A method of gullet control and gullet system thereof

Abstract

The application provides a chiseling control method and a chiseling system, S1, in the process of advancing along the to-be-processed base surface, the front concrete surface topography is collected in real time, the characteristic anchor point is identified as an absolute positioning reference, a local grid map is established, and the initial elevation of each coordinate point is recorded; S2, the feedback load characteristic value in the chiseling action execution process is obtained, the feedback load characteristic value is converted into the local hardness resistance function of the concrete of the current coordinate point based on the preset mapping model. The high-penetration millimeter wave radar is used to replace the vision camera, the optical blindness problem under the heavy dust working condition is solved, and the steel bar grid intersection point is innovatively used as the absolute positioning anchor point, so that the odometer drift caused by high-frequency vibration is completely eliminated. Secondly, the external mechanical sensor which is easy to be damaged is abandoned, the dynamic hardness mapping model is constructed by extracting the reaction load current of the variable frequency executing mechanism, zero-cost nondestructive hardness identification is realized, and hard area missed chiseling and soft area over cutting are accurately avoided.

Description

Technical Field

[0001] This invention relates to the field of construction machinery and equipment, and in particular to a chiseling control method and a chiseling system. Background Technology

[0002] In the secondary concrete pouring process of large-scale infrastructure projects such as bridges and small-section water diversion tunnels, roughening the surface of the old concrete is a crucial step in removing weak laitance and ensuring the bonding strength between the old and new structures. However, in extremely complex and harsh real-world working conditions, existing automated roughening equipment still suffers from the following insurmountable technical shortcomings: The surface hardness of concrete is extremely uneven (e.g., areas with high-hardness aggregate or weak laitance). Most existing equipment uses constant power or frequency mechanical output, making it unable to detect changes in the underlying resistance. When encountering hard areas, insufficient kinetic energy leads to missed areas or insufficient depth of cut; when encountering softer areas, excessive kinetic energy easily causes over-cutting, excessively damaging the base surface and even the internal reinforcing steel protective layer. Adding a dedicated mechanical sensor to the end effector is also highly susceptible to damage under severe vibration.

[0003] Manual spot checks are extremely difficult to perform in confined spaces. Existing equipment with automatic re-inspection capabilities typically relies on wheeled odometers to record the trajectory. Under the intense vibration of multiple cutter heads impacting the ground simultaneously, the errors of traditional odometers accumulate rapidly, causing drift. When a roughness defect is detected, the equipment cannot accurately return to the original defect coordinates, leading to the failure of automatic re-cutting and a lack of comprehensive quality control measures.

[0004] Therefore, a chiseling control method and its chiseling system are proposed to solve the above problems. Summary of the Invention

[0005] The main objective of this invention is to provide a chiseling control method and a chiseling system to solve the problem of chiseling quality that cannot be guaranteed in narrow spaces.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a chiseling control method and a chiseling system, the method comprising: S1. During the process of moving along the base surface to be processed, the shape of the concrete surface in front is collected in real time, the characteristic anchor points are identified as absolute positioning references, a local grid map is established and the initial elevation of each coordinate point is recorded. S2. Obtain the feedback load characteristic value during the chiseling action. Based on the preset mapping model, convert the feedback load characteristic value into the local hardness resistance function of the concrete at the current coordinate point. S3. Based on the preset target chiseling depth, initial elevation, local hardness resistance function, and monitored dynamic axial floating displacement, dynamically calculate the optimal impact energy and impact frequency, and output the corresponding impact kinetic energy to perform chiseling operations on the current coordinate point. S4. After the roughening operation, collect the actual elevation of the current coordinate point; if the actual depth or roughness of the coordinate point does not reach the preset threshold, return to the coordinate point and use the updated cut depth variable superimposed with the compensation coefficient to perform fixed-point supplementary roughening until the re-inspection is qualified.

[0007] In the preferred scheme, the optimal strike energy in step S3 is... The solution conforms to the following mathematical model: ; in, Target roughening depth; This is the initial elevation; This is a local hardness resistance function; This refers to the real-time forward speed; This refers to dynamic axial floating displacement. , , , These are preset system coefficients, corresponding to the weight parameters of depth, hardness, velocity, and displacement, respectively. This represents the current cutting depth. Calculation variables of current cutting depth It has time-series-based update characteristics: When processing the target coordinates for the first time The value is equal to the initial elevation. ; When the automatic chiseling in step S4 is triggered and the machine returns to the target coordinate point, The value is updated to the actual elevation collected.

[0008] In the preferred embodiment, the mapping model in step S2 is specifically as follows: Hardness evaluation function based on reaction load ;in, To obtain the feedback current; This is the no-load reference current when the working surface is not in contact; This is the hardness conversion ratio factor.

[0009] In the preferred scheme, the hit frequency calculation in step S3 and the roughness judgment rules in step S4 specifically include: strike frequency With optimal striking energy There exists a coupling control relationship that satisfies a functional form. ,in This is the inherent mechanical transmission coefficient; In step S4, the roughness is determined based on the local root mean square deviation, and multiple actual elevations around the current coordinate point are extracted. And calculate the root mean square roughness. ,like If the roughness is less than the preset roughness threshold, then fixed-point chiseling is triggered.

[0010] In the preferred embodiment, a reciprocating travel path is used in continuous construction operations, and the method also includes an adaptive switching step for detection logic based on the travel vector: Get the current travel vector direction; Define the side to which the travel vector points as the logical front end, and call the detection data of that side to perform environmental pre-scanning and coordinate anchoring in step S1; The side that deviates from the travel vector is defined as the logical back end, and the detection data of that side is called to perform the quality closed-loop re-inspection in step S4. When the operation reaches the boundary and reverses direction, the mapping settings of the logic front-end and logic back-end are synchronously reversed.

[0011] The system includes: The chiseling mechanism, which is a frequency converter, is used to perform chiseling operations and feed back load characteristic values. The three-axis walking drive system, as a carrier, is used to drive the chiseling mechanism mounted on it to step along the surface to be processed. The detection system, mounted on a three-axis walking drive system, is used for pre-scanning to obtain the initial elevation and performing quality closed-loop re-inspection to obtain the actual elevation; Flexible displacement sensor is used to monitor the dynamic axial floating displacement of the chiseling mechanism; The central control unit is communicatively connected to the chiseling mechanism, the three-axis walking drive system, the detection system, and the flexible displacement sensor, and is used to integrate multi-source data to execute the closed-loop control method as described in any one of claims 1-5.

[0012] In the preferred embodiment, the detection system includes a first detection module and a second detection module respectively disposed at both ends of the travel axis of the chiseling mechanism. Both the first detection module and the second detection module include a detection device, which is a millimeter-wave imaging radar. The central control unit has a travel vector recognition function, which is used to dynamically define the detection device in front of the current travel vector as the logical front end and call its point cloud data to perform environmental pre-scanning, and define the detection device behind the current travel vector as the logical back end and call its point cloud data to perform quality closed-loop re-inspection. The flexible displacement sensor is a linear variable differential transformer, which is installed on the three-axis walking drive system, and its measuring end is in contact with the chiseling mechanism.

[0013] In the preferred embodiment, the first detection module and the second detection module include a hoisting frame suspended on a three-axis walking drive system, and the detection device is installed on the hoisting frame with the detection head facing downwards; The hoisting frame includes two inverted L-shaped lifting rods with a horizontal support platform connected to their bottom. The detection device is fixedly installed on the horizontal support platform, and the horizontal support platform has an opening for the detection head of the detection device to pass through. The first detection module and the second detection module also include a dustproof isolation component. The dustproof isolation component includes a mounting frame set at the bottom of the horizontal support platform and an air compressor installed on the horizontal side of the three-axis walking drive system. A duckbill jet head is set in the mounting frame. The jet outlet of the duckbill jet head faces diagonally downwards towards the detection head of the detection device. The air inlet of the duckbill jet head is connected to the output end of the air compressor through an air pipe. An air intake filter is installed on the air intake end of the air compressor to filter the intake air; A pressure regulating valve is installed on the output end of the air compressor to regulate the high-pressure gas from the air compressor to a stable pressure. A groove is provided on the horizontal support platform at the duckbill jet head, and the air tube passes through the groove.

[0014] In the preferred embodiment, the mounting frame includes two symmetrical mounting plates. The duckbill jet head is rotatably mounted in the two mounting plates via connecting shafts fixed on its left and right sides. One of the connecting shafts moves through the corresponding mounting plate and is connected to an angle adjustment component. The angle adjustment component is used to control the rotation angle of the jet nozzle of the duckbill jet head. The jet nozzle of the duckbill jet head can be rotated to an angle facing the probe head of the detection device. The angle adjustment assembly includes an extension plate disposed at the edge of the connecting shaft and extending outward. A first hinge shaft is disposed on the side of the extension plate away from the mounting plate. A second hinge shaft is fixed on the outer side of the mounting plate. An angle adjustment telescopic cylinder is disposed between the first hinge shaft and the second hinge shaft. The two ends of the angle adjustment telescopic cylinder are rotatably connected to the first hinge shaft and the second hinge shaft, respectively.

[0015] This invention provides a chiseling control method and system. It employs a high-penetration millimeter-wave radar instead of a visual camera, overcoming the optical blindness problem under heavy dust conditions. It also innovatively utilizes the intersections of steel mesh as absolute positioning anchor points, completely eliminating odometer drift caused by high-frequency vibration. Secondly, it abandons easily damaged external mechanical sensors and constructs a dynamic hardness mapping model by extracting the reaction load current of the variable frequency actuator, achieving zero-cost, non-destructive hardness identification and accurately avoiding missed chiseling in hard areas and over-cutting in weak areas. Thirdly, it constructs a closed-loop mathematical model by integrating target depth, initial elevation, hardness resistance, and dynamic displacement, adaptively calculating and outputting the optimal impact energy and frequency for on-demand fine-tuning. Besides eliminating the difficulty of manual re-inspection, it ensures an extremely high first-time acceptance rate. Combined with a travel vector logic reversal mechanism, it perfectly adapts to large-area bow-shaped reciprocating operations, greatly improving the efficiency of automated construction under harsh conditions. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a structural diagram of the chiseling device of the present invention in the chiseling state.

[0017] Figure 2 This is the present invention. Figure 1 Another perspective on the structure diagram.

[0018] Figure 3 This is a diagram of the system installation structure of the present invention.

[0019] Figure 4 This is the present invention. Figure 3 Another perspective on the structure diagram.

[0020] Figure 5 This is the present invention. Figure 4 Another perspective on the structure diagram.

[0021] Figure 6 This is a structural diagram of the first detection module and the second detection module of the present invention.

[0022] Figure 7 This is the present invention. Figure 6 Side view structural diagram.

[0023] Figure 8 This is a structural diagram of the hoisting frame and duckbill jet head of the present invention.

[0024] Figure 9 This is the present invention. Figure 8 Another perspective on the structure diagram.

[0025] Figure 10 This is the present invention. Figure 9 The front view of the structural section.

[0026] Figure 11This is a diagram showing the connection structure between the mounting frame and the duckbill jet head of the present invention.

[0027] Figure 12 This is a structural diagram of the chiseling device of the present invention.

[0028] Figure 13 This is a structural diagram of the single-sided telescopic vehicle body of the present invention.

[0029] Figure 14 This is the present invention. Figure 13 Another perspective on the structure diagram.

[0030] Figure 15 This is an exploded structural diagram of the telescopic connecting beam of the present invention.

[0031] Figure 16 This is an exploded structural diagram of the telescopic guide beam of the present invention.

[0032] Figure 17 This is the present invention. Figure 16 Another perspective on the structure diagram.

[0033] Figure 18 This is the present invention. Figure 17 Another perspective on the structure diagram.

[0034] Figure 19 This is a structural diagram of the lateral walking mechanism of the present invention.

[0035] Figure 20 This is a structural diagram of the drive switching mechanism of the present invention.

[0036] Figure 21 This is a connection structure diagram of the telescopic cylinder and the adjusting seat of the present invention.

[0037] Figure 22 This is a cross-sectional view of the connection structure between the lateral walking mechanism and the single-sided telescopic vehicle body of the present invention.

[0038] Figure 23 This is the present invention. Figure 22 Another perspective on the structure diagram.

[0039] Figure 24 This is a connection structure diagram of the transverse walking mechanism, longitudinal telescopic mechanism, height adjustment mechanism and chiseling mechanism of the present invention.

[0040] Figure 25 This is a connection structure diagram of the slot of the present invention.

[0041] Figure 26 This is a connection structure diagram of the height adjustment mechanism and the chiseling mechanism of the present invention.

[0042] Figure 27 This is the present invention. Figure 26 Another perspective on the structure diagram.

[0043] Figure 28 This is the present invention. Figure 27 Another perspective on the structure diagram.

[0044] Figure 29 This is a structural diagram of the sliding support base of the present invention.

[0045] Figure 30 This is a half-sectional view of the ratchet lock assembly and the ratchet bar connection structure of the present invention.

[0046] Figure 31 This is a structural diagram of the chiseling mechanism of the present invention.

[0047] Figure 32 This is the present invention. Figure 31 A half-section structural diagram.

[0048] Figure 33 This is the present invention. Figure 32 Exploded structure diagram.

[0049] Figure 34 This is a half-sectional view of the connection structure of the housing, sliding mounting bracket and pushing mechanism of the present invention.

[0050] Figure 35 This is a structural diagram of the housing of the present invention.

[0051] Figure 36 This is a structural diagram of the driving mechanism of the present invention.

[0052] Figure 37 This is a half-sectional view of the chiseling component of the present invention.

[0053] Figure 38 This is a structural diagram showing the distribution of each eccentric wheel in this invention.

[0054] Figure 39 This is a structural diagram of the pushing mechanism of the present invention.

[0055] Figure 40 This is a connection structure diagram of the telescopic seal of the present invention.

[0056] Figure 41 This is a structural diagram of the telescopic seal of the present invention.

[0057] Figure 42 This is a front view structural diagram of the chiseling device of the present invention in the chiseling state.

[0058] Figure 43 This is a flowchart of the process for pushing the movable chiseling component of the present invention.

[0059] In the diagram: 1. Concrete already poured; 101. Connecting reinforcement bar; 2. Single-sided telescopic vehicle body; 20. Moving side frame; 21. Self-driving moving wheel; 22. Telescopic connecting beam; 220. Outer beam; 221. Telescopic beam; 222. Locking hole one; 223. Through hole one; 224. Automatic pin one; 23. Telescopic guide rail beam; 23. Bottom sleeve beam; 230. Sleeve beam body; 2300. Telescopic cavity; 2301. Telescopic groove; 2302. Through hole two; 2303. Top sliding beam; 2310. Sliding beam; 2311. Extension beam; 2312. Telescopic strip; 2313. Locking hole two; 232. Automatic pin two; 233. Bottom slide rail; 234. Top slide rail; 235. Upper rack; 236. Lower rack; 3. Lateral travel mechanism; 30. U-shaped moving seat; 31. Bottom moving clamping wheel; wheel. Body 310; Top moving clamping wheel 32; Drive switching mechanism 33; Mounting base 1 330; Drive device 1 331; Key bar 333; Drive gear 334; Keyway 335; Adjustable telescopic cylinder 336; Adjusting seat 337; Clamping groove 3370; Ball bearing 3371; Longitudinal sleeve 34; Groove 340; Longitudinal telescopic mechanism 4; Longitudinal telescopic beam 40; Longitudinal adjusting rack 41; Drive device 2 42; Transmission gear 43; Shock absorber 54; Height adjustment mechanism 5; Sliding support seat 50; Lifting frame 51; Guide rail 510; Sliding connection groove 501; Cable lifting mechanism 52; Winch 520; Guide wheel 521; Lifting lug 522; Cable 523; Anti-lifting blocking component 53; Racket 530; Racket lock Component 531; Fixed sleeve 5310; Racket lock 5311; Racket lock head 5312; Telescopic rod 5313; Limit adjustment plate 5314; Telescopic spring 5315; Unlocking telescopic cylinder 5316; Chipping mechanism 6; Housing 60; Sliding mounting bracket 61; Front baffle 610; Threaded hole 6100; Rear baffle 611; Connecting slide rod 612; Chipping assembly 62; Narrow long rod 620; Telescopic long rod 622; Chipping head 6220; Expanding cavity 623; Expanding block 624; Return spring 625; Contact head 626; Fixed assembly 63; Fixed frame 630; Sliding groove 631; Fixed hole 6310; Fixed bolt 632; Drive mechanism 64; Bearing 640; Drive shaft 641; Eccentric wheel 642; Drive 643; Pushing mechanism 65; Pushing plate 650; Pushing component 651; Pushing telescopic cylinder 652; Telescopic seal 66; U-shaped telescopic seal 660; Folding part 661; End plate 662; Central control device 7; First detection module 8; Lifting frame 80; Lifting rod 801; Horizontal support platform 802; Detection device 81; Dustproof isolation assembly 82; Air compressor 820; Pressure stabilizing valve 821; Air pipe 822; Mounting frame 823; Mounting plate 8230; Connecting shaft 8231; Extension plate 8232; First hinge shaft 8233; Second hinge shaft 8234; Angle adjustment telescopic cylinder 8235; Duckbill jet nozzle 824; Intake filter 825; Second detection module 9; Flexible displacement sensor 10. Detailed Implementation

[0060] Example 1 like Figure 1 , 2 As shown in Figures 12-43, in the existing layered construction, the interior of the poured concrete 1 contains pre-embedded connecting bars 101 arranged in an array, with the top of the connecting bars 101 protruding from the surface of the poured concrete 1. To ensure the bonding quality between the old and new concrete, the bonding surface of the poured concrete 1 must be roughened before pouring the upper layer of concrete. However, due to the narrow gaps between the connecting bars 101, conventional mechanical or manual roughening tools are difficult to penetrate the gaps between the bars for effective operation, which can easily lead to local missed roughening or uneven roughening depth. Therefore, this embodiment proposes a roughening system for densely reinforced concrete areas on a large plane to solve the above problems. The roughening system includes a single-sided telescopic vehicle body 2. During construction, the single-sided telescopic vehicle body 2 is located on one side of the poured concrete 1. The single-sided telescopic vehicle body 2 can extend and retract along its length to accommodate poured concrete 1 of different lengths. A transverse traveling mechanism 3 is provided on the top of the single-sided telescopic vehicle body 2. The transverse traveling mechanism 3 can travel along the length of the single-sided telescopic vehicle body 2 and the length of the poured concrete 1. A longitudinal telescopic mechanism 4 is provided on the transverse traveling mechanism 3. The telescopic direction of the longitudinal telescopic mechanism 4 is perpendicular to the traveling direction of the transverse traveling mechanism 3, so that it can extend and retract along the width of the poured concrete 1. A height adjustment mechanism 5 is provided at the end of the longitudinal telescopic mechanism 4 near the poured concrete 1. A roughening mechanism 6 is provided at the bottom end of the height adjustment mechanism 5. The working height of the roughening mechanism 6 is controlled by the height adjustment mechanism 5. During operation, the roughening end of the roughening mechanism 6 can extend into the gap between adjacent connecting bars 101 to roughen the joint surface of the poured concrete 1.

[0061] It should be noted that the three-axis walking drive system consists of a single-sided telescopic vehicle body 2, a lateral walking mechanism 3, a longitudinal telescopic mechanism 4, and a height adjustment mechanism 5.

[0062] This design, through the coordinated operation of the lateral travel mechanism 3, the longitudinal telescopic mechanism 4, and the height adjustment mechanism 5, enables the chiseling mechanism 6 to be precisely adjusted in the three-dimensional space of X, Y, and Z, allowing it to complete the all-round chiseling operation on the surface of the poured concrete 1 in a "bow" shaped trajectory. At the same time, the single-sided telescopic vehicle body 2 has the ability to adapt its length, and can be adjusted according to the actual size of the poured concrete 1, so that the working stroke of the lateral travel mechanism 3 matches the length of the construction surface. This multi-dimensional spatial adjustment mechanism allows the chiseling end to be precisely inserted into the gap between adjacent connecting bars 101, fundamentally solving the chiseling problem under dense steel mesh and realizing fully automated chiseling in a narrow space.

[0063] In a preferred embodiment, the single-sided telescopic vehicle body 2 includes two movable side frames 20. Each of the two movable side frames 20 is equipped with two self-driving movable wheels 21 at its bottom. A telescopic connecting beam 22 located below and a telescopic guide beam 23 located above are provided between the two movable side frames 20. The telescopic guide beam 23 is used to support the movement of the lateral walking mechanism 3. The telescopic functions of the telescopic connecting beam 22 and the telescopic guide beam 23 can satisfy the telescopic effect of the single-sided telescopic vehicle body 2.

[0064] It should be noted that the self-driving moving wheel 21 uses an existing general-purpose component with omnidirectional rotation and braking locking functions. Since its specific mechanical structure is not an innovation of this application and has been widely used in the prior art, it will not be described in detail.

[0065] In this embodiment, the movable side frame 20 is specifically an "L" shaped structure. The telescopic connecting beam 22 and the telescopic guide rail beam 23 are set on the vertical part of the movable side frame 20. The horizontal part of the movable side frame 20 is equipped with electrical control equipment and a counterweight structure. The electrical control equipment is used to control the entire device and provide power. Its specific use is a common device widely used in the prior art, so it will not be described in detail. The counterweight structure is used to ensure the stability of the single-sided telescopic vehicle body 2 and avoid overturning.

[0066] Furthermore, the telescopic connecting beam 22 includes an outer beam 220 and a telescopic beam 221 movably inserted therein. The opposite ends of the outer beam 220 and the telescopic beam 221 are respectively fixed on two movable side frames 20. The telescopic beam 221 is provided with a row of locking holes 222 evenly distributed along its length. The outer beam 220 is provided with a through hole 223 corresponding to the locking hole 222 on one end near the telescopic beam 221. An automatic pin 224 that can pass through the through hole 223 and any locking hole 222 is provided at the through hole 223 to lock the length of the telescopic connecting beam 22.

[0067] In this embodiment, the cross-section of the telescopic beam 221 is a "convex" shaped structure, and the inner cavity of the outer beam 220 is provided with a cavity that matches the telescopic beam 221, thereby ensuring telescopic stability.

[0068] Furthermore, the telescopic guide beam 23 includes a bottom sleeve beam 230 and a top sliding beam 231 that telescopically cooperates with it. The bottom of the top sliding beam 231 telescopically cooperates with the bottom sleeve beam 230, and the top extends beyond the bottom sleeve beam 230. The disjoint ends of the bottom sleeve beam 230 and the top sliding beam 231 are respectively fixed on two movable side frames 20. The top sliding beam 231 is provided with a row of locking holes 2313 evenly distributed along its length. The bottom sleeve beam 230 is provided with a through hole 2303 corresponding to the locking hole 2313 at one end near the top sliding beam 231, and an automatic pin 232 that can pass through the through hole 2303 and any locking hole 2313 is provided to lock the length of the telescopic guide beam 23.

[0069] It should be noted that the automatic pin 1 224 and the automatic pin 2 232 can be hydraulic telescopic pins or electric telescopic pins.

[0070] With this design, when it is necessary to adjust the length of one side of the telescopic vehicle body 2, the two self-driving moving wheels 21 on one of the movable side frames 20 are locked. Then, the automatic pins 224 and 232 are retracted to release the locking of the telescopic connecting beam 22 and the telescopic guide beam 23. The two self-driving moving wheels 21 on the other movable side frame 20 are then activated and slowly moved along the length of the one side of the telescopic vehicle body 2. After the adjustment is completed, the telescopic connecting beam 22 and the telescopic guide beam 23 are locked by the automatic pins 224 and 232.

[0071] In order to enable the transverse traveling mechanism 3 to move seamlessly on the bottom sleeve beam 230 and the top sliding beam 231, bottom slide rails 233 and top slide rails 234 are symmetrically arranged on both sides of the bottom of the bottom sleeve beam 230 and the top sides of the top of the top sliding beam 231, respectively. In this embodiment, the cross-section of the bottom slide rail 233 and the top slide rail 234 are both sideways-inverted "L" shaped, and their lengths are the same as the lengths of the bottom sleeve beam 230 and the top sliding beam 231, respectively.

[0072] The bottom sleeve beam 230 and the top sliding beam 231 are respectively provided with a lower rack 236 and an upper rack 235 on the same side.

[0073] Furthermore, the bottom sleeve beam 230 specifically includes a sleeve beam body 2300, in which a telescopic cavity 2301 is provided. The top of the telescopic cavity 2301 and the end near the top sliding beam 231 are both open. Telescopic grooves 2302 are provided on the opposite inner wall surfaces of the telescopic cavity 2301. The lower rack 236 and the bottom slide rail 233 are both located on the outside of the sleeve beam body 2300.

[0074] The top sliding beam 231 specifically includes a sliding beam 2310 that is movably inserted into the telescopic cavity 2301 from its end opening. Both sides of the sliding beam 2310 are provided with telescopic strips 2312 that slide in cooperation with the telescopic groove 2302, thereby forming a stable telescopic cooperation relationship between it and the bottom sleeve beam 230. The top of the sliding beam 2310 is provided with an extension beam 2311 that extends to the outside of the sleeve beam body 2300. The width of the extension beam 2311 is adapted to the width of the sleeve beam body 2300. The upper rack 235 and the top sliding rail 234 are both provided on the outside of the extension beam 2311.

[0075] In a preferred embodiment, the lateral traveling mechanism 3 includes a U-shaped movable seat 30 mounted on the telescopic guide beam 23 from the top. The two inner walls of the U-shaped movable seat 30 are provided with bottom movable clamping wheels 31 corresponding to the bottom slide rail 233 and top movable clamping wheels 32 corresponding to the top slide rail 234. The top movable clamping wheels 32 and the bottom movable clamping wheels 31 are both composed of two rows of movably mounted wheels 310. A gap corresponding to the bottom slide rail 233 or the top slide rail 234 is reserved between the two rows of wheels 310, so that the bottom slide rail 233 or the top slide rail 234 can be clamped in it, thereby achieving a stable sliding effect on the bottom slide beam 230 and / or the top slide beam 231.

[0076] It should be noted that the upper rack 235 and the lower rack 236 are located between the top moving clamping wheel 32 and the bottom moving clamping wheel 31, and gaps are reserved between the top of the upper rack 235 and the bottom moving clamping wheel 32, and between the lower rack 236 and the bottom moving clamping wheel 31, to avoid affecting the normal rotation of the wheel body 310.

[0077] Furthermore, a drive switching mechanism 33 is provided on the side of the U-shaped moving seat 30 near the upper rack 235 and the lower rack 236. The drive switching mechanism 33 can be selectively connected to either the upper rack 235 or the lower rack 236, thereby enabling the transverse traveling mechanism 3 to travel on the bottom sleeve beam 230 or the top sliding beam 231.

[0078] The drive switching mechanism 33 specifically includes a mounting base 330 disposed on the side of the U-shaped movable seat 30. A drive device 331 is fixedly disposed at the bottom of the mounting base 330. The drive device 331 is specifically composed of a motor and a reducer transmission combination, and the reducer has a rotation locking function. The rotating shaft of the drive device 331 rotatably passes through the mounting base 330 and extends to the top of the mounting base 330. The mounting base 330 is provided with a bearing for the rotating shaft to pass through. A drive gear 334 is movably mounted on the rotating shaft of the drive device 331. A key bar 333 is provided on the rotating shaft of the drive device 331. A keyway 335 is provided on the drive gear 334 to slide with the key bar 333, so that the drive gear 334 can slide on the rotating shaft of the drive device 331 while rotating, thereby switching back and forth between the upper rack 235 and the lower rack 236.

[0079] It should be noted that the length of key bar 333 is greater than the maximum spacing between upper rack 235 and lower rack 236.

[0080] It should also be noted that when the single-sided telescopic vehicle body 2 is adjusting its own length, it is locked to the bottom sleeve beam 230 or the top sliding beam 231 by the locking function of the drive device 331. At this time, the bottom moving clamping wheel 31 or the top moving clamping wheel 32, which are inactive, can normally connect or disconnect with the bottom sleeve beam 230 or the top sliding beam 231 during telescopic movement, thus not affecting the normal telescopic movement of the single-sided telescopic vehicle body 2.

[0081] The bottom of the mounting base 330 is also fixed with an adjusting telescopic cylinder 336 located on the side of the drive device 331. The adjusting telescopic cylinder 336 is specifically an electric telescopic cylinder. The telescopic end of the adjusting telescopic cylinder 336 moves through the mounting base 330 and extends to the top of the mounting base 330. An adjusting seat 337 is fixedly provided on its end. The adjusting seat 337 is provided with a clamping groove 3370 that fits on the edge of the drive gear 334. Ball bearings 3371 are rotatably provided on both the upper and lower inner walls of the clamping groove 3370. The ball bearings 3371 are in contact with the surface of the drive gear 334.

[0082] With this design, the extension and retraction adjustment drive gear 334 of the telescopic cylinder 336 can be adjusted to switch between the upper rack 235 and the lower rack 236, and the ball bearings 3371 can effectively reduce the friction at the connection.

[0083] Additionally, it should be noted that a gap with a width greater than the thickness of the drive gear 334 is reserved between the upper rack 235 and the lower rack 236, allowing the drive gear 334 to be adjusted before docking through this gap.

[0084] Meanwhile, both ends of the drive gear 334 are provided with inclined surfaces to facilitate rotational tooth alignment with the upper rack 235 and lower rack 236 during engagement.

[0085] Furthermore, the lateral travel mechanism 3 also includes a longitudinal sleeve 34 fixed to the top of the U-shaped moving seat 30. In this embodiment, a reinforcing diagonal brace is provided between the longitudinal sleeve 34 and the U-shaped moving seat 30 to improve the strength of the connection.

[0086] The longitudinal telescopic mechanism 4 includes a longitudinal telescopic beam 40 that is movably inserted into the longitudinal sleeve 34. A longitudinal adjusting rack 41 is embedded in the side of the longitudinal telescopic beam 40. The embedded design of the longitudinal adjusting rack 41 avoids the longitudinal telescopic beam 40 from affecting the telescopic movement in the longitudinal sleeve 34. A second drive device 42 that cooperates with the longitudinal adjusting rack 41 is fixedly installed on the longitudinal sleeve 34. The second drive device 42 is specifically composed of a motor and a reducer. A transmission gear 43 that meshes with the longitudinal adjusting rack 41 is fixed on the rotating shaft of the second drive device 42. Thus, the longitudinal telescopic beam 40 can be adjusted longitudinally by driving the second drive device 42.

[0087] In this embodiment, the side of the longitudinal sleeve 34 is provided with a slot 340 corresponding to the transmission gear 43, and the transmission gear 43 passes through the slot 340 and meshes with the longitudinal adjusting rack 41.

[0088] In the preferred embodiment, the height adjustment mechanism 5 includes two sliding support seats 50 symmetrically fixed on the side of the end of the longitudinal telescopic beam 40. A lifting frame 51 is slidably installed between the two sliding support seats 50. A cable lifting mechanism 52 for controlling the lifting of the lifting frame 51 and having a locking function is also provided on the longitudinal telescopic beam 40. An anti-lifting blocking member 53 is provided between the sliding support seat 50 and the control lifting frame 51. Through the cooperation of the cable lifting mechanism 52 and the anti-lifting blocking member 53, the lifting frame 51 can be restricted to the corresponding chiseling height, thereby facilitating the chiseling mechanism 6 to chisel.

[0089] Furthermore, the sliding support seat 50 is specifically an L-shaped seat body, with one side fixed to the end side of the longitudinal telescopic beam 40, and the other side provided with a sliding connecting groove 501 corresponding to the side of the lifting frame 51. Both sides of the lifting frame 51 are provided with guide rails 510 that slide in cooperation with the sliding connecting groove 501, so that the lifting frame 51 can stably rise and fall between the two sliding support seats 50.

[0090] Furthermore, the cable lifting mechanism 52 includes a guide wheel 521 disposed on the top of the longitudinal telescopic beam 40, and a winch 520 disposed on the side of the longitudinal telescopic beam 40 away from the lifting frame 51. A lifting lug 522 is disposed on the bottom of the lifting frame 51 near the winch 520. A cable 523 is wound around the outside of the winch 520, and the end of the cable 523 is connected to the lifting lug 522 via the guide wheel 521.

[0091] It should be noted that the symmetrical arrangement of the two sliding support seats 50 can create a gap between them, allowing the cable 523 of the cable lifting mechanism 52 to pass through. At the same time, the winch 520 specifically adopts a device with a locking function, which is widely used in general equipment in the existing technology, so it will not be described in detail.

[0092] With this design, the height of the lifting frame 51 can be adjusted by the winch 520 and the gravity of the lifting frame 51, while the cable 523 can be used to lift it to avoid the vibration of the chiseling.

[0093] Furthermore, the anti-lifting blocking member 53 includes two ratchet bars 530 disposed on the side of the lifting frame 51 away from the longitudinal telescopic beam 40. The two ratchet bars 530 are symmetrically distributed on the left and right sides and extend along the lifting direction of the lifting frame 51. The ratchet bars 530 have a continuous ratchet groove on the side facing the sliding support seat 50. The ratchet groove has an inclined surface on the upper side and a horizontal surface on the lower side. The anti-lifting blocking component 53 also includes ratchet locking components 531 that are respectively fixed on the two sliding support seats 50 and correspond to the two ratchet bars 530, for cooperating with the ratchet bars 530 to limit the lifting of the lifting frame 51. In this embodiment, a row of ratchet locking components 531 is provided on each of the two sliding support seats 50, and the number of ratchet locking components 531 in each row is four, thereby effectively ensuring the stability of the locking.

[0094] The ratchet assembly 531 specifically includes a fixed sleeve 5310 fixed on the side of the sliding support 50. A ratchet locking member 5311 is movably inserted into one end of the fixed sleeve 5310 near the ratchet 530. The ratchet locking member 5311 is provided with a ratchet locking head 5312 adapted to the ratchet groove at one end near the ratchet 530. The ratchet locking head 5312 is the same as the ratchet groove, with an inclined surface on the upper side and a horizontal surface on the lower side. When it is inserted into the ratchet groove, the horizontal contact between the two achieves the effect of restricting the lifting of the lifting frame 51.

[0095] The other end of the ratchet 5311 is fixed with a telescopic rod 5313. The other end of the telescopic rod 5313 movably passes through the fixed sleeve 5310 and is connected to the limit adjustment plate 5314. A telescopic spring 5315 is fitted on the outside of the telescopic rod 5313. The telescopic spring 5315 is located in the fixed sleeve 5310, and its two ends abut against the ratchet head 5312 and the inner wall of the fixed sleeve 5310, respectively. Thus, through the tension of the telescopic spring 5315 and the limiting action of the limit adjustment plate 5314, the ratchet 5311 can be kept in a retractable extended state so as to cooperate with the ratchet bar 530, thereby achieving a continuous lifting and limiting effect. At the same time, when the lifting frame 51 descends, the release of the inclined surfaces of the two can cause the ratchet 5311 to compress the telescopic spring 5315 and retract, so that the lifting frame 51 can descend normally.

[0096] An unlocking telescopic cylinder 5316 is fixed to the outside of the fixed sleeve 5310. The unlocking telescopic cylinder 5316 can be an electric telescopic cylinder. The limit adjustment plate 5314 extends toward the unlocking telescopic cylinder 5316 and can abut against the telescopic end of the unlocking telescopic cylinder 5316. With this design, the locking relationship between the ratchet 5311 and the ratchet 530 can be released by the telescopic end of the unlocking telescopic cylinder 5316 abutting against the limit adjustment plate 5314, thereby adjusting the lifting frame 51 to rise.

[0097] In the preferred embodiment, the lifting frame 51 is specifically an L-shaped frame, with its vertical side forming a lifting cooperation structure with the sliding support seat 50, and its horizontal side located away from the longitudinal telescopic beam 40. Furthermore, a chiseling mechanism 6 is installed at its bottom through four shock absorbers 54, which can effectively isolate the vibration transmission of the chiseling mechanism 6 during the chiseling process.

[0098] Furthermore, the chiseling mechanism 6 includes a housing 60, in which a row of chiseling components 62 are provided that extend through the bottom of the housing 60 and into the gap of the connecting ribs 101. The housing 60 is also provided with a drive mechanism 64 for driving all the chiseling components 62 to perform telescopic chiseling.

[0099] The chiseling assembly 62 specifically includes a narrow rod 620. The length and width of the narrow rod 620 both meet the requirement of extending into the gap of the connecting rib 101. A telescopic rod 622 is movably installed through the narrow rod 620. The bottom of the telescopic rod 622 extends outside the narrow rod 620 and is connected to a chiseling head 6220. The top of the telescopic rod 622 extends outside the narrow rod 620 and is connected to an abutment head 626. The narrow rod 620 also has an expansion cavity 623 with a diameter larger than that of the telescopic rod 622. An expansion block 624 is fixed outside the telescopic rod 622, located in the expansion cavity 623 and telescopically cooperating with it. A return spring 625 is fitted outside the telescopic rod 622, located between the bottom of the expansion block 624 and the bottom wall of the expansion cavity 623.

[0100] With this design, the telescopic rod 622 and the chisel head 6220 can be kept in the retracted state before chiseling by the return spring 625. Through the transmission cooperation between the drive mechanism 64 and the contact head 626, the expansion block 624 of the telescopic rod 622 can compress the return spring 625, so that the chisel head 6220 can extend to chisel. Under the reset of the return spring 625 and the continuous drive of the drive mechanism 64, the reciprocating chiseling effect is achieved.

[0101] Furthermore, the drive mechanism 64 includes a drive shaft 641 rotatably disposed in the housing 60. The drive shaft 641 is located above the chiseling assembly 62 and extends along its arrangement direction. It should be noted that bearings 640 are installed on opposite side walls of the housing 60. The drive shaft 641 is rotatably disposed in the housing 60 through two bearings 640. A drive device 643 is also disposed on the outside of the housing 60. The drive device 643 is composed of a motor and a reducer. Its output shaft is connected to one end of the drive shaft 641, so that the drive shaft 641 can rotate in the housing 60.

[0102] The drive shaft 641 is equipped with eccentric wheels 642 that correspond one-to-one with each chiseling component 62. The eccentric wheels 642 abut against the corresponding contact heads 626. When the drive shaft 641 rotates, the eccentric wheels 642 drive each telescopic rod 622 and the contact head 626 to reciprocate. The eccentric wheels 642 are distributed at a preset angle along the axial direction of the drive shaft, thereby achieving the effect of staggered operation, ensuring the chiseling effect while reducing the vibration generated during operation.

[0103] In a preferred embodiment, a sliding mounting bracket 61 is provided in the housing 60. The housing 60 and the sliding mounting bracket 61 have interconnected L-shaped sliding grooves on their corresponding sides and bottoms. The chiseling assembly 62 is slidably mounted on the sliding mounting bracket 61 and passes through the bottom of the housing 60 through the L-shaped sliding groove. A fixing assembly 63 is installed on the side of the sliding mounting bracket 61 for alternately fixing the chiseling assemblies 62 in the same row under a compressed state, so that adjacent chiseling assemblies 62 are in an interleaved constraint state, that is, one is rigidly locked and the other remains slidable. The fixing assembly 63 is specifically installed on the sliding mounting bracket 61 through the side opening of the L-shaped sliding groove. A pushing mechanism 65 is provided on the side of the housing 60 away from the fixing assembly 63 for pushing the slidable chiseling assembly 62 to slide in a direction perpendicular to its arrangement direction.

[0104] Meanwhile, in order to ensure that the slidable chisel assembly 62 can still be driven by the drive mechanism 64, the contact head 626 is elongated, with a length greater than the sliding length of the chisel assembly 62, so that it can always be driven by the drive mechanism 64.

[0105] Such a design, as Figure 34As shown, when the chiseling mechanism 6 performs chiseling operations along the width direction on the surface of the poured concrete 1 in a "bow" shaped trajectory, when the slidable chiseling component 62 is aligned with the gap in the length direction of the connecting bar 101, the slidable chiseling component 62 can be pushed into the gap in the length direction by the pushing mechanism 65 to perform chiseling operations on the gap, thereby achieving the effect of all-round chiseling. This effectively avoids the need for the chiseling mechanism 6 to perform an additional secondary "bow" shaped operation stroke along the length direction in order to cover the area, and also reduces the length burden of the longitudinal telescopic beam 40. It should be noted that the distribution spacing between the row of chisel components 62 matches the arrangement spacing of the connecting ribs 101, so that each sliding chisel component 62 can be simultaneously aligned with the gaps in each length direction.

[0106] Furthermore, the sliding mounting bracket 61 includes a symmetrically distributed front baffle 610 and a rear baffle 611, both of which are fixed in the housing 60. Multiple sets of connecting slide rods 612, corresponding to the number of the chiseling assembly 62, are fixed between the front baffle 610 and the rear baffle 611, with each set of connecting slide rods 612 consisting of two rods.

[0107] The narrow rod 620 is provided with two sliding holes 621 corresponding to the connecting slide rod 612, and it is slidably installed on the corresponding set of connecting slide rods 612 through the sliding holes 621, thereby realizing the sliding installation of the chisel assembly 62.

[0108] The fixing component 63 includes a fixing frame 630. The cross-section of the fixing frame 630 is a sideways "U" shape. The U-groove on it is larger than the height of the front baffle 610, so that it can be fitted onto the front baffle 610 and abut against and fix the chisel component 62. The fixing frame 630 is provided with a sliding groove 631 corresponding to the sliding chisel component 62, so that it can slide normally.

[0109] The front baffle 610 is provided with a threaded hole 6100 on the side near the fixing frame 630. In this embodiment, there are four threaded holes 6100, which are respectively located at the four corners of the front baffle 610. The fixing frame 630 is provided with fixing holes 6310 corresponding to the threaded holes 6100. Fixing bolts 632 that are threadedly connected to the corresponding threaded holes 6100 pass through the fixing holes 6310, thereby fixing the fixing component 63 to the front baffle 610 and forming the above-mentioned locking effect.

[0110] Furthermore, the pushing mechanism 65 includes a pushing telescopic cylinder 652 fixedly installed on the outside of the housing 60. In this embodiment, there are two pushing telescopic cylinders 652, which can be electric telescopic cylinders and equipped with a corresponding commercially available synchronous telescopic system. The telescopic end of the pushing telescopic cylinder 652 extends through the housing 60 and is connected to a pushing plate 650. The pushing plate 650 is movably disposed in the housing 60, and a plurality of pushing parts 651 corresponding to the slidable chiseling assembly 62 are provided on the side near the rear baffle 611. The other end of the pushing part 651 is fixedly connected to the slidable chiseling assembly 62. In this embodiment, the U-shaped pushing part 651 is tilted to the side, and the U-groove on it is larger than the height of the rear baffle 611, so that it can be movably fitted outside the rear baffle 611, and both ends are fixedly connected to the corresponding chiseling assembly 62.

[0111] With this design, the sliding chisel assembly 62 can be slidable by pushing the telescopic cylinder 652.

[0112] In a preferred embodiment, to prevent dust from entering the housing 60 through the sliding groove 631 during the chiseling process, two telescopic seals 66 are provided in the sliding groove 631, located on the front and rear sides of the slidable chiseling assembly 62 respectively.

[0113] The telescopic seal 66 includes a U-shaped telescopic seal 660 located in the sliding groove 631. Both ends of the U-shaped telescopic seal 660 are provided with end plates 662. The two end plates 662 are respectively fixed to the inner wall of the sliding groove 631 and the outer wall of the roughening assembly 62. Both edges of the U-shaped telescopic seal 660 are folded outward to form a reverse-wrapped folded portion 661 against the edge of the sliding groove 631. The folded portion 661 is movably fitted against the edge of the sliding groove 631.

[0114] It should be noted that the telescopic seal 66 is made of rubber telescopic material. With this design, the sliding groove 631 can be sealed by the telescopic seal 66, preventing dust from entering the housing 60 while not affecting the normal operation of the chiseling assembly 62.

[0115] Example 2 Further explanation in conjunction with Example 1, such as Figure 1-35 The method, as shown in the diagram, includes: S1. Move the chiseling system to be parallel to the length of the poured concrete 1, and adjust the length of the single-sided telescopic vehicle body 2 to correspond to the length of the poured concrete 1, so that the transverse traveling mechanism 3 on it can move continuously along the length of the poured concrete 1.

[0116] S2. Through the cooperation of the transverse walking mechanism 3 and the longitudinal telescopic mechanism 4, the chiseling mechanism 6 is moved to one end of the poured concrete 1, and the chiseling mechanism 6 is adjusted to the chiseling height through the height adjustment mechanism 5.

[0117] S3. Through the cooperation of the transverse walking mechanism 3 and the longitudinal telescopic mechanism 4, the chiseling mechanism 6 performs chiseling work around the connecting bar 101 along the width direction of the poured concrete 1 in a "bow" shaped trajectory. During the chiseling process, when the slidable chiseling component 62 is aligned with the gap in the length direction of the connecting bar 101, the slidable chiseling component 62 is pushed into the gap in the length direction to perform chiseling work on the gap until the chiseling work is completed.

[0118] Example 3 Further explanation in conjunction with Examples 1 and 2, such as Figure 1-11 As shown, to achieve control during the burring process, the burring system also includes a detection system, a flexible displacement sensor 10, and a central control unit 7. The detection system specifically includes a first detection module 8 and a second detection module 9, which are respectively set at both ends of the travel axis of the chiseling mechanism 6 and used for environmental perception.

[0119] In order to avoid the vibration of the first detection module 8 and the second detection module 9 during the chiseling process of the chiseling mechanism 6, the first detection module 8 and the second detection module 9 are specifically hoisted on the horizontal side of the lifting frame 51.

[0120] The first detection module 8 and the second detection module 9 specifically include a hoisting frame 80 suspended on the horizontal side of the lifting frame 51, and a detection device 81 with the detection head facing downward is installed on the hoisting frame 80. The detection device 81 is specifically a millimeter-wave imaging radar.

[0121] During operation, the detection device 81 emits high-frequency electromagnetic waves to the base surface below and receives the echoes. Utilizing the physical property that millimeter waves are not blocked by dust or water mist, it penetrates the high concentration of dust in the construction environment and generates three-dimensional point cloud data of the unprocessed area in front in real time, thereby constructing a local grid map containing the intersections of the steel reinforcement mesh. In conjunction with the travel vector recognition of the central control device, the detection device 81, as the logic front end, is responsible for collecting the initial elevation of each grid coordinate; while the detection device 81, as the logic back end, is responsible for emitting millimeter waves to the area that has just been processed and collecting the actual elevation after cutting, providing basic data for subsequent roughness calculation and re-scraping determination.

[0122] The hoisting frame 80 specifically includes two inverted L-shaped hoisting rods 801. The upper end of the hoisting rod 801 is fixedly connected to the horizontal side of the lifting frame 51, and the other end of the bottom is connected to a horizontal support platform 802. The detection device 81 is fixedly installed on the horizontal support platform 802, and the horizontal support platform 802 is provided with an opening for the detection head of the detection device 81 to pass through.

[0123] This design allows the first detection module 8 and the second detection module 9 to be hoisted on the horizontal side of the lifting frame 51, while avoiding the drive device 643. It should be noted that in this embodiment, the height of the detection head of the detection device 81 is flush with the height of the housing 60.

[0124] In the preferred embodiment, to completely eliminate the impact of high-concentration dust on the detection device 81 during construction, the first detection module 8 and the second detection module 9 also include a dustproof isolation component 82. The dustproof isolation component 82 specifically includes a mounting frame 823 installed at the bottom of the horizontal support platform 802, and an air compressor 820 installed on the horizontal side of the lifting frame 51. A duckbill jet nozzle 824 is installed in the mounting frame 823, with the nozzle facing diagonally downwards from the detection head of the detection device 81. The air inlet of 24 is connected to the output of the air compressor 820 through the air pipe 822, so that the air source of the air compressor 820 is output to the duckbill jet head 824 through the air pipe 822, and sprayed by the duckbill jet head 824 towards the obliquely below the detector head of the detection device 81, thereby forming an ultra-thin high-speed air curtain below the detector head of the detection device 81. This air curtain does not obstruct the detection of the detection device 81, and can form a positive pressure isolation zone in front of the detector head, forcibly peeling off and blowing away suspended dust and splashing particles that attempt to adhere to the window surface.

[0125] Furthermore, an air intake filter 825 is installed on the air intake end of the air compressor 820 to filter the intake air and ensure that the exhaust air is pure. In this embodiment, the air intake filter 825 has a HEPA filter element.

[0126] Meanwhile, a pressure regulating valve 821 is installed on the output end of the air compressor 820 to regulate the high-pressure gas from the air compressor 820 to a stable pressure, preventing the air curtain from breaking due to sudden changes in airflow.

[0127] Furthermore, a groove 803 is provided on the horizontal support platform 802 at the duckbill jet head 824, and the air pipe 822 passes through the groove 803. This design allows the duckbill jet head 824 to be closer to the detection device 81.

[0128] In a preferred embodiment, the mounting frame 823 specifically includes two symmetrical mounting plates 8230. The duckbill jet head 824 is rotatably mounted in the two mounting plates 8230 via connecting shafts 8231 fixed on its left and right sides. One of the connecting shafts 8231 moves through the corresponding mounting plate 8230 and is connected to an angle adjustment component, which is used to control the rotation angle of the jet nozzle of the duckbill jet head 824.

[0129] It should be noted that the nozzle of the duckbill jet head 824 can be rotated to face the probe head of the detection device 81, and the air tube 822 is a flexible tube.

[0130] This design allows the angle of the nozzle of the duckbill jet head 824 to be adjusted according to the actual dust conditions on site via the angle adjustment component. At the same time, when dust gets on the probe head of the detection device 81, the nozzle of the duckbill jet head 824 can be rotated to face the probe head of the detection device 81, thereby achieving the function of cleaning dust.

[0131] Furthermore, the angle adjustment assembly includes an extension plate 8232 disposed at the edge of the connecting shaft 8231 and extending outward. A first hinge shaft 8233 is disposed on the side of the extension plate 8232 away from the mounting plate 8230. A second hinge shaft 8234 is fixedly disposed on the outer side of the mounting plate 8230. An angle adjustment telescopic cylinder 8235 is disposed between the first hinge shaft 8233 and the second hinge shaft 8234. The angle adjustment telescopic cylinder 8235 can be an electric telescopic cylinder. The two ends of the angle adjustment telescopic cylinder 8235 are rotatably connected to the first hinge shaft 8233 and the second hinge shaft 8234 respectively, so that the angle of the duckbill jet head 824 can be adjusted by the extension and retraction of the angle adjustment telescopic cylinder 8235.

[0132] In the preferred embodiment, the flexible displacement sensor 10 is used to monitor the displacement of the chiseling mechanism 6 during the chiseling process. Specifically, the flexible displacement sensor 10 is a linear variable differential transformer, which is installed through the horizontal side of the lifting frame 51. Its measuring end moves through the lifting frame 51 and abuts against the chiseling mechanism 6.

[0133] When the chisel head makes a high-frequency reciprocating linear impact, the flexible displacement sensor 10 monitors and outputs a high-frequency dynamic axial floating displacement in real time through the minute displacement of its internal magnetic core. This allows the system to sense whether the chisel head 6220 has truly impacted the base surface. If the axial floating displacement is too large, it indicates that the recoil force is too strong or the base surface is too hard; if the axial floating displacement is too small, it indicates that the chisel head may be in a loose connection or suspended state. This displacement data is fed back to the central control device in real time as a key input variable for compensating for optimal impact energy.

[0134] The central control device 7, serving as the core for data aggregation and algorithm calculation of the entire system, is located at the end of the longitudinal telescopic beam 40. It is communicatively connected to the chiseling mechanism 6, the three-axis walking drive system, the detection system, and the flexible displacement sensor 10. Specifically, it can be an industrial control computer or an advanced PLC. It can receive multi-source data from the first detection module 8, the second detection module 9, and the flexible displacement sensor 10 for fusion calculation and millisecond-level device response. It is equipped with the algorithm model described in Example 4.

[0135] Example 4 To further illustrate with reference to Example 3, a roughening control method is provided, the method comprising: S1. Environmental Pre-scanning and Coordinate Anchoring: During equipment movement, the first detection module 8 or the second detection module 9 located at the front penetrates construction dust to acquire the 3D point cloud topography of the unprocessed area in real time. The system uses algorithms to identify the intersections of the exposed steel mesh on the concrete surface or in the shallow layer as absolute positioning references, i.e., feature anchor points, to eliminate the cumulative error of the odometer caused by severe construction vibrations. Subsequently, the system establishes a local raster map and accurately records the initial elevation of each coordinate point. . S2. Multi-source data fusion and dynamic hardness observation: During the cutting process, the hardness of the base surface is characterized by extracting the reaction load characteristic value of the drive device 3643, i.e., the feedback current.

[0136] It should be noted that the motor used in drive device 3643 is a variable frequency drive motor, which is electrically connected to the central control device 7 and controlled to output the target speed.

[0137] The hardness evaluation function based on the reaction load is as follows: ; in, The feedback current is acquired in real time; This is the reference current (calibration zero point) when the equipment is running dry. As a hardness conversion scaling factor, the system uses this to convert the electrical signal into a local hardness resistance function of the concrete at the current coordinate point with low delay. .

[0138] S3, Adaptive parameter calculation and frequency conversion output, control system comprehensively presets target chiseling depth Initial elevation Local hardness resistance function and the dynamic axial floating displacement monitored by sensors. Dynamically calculate the optimal strike energy The solution strictly follows the following adaptive mathematical model: ; In the formula, This refers to the real-time forward speed of the equipment. , , , These are preset system adjustment coefficients, corresponding to the weight parameters of depth, hardness, speed, and displacement, respectively.

[0139] In this model, the variable used to calculate the current cutting depth is... It features dynamic update capabilities based on time series data. (1) During the first pass: the point has not yet been cut, and the system assigns... (At this point, the cutting depth is 0), mainly based on the target depth. Output basic energy; (2) When backtracking and fixing the location for repair: the point Update to the actual elevation collected in step S4. At this point, the system accurately calculates the true residual depth and dynamically reduces it. To prevent the base surface from being breached.

[0140] At the same time, the frequency of strikes There is a physical coupling with energy, and the system is based on , The mechanical transmission coefficient is used to simultaneously calculate the target frequency and issue action commands.

[0141] S4. Quality closed-loop re-inspection and automatic chiseling: After the chiseling operation, the first detection module 8 or the second detection module 9 located on the rear side penetrates the dust to collect the actual elevation of the current coordinate point.

[0142] The system determines whether the roughness meets the standard by extracting the roughness around the current anchor point. Multiple actual elevations within a local raster matrix And calculate the root mean square roughness: ; in, This represents the average actual elevation of the local area. This represents the total number of pixels / sampling points within the local raster matrix surrounding the current anchor point. If the depth is insufficient, or If the surface roughness is less than the preset roughness threshold and is too smooth, a repair procedure is triggered: the equipment returns to the defect point, updates the variables, and then proceeds to step S3 for a second fine-tuning strike until the inspection is qualified.

[0143] It should be noted that, in order to adapt to the continuous construction operation of the "bow-shaped" base surface, the detection devices 81 of the first detection module 8 and the second detection module 9 are symmetrically configured with the same type of millimeter-wave imaging radar to unify the data protocol.

[0144] The system acquires the current motion vector direction in real time: the end that the current motion vector points to is defined as the logical front end, and the data of the detection device 81 at that end is called to perform environmental pre-scan; the end that is away from the motion vector is defined as the logical back end, and the data of that end is called to perform quality re-inspection. When the equipment reaches the work boundary and turns around to travel in the opposite direction, the system algorithm instantly reverses the roles of the radars at both ends to achieve seamless continuous operation.

[0145] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for controlling roughening, characterized in that: The method includes: S1. During the process of moving along the base surface to be processed, the shape of the concrete surface in front is collected in real time, the characteristic anchor points are identified as absolute positioning references, a local grid map is established and the initial elevation of each coordinate point is recorded. S2. Obtain the feedback load characteristic value during the chiseling action. Based on the preset mapping model, convert the feedback load characteristic value into the local hardness resistance function of the concrete at the current coordinate point. S3. Based on the preset target chiseling depth, initial elevation, local hardness resistance function, and monitored dynamic axial floating displacement, dynamically calculate the optimal impact energy and impact frequency, and output the corresponding impact kinetic energy to perform chiseling operations on the current coordinate point. S4. After the roughening operation, collect the actual elevation of the current coordinate point; if the actual depth or roughness of the coordinate point does not reach the preset threshold, return to the coordinate point and use the updated cut depth variable superimposed with the compensation coefficient to perform fixed-point supplementary roughening until the re-inspection is qualified.

2. The chiseling control method and chiseling system according to claim 1, characterized in that: Optimal striking energy in step S3 The solution conforms to the following mathematical model: ； in, Target roughening depth; This is the initial elevation; This is a local hardness resistance function; This refers to the real-time forward speed; This refers to dynamic axial floating displacement. , , , These are preset system coefficients, corresponding to the weight parameters of depth, hardness, velocity, and displacement, respectively. This represents the current cutting depth. Calculation variables of current cutting depth It has time-series-based update characteristics: When processing the target coordinates for the first time The value is equal to the initial elevation. ; When the automatic chiseling in step S4 is triggered and the machine returns to the target coordinate point, The value is updated to the actual elevation collected.

3. The method for controlling roughening according to claim 1 or 2, characterized in that: The mapping model in step S2 is as follows: Hardness evaluation function based on reaction load ;in, To obtain the feedback current; This is the no-load reference current when the working surface is not in contact; This is the hardness conversion ratio factor.

4. The method for controlling roughening according to claim 1, characterized in that: The specific rules for calculating the impact frequency in step S3 and determining the roughness in step S4 include: strike frequency With optimal striking energy There exists a coupling control relationship that satisfies a functional form. ,in This is the inherent mechanical transmission coefficient; In step S4, the roughness is determined based on the local root mean square deviation, and multiple actual elevations around the current coordinate point are extracted. And calculate the root mean square roughness. ,like If the roughness is less than the preset roughness threshold, then fixed-point chiseling is triggered.

5. The method for controlling roughening according to claim 1, characterized in that: in In continuous construction operations, a reciprocating travel path is used, and the method also includes an adaptive switching step for detection logic based on the travel vector: Get the current travel vector direction; Define the side to which the travel vector points as the logical front end, and call the detection data of that side to perform environmental pre-scanning and coordinate anchoring in step S1; The side that deviates from the travel vector is defined as the logical back end, and the detection data of that side is called to perform the quality closed-loop re-inspection in step S4. When the operation reaches the boundary and reverses direction, the mapping settings of the logic front-end and logic back-end are synchronously reversed.

6. A chiseling system for implementing the chiseling control method according to any one of claims 1-5, characterized in that, include: Chipping mechanism (6), which is a frequency converter, is used to perform chipping operations and feed back load characteristic values ​​to the outside; The three-axis walking drive system, as a carrier, is used to drive the chiseling mechanism (6) mounted on it to step along the base surface to be processed; The detection system, mounted on a three-axis walking drive system, is used for pre-scanning to obtain the initial elevation and performing quality closed-loop re-inspection to obtain the actual elevation; A flexible displacement sensor (10) is used to monitor the dynamic axial floating displacement of the chiseling mechanism (6); The central control device (7) is connected in communication with the chiseling mechanism (6), the three-axis walking drive system, the detection system and the flexible displacement sensor (10), respectively, and is used to integrate multi-source data to execute the closed-loop control method as described in any one of claims 1-5.

7. The chiseling system according to claim 6, characterized in that: The detection system includes a first detection module (8) and a second detection module (9) respectively set at both ends of the travel axis of the chiseling mechanism (6). Both the first detection module (8) and the second detection module (9) include a detection device (81), which is a millimeter-wave imaging radar. The central control device (7) has a travel vector recognition function, which is used to dynamically define the detection device (81) in front of the current travel vector as the logical front end and call its point cloud data to perform environmental pre-scanning, and define the detection device (81) behind the current travel vector as the logical back end and call its point cloud data to perform quality closed-loop re-inspection. The flexible displacement sensor (10) is a linear variable differential transformer, which is installed on the three-axis walking drive system. Its measuring end is in contact with the chiseling mechanism (6).

8. The chiseling system according to claim 7, characterized in that: The first detection module (8) and the second detection module (9) include a hoisting frame (80) suspended on a three-axis walking drive system, and a detection device (81) is installed on the hoisting frame (80) with the detection head facing downward; The hoisting frame (80) includes two inverted L-shaped hoisting rods (801), the bottom of which is connected to a horizontal support platform (802). The detection device (81) is fixedly installed on the horizontal support platform (802), and the horizontal support platform (802) is provided with an opening for the detection head of the detection device (81) to pass through. The first detection module (8) and the second detection module (9) also include a dustproof isolation component (82). The dustproof isolation component (82) includes a mounting frame (823) set at the bottom of the horizontal support platform (802) and an air compressor (820) installed on the horizontal side of the three-axis walking drive system. A duckbill jet head (824) is provided in the mounting frame (823). The jet outlet of the duckbill jet head (824) faces the oblique downward of the detection head of the detection device (81). The air inlet of the duckbill jet head (824) is connected to the output end of the air compressor (820) through an air pipe (822). An air intake filter (825) is installed on the air intake end of the air compressor (820) to filter the intake air; A pressure regulating valve (821) is installed on the output end of the air compressor (820) to regulate the high-pressure gas from the air compressor (820) to a stable pressure. A groove (803) is provided on the horizontal support platform (802) at the duckbill jet head (824), and the air pipe (822) passes through the groove (803).

9. A chiseling system according to claim 8, characterized in that: The mounting frame (823) includes two symmetrical mounting plates (8230). The duckbill jet head (824) is rotatably mounted in the two mounting plates (8230) via connecting shafts (8231) fixed on its left and right sides. One of the connecting shafts (8231) moves through the corresponding mounting plate (8230) and is connected to an angle adjustment component. The angle adjustment component is used to control the rotation angle of the jet nozzle of the duckbill jet head (824). The jet nozzle of the duckbill jet head (824) can be rotated to an angle facing the probe of the detection device (81). The angle adjustment assembly includes an extension plate (8232) located at the edge of the connecting shaft (8231) and extending outward. A first hinge shaft (8233) is provided on the side of the extension plate (8232) away from the mounting plate (8230). A second hinge shaft (8234) is fixed on the outer side of the mounting plate (8230). An angle adjustment telescopic cylinder (8235) is provided between the first hinge shaft (8233) and the second hinge shaft (8234). The two ends of the angle adjustment telescopic cylinder (8235) are rotatably connected to the first hinge shaft (8233) and the second hinge shaft (8234) respectively.

10. A chiseling system according to claim 6, characterized in that: The chiseling mechanism (6) includes a housing (60), in which a row of chiseling components (62) is provided that extends through the bottom of the housing (60) and into the gap of the connecting rib (101). The housing (60) is also provided with a drive mechanism (64) for driving all the chiseling components (62) to perform telescopic chiseling. The shaving assembly (62) includes a narrow rod (620), a telescopic rod (622) is movably inserted through the narrow rod (620), the bottom of the telescopic rod (622) extends to the outside of the narrow rod (620) and is connected to a shaving head (6220), the top extends to the outside of the narrow rod (620) and is connected to an abutment head (626), the narrow rod (620) is also provided with an expansion cavity (623) with a diameter larger than that of the telescopic rod (622), an expansion block (624) is fixed to the outside of the telescopic rod (622) and is located in the expansion cavity (623) and is telescopically coordinated with it, and a return spring (625) is fitted on the outside of the telescopic rod (622) between the bottom of the expansion block (624) and the bottom wall of the expansion cavity (623); The drive mechanism (64) includes a drive shaft (641) rotatably disposed in the housing (60). The drive shaft (641) is located above the chiseling assembly (62) and extends along its arrangement direction. The outer side of the housing (60) is also provided with a drive device three (643) whose output shaft is connected to one end of the drive shaft (641). The drive shaft (641) is provided with eccentric wheels (642) corresponding to each chiseling assembly (62). The eccentric wheels (642) abut against the corresponding contact head (626). Each eccentric wheel (642) is distributed at a preset angle along the axial direction of the drive shaft. The motor used in drive device three (643) is a variable frequency drive motor; A sliding mounting bracket (61) is provided in the housing (60). The housing (60) and the sliding mounting bracket (61) are provided with connected L-shaped sliding grooves on the side and bottom of the housing (60). The chisel assembly (62) is slidably mounted on the sliding mounting bracket (61) and passes through the bottom of the housing (60) through the L-shaped sliding groove. A fixing component (63) is installed on the side of the sliding mounting bracket (61) for alternatingly fixing the chisel assemblies (62) in the same row under the pressure state. A pushing mechanism (65) is provided on the side of the housing (60) away from the fixing component (63) for pushing the slidable chisel assembly (62) to slide in a direction perpendicular to its arrangement direction. The contact head (626) is long and its length is greater than the sliding length of the chisel assembly (62).

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