa≤σ<0.15MPa, and Grade C corresponds to σ<0.08MPa. If the detection... If the bonding strength of a test point falls within the C-level area, then tests are conducted point by point on the wall surface at 50mm intervals, starting from the initial test point and expanding outwards until a B-level area is detected. Then, tests are conducted point by point outwards from the B-level area to determine the bonding strength of the surrounding wall areas. An infrared thermal imager 73 continuously collects the wall surface temperature distribution at a resolution of 0.04℃. An acoustic wave detector 74 emits sound waves at a center frequency of 18kHz and receives reflected signals, moving at a constant speed of 0.2m / s. After each column of the lifting column 2 completes its rotation, the chassis moves 0.5m to the next column. Testing is conducted in batches according to construction sections. In this embodiment, the first construction section (5m wide × 15m high = 75㎡) took approximately 25 minutes to test. During the testing process, the data processing unit calculates and displays the wall surface deterioration grading thermal map for this construction section in real time.

[0062] The results of the building-wide inspection in this embodiment show that: Grade A areas account for 42% (mainly distributed in the middle of the walls), Grade B areas account for 23% (distributed at the floor junctions and around pipelines), and Grade C areas account for 35% (concentrated in the plinth area of ​​the ground floor and the eaves area of ​​the top floor).

[0063] S3. Selective Base Treatment: Based on the graded heat map of this construction section, only the plaster layer in the C-grade areas is removed using an electric pick and then redone, with the removal boundary extending 60mm beyond the edge of the C-grade area. For the B-grade areas, 1:2.5 polymer-modified cement mortar (water-cement ratio 0.38, polymer content 4%) is used for localized filling and leveling, with the repair thickness controlled at 15-25mm, and cured for no less than 48 hours. For the A-grade areas, surface dust is cleaned with a wire brush and then blown clean with high-pressure air. In this embodiment, the total base treatment area for the entire building is 1050㎡ (accounting for 35% of the total area), reducing waste by approximately 11 tons compared to a complete removal plan.

[0064] S4. Anchorage Point Adaptive Optimization: Import the graded heat map data of this construction section into the processor of the positioning drilling module, mark the anchorage points falling in the C-level area, and adjust the corresponding anchorage points to the nearest B-level area, with the goal of minimizing the total number of anchorage points (no less than six per square meter). At the same time, verify that the number of anchors within a single insulation board (600×1200mm) is no less than the design value (eight / board), and that the centroid of each anchor after adjustment does not deviate from the original design centroid by more than 50mm. In this embodiment, a total of 16,200 anchorage points were generated (corresponding to 3,000㎡ of wall surface), all of which are located in the A-level (94%) and B-level (6%) areas, with no anchorage points falling in the C-level area. Among them, 12 panels had corner anchorage offsets exceeding 50mm, and an additional anchor was added to each of the adjacent qualified areas to compensate.

[0065] exist Figure 4 In the process, the original hole position fell within the Class C area. Adjusting the anchoring point to the adjacent Class B area caused a shift in the centroid position. Figure 5 In the middle, the centroid offset did not exceed the range;

[0066] exist Figure 6 In the process, the original hole position fell within the Class C area. Adjusting the anchoring point to the adjacent Class B area caused a shift in the centroid position. Figure 7 In the middle, the centroid offset exceeded the range, so compensation points were set in the B-level area to reduce the centroid offset, so that the compensated centroid returned to the centroid offset range, ensuring uniform anchoring force of the insulation board.

[0067] S5. Drilling Positioning and Drilling: The lifting component 6 raises the positioning drilling module and the working platform 61 to the target work position elevation. The operator stands on the working platform 61 (platform width 0.8m, railing height 1.2m, toe board 180mm), and fixes the mounting plate 2 to the wall surface by vacuum suction cup 21. The vacuum suction cup 21 uses a closed-cell EPDM foamed rubber sealing lip (thickness 10mm, Shore A25 hardness), which adaptively deforms and seals under the condition of a wall surface flatness deviation of 3-5mm. The suction pressure is -60kPa, and the actual suction force of a single cup is about 340N (theoretical 680N × reduction factor 0.5), and the total suction force of four cups is 1360N, with a safety factor ≥3. For areas with severe local sanding, M6×80mm nylon expansion bolts are used for temporary mechanical fixation at the bolt holes at the four corners of the mounting plate 2.

[0068] After the laser locator 22 is started, the built-in dual-axis galvanometer receives the coordinates of the four anchoring points (x and y offsets relative to the center of the mounting plate 2) sent by the controller. The stepper motor drives the galvanometer to deflect around the X and Y axes by the corresponding angles (deflection range ±15°, accuracy ±0.1°), projecting 650nm red laser dots sequentially onto the four target positions. Each position is paused for 0.5s for the operator to mark with a marker. Then the galvanometer scans the four points cyclically at a frequency of 5Hz, using the persistence of vision effect to make the four marked points visible simultaneously.

[0069] The operator adjusts the horizontal position of the drilling sleeve 4 by sliding the sliding frame 3, and adjusts the vertical position of the drilling sleeve 4. The four drilling sleeves 4 are then aligned with the four marks and tightened with bolts. A φ10mm electric hammer drill is used to drill holes in the wall through each drilling sleeve 4, preventing the drill from shifting. The drilling depth is 130mm (anchor bolt anchoring depth 50mm + insulation board thickness 60mm + leveling layer maximum thickness 20mm + allowance 10mm). After one set of holes is completed, the vacuum suction cup 21 is released, and the mounting plate 2 is moved to the next work station.

[0070] S6. Anchor Installation: Clean the dust from the hole with compressed air, inject epoxy resin anchoring adhesive to two-thirds of the hole depth, and insert φ8×150mm nylon expansion anchors with a disc diameter of 60mm. After the anchoring adhesive has cured for 2 hours at room temperature (25℃), a pull-out bearing capacity test is conducted. The measured tensile bearing capacity of the anchors is 0.38-0.45kN / anchor (design requirement ≥0.30kN / anchor), with a pass rate of 100%.

[0071] S7. Repeated construction: Repeat steps S2-S6 to complete the construction of each construction section.

[0072] The construction results of this embodiment are as follows: from the placement of the device to the completion of the installation of all anchors, the total construction period is 4.5 man-days, which is 70% shorter than the traditional process (15 man-days); the amount of waste material for base treatment is 9 tons, which is 55% less than the comprehensive removal plan (20 tons); after the construction is completed, the anchor pull-out bearing capacity of the external wall is randomly sampled (sampling rate 5‰, i.e., 81 points), and the pass rate is 100%.

Claims

1. A positioning drilling module, characterized in that, include: A fixed plate (1) is slidably connected to a movable plate (11) on its upper surface. Mounting plate (2), which is mounted on the movable plate (11); The sliding frame (3) is slidably connected to the mounting plate (2), and the sliding frame (3) can be locked along the sliding position of the mounting plate (2); Drilling sleeve (4) is slidably connected to sliding frame (3), and the position of drilling sleeve (4) along sliding frame (3) can be locked.

2. The positioning drilling module according to claim 1, characterized in that, The mounting plate (2) is equipped with a vacuum suction cup (21). The vacuum suction cup (21) is a corrugated sponge rubber composite suction cup. The sealing lip is made of closed-cell EPDM foam rubber with a thickness of 8-12mm, a Shore hardness of A20-30, a working vacuum degree of -40kPa to 60kPa, and a single-disc adsorption force of ≥300N.

3. A positioning drilling module according to claim 1, characterized in that, The mounting plate (2) is equipped with a laser locator (22), which includes a laser emitter and a dual-axis galvanometer set in the optical path. The dual-axis galvanometer is driven by a stepper motor to deflect around two mutually perpendicular axes. The deflection angle range is ±15° and the positioning accuracy is ±0.1°. The system also includes a control system that controls the galvanometer deflection angle according to the anchor point coordinates output by the optimization algorithm, so that the laser point is projected sequentially or cyclically to the target position of each anchor point.

4. An adaptive anchoring integrated construction device, characterized in that, The positioning drilling module according to any one of claims 1-3 further includes a walking component (5), a lifting component (6) and a detection component. The walking component (5) is equipped with hydraulic outriggers (51). The lifting component (6) is installed on the upper surface of the walking component (5). The top of the lifting component (6) is equipped with a working platform (61). The working platform (61) is provided with railings (62) and working railings (621). The detection component is installed on the working railings (621). The top of the working railings (621) is fixedly connected to the lower surface of the fixing plate (1).

5. The adaptive anchoring integrated construction device according to claim 4, characterized in that, The walking component (5) is a tracked electric chassis with a maximum walking speed of 0.5m / s; the lifting component (6) is a scissor lift platform with a maximum lifting height of 20m and a positioning accuracy of ±5mm.

6. The adaptive anchoring integrated construction device according to claim 4, characterized in that, The detection components include a hanging frame (71), a rebounder module (72), an infrared thermal image sensor (73), and an acoustic detector (74). The rebounder module (72), the infrared thermal image sensor (73), and the acoustic detector (74) are installed inside the hanging frame (71), which is mounted on the working railing (621).

7. A construction method for an adaptive anchoring integrated construction device, characterized in that, Includes the following steps: S1. Device positioning and parameter setting: Move the integrated construction device to the starting position of the wall to be constructed, set the detection travel speed to 0.1-0.3m / s, set the anchor bolt spacing to 300-500mm, and set the edge distance to ≥100mm; S2. Intelligent detection and grading of wall deterioration: carried out in batches according to construction sections, with a width of 3-6m for each construction section; start the detection component, control the walking component (5) to move horizontally along the wall, and the lifting component (6) to cooperate with the detection component to lift and scan column by column, and simultaneously collect the rebound value R, infrared temperature difference ΔT and sound wave frequency offset Δf to generate a thermal map of wall deterioration grading for this construction section. S3. Selective base treatment: Based on the graded heat map of this construction section, only the C-grade areas will be removed and redone, with the removal boundary extending at least 50mm beyond the edge of the C-grade area; the B-grade areas will be locally repaired and leveled using polymer-modified mortar; and the A-grade areas will undergo surface cleaning. S4. Anchorage point adaptive optimization: Import the graded heat map data of this construction section into the positioning borehole module, mark the target anchorage point that falls in the C-level area, adjust the corresponding anchorage point to the nearest B-level area, and output the optimized anchorage point coordinate matrix. S5. Drilling Positioning and Drilling: The mounting plate (2) is attached to the wall by vacuum suction cup (21), the laser positioner (22) projects the anchoring point mark, the drilling sleeve (4) is adjusted to be aligned with the mark, the electric hammer drill is guided and positioned by the drilling sleeve (4), and holes are drilled one by one at each point to prevent the electric hammer drill from deviating during drilling. S6. Anchor installation: Inject anchoring adhesive into the drilled hole and insert the anchor bolt. The anchoring depth of the anchor bolt is ≥50mm. After the anchoring adhesive has cured, proceed to the next construction step. S7. Repeated construction: Repeat steps S2-S6 to complete the construction of each construction section.

8. The construction method of the adaptive anchoring integrated construction device according to claim 7, characterized in that, In step S2, the rebound value R is converted into the bonding strength σ using the formula σ=0.006R+0.

02. Grade A corresponds to σ≥0.15MPa, Grade B corresponds to 0.08MPa≤σ<0.15MPa, and Grade C corresponds to σ<0.08MPa.

9. The construction method of the adaptive anchoring integrated construction device according to claim 7, characterized in that, In step S3, the water-cement ratio of the polymer-modified mortar used for repairing Class B areas is 0.35-0.40, the polymer content is 3%-5% of the mass of the cementitious material, and the repair thickness does not exceed 1.5 times the thickness of the original plaster layer.

10. The construction method of the adaptive anchoring integrated construction device according to claim 7, characterized in that, In step S4, when the anchor bolt density per square meter does not meet the standard, the anchoring points are determined point by point from the edge of the B-level area to the center until the required density of at least 6 anchor bolts per square meter is met. During the optimization of the anchoring points, it should be ensured that the number of anchor bolts within the range of a single insulation board is not less than the design value, and the centroid of each anchor bolt after adjustment should not deviate from the original design centroid by more than 50mm. When the deviation exceeds this limit, additional anchor bolts are added in the adjacent B-level area to compensate and reduce the centroid deviation.

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