CN108240114B - High-pressure concrete wool punching machine and construction method - Google Patents

Abstract

The invention discloses a concrete high-pressure punching machine and a construction method. It includes a crawler vehicle body, the crawler vehicle body is installed on a walking track, and the walking track drives it to walk through a plurality of driving wheels. A water tank is installed on the top of the car body, and the water tank is connected to a pumping device, and a water filter is installed on the outlet pipe of the pumping device, and the water outlet of the water filter is connected to a high-pressure piston pump, and the outlet of the high-pressure piston pump The nozzle is connected to the high-pressure nozzle device used for filling the concrete floor through the nozzle. The high-pressure nozzle device is installed on the front end of the mechanical arm. There are two sets of the mechanical arm, which are arranged in parallel and installed on the top of the crawler vehicle body. This machine adopts mechanical automation technology, and has the functions of intelligently controlling the operation of the machine, completing the flushing of concrete construction joints and inspecting the quality of the flushing. Therefore, it can replace manual work in the actual construction process and meet the specified flushing effect.

Description

A concrete high-pressure punching machine and construction method

technical field

The invention belongs to the field of mechanized concrete construction, and in particular relates to an automatic high-pressure punching machine for concrete.

Background technique

The treatment of concrete construction joints is an important link in the process of concrete construction. The quality of the treatment will directly affect the integrity and impermeability of the concrete structure, and even determine the safety of the structure. In the current concrete construction process, the commonly used construction joint treatment methods include artificial chiseling, wire brush mechanical bristles, blasting with sand guns, low-pressure water blasting, and high-pressure water blasting. Manual chiseling is labor-intensive and low-efficiency; the bristles of the wire brush have a large loss on the wire brush, and the working noise is serious; due to the strong impact force of the blasting gun, it is suitable for the treatment of construction joints with a long age, and the dust pollution is serious; low pressure Water flushing adopts 0.3-0.6MPa pressure water, which is suitable for joint surface treatment in a short time after the initial setting of concrete, and the water consumption is large. At the same time, the above flushing method will produce a large amount of loose concrete, which requires strict post-cleaning, which further increases the workload of concrete construction. The use of 20-30MPa high-pressure water to flush the construction joints is not only flexible in terms of construction schedule, but also has little disturbance to the hardened concrete construction, and less water consumption, which can effectively improve the efficiency and quality of flushing.

In addition, in the above-mentioned concrete construction joint treatment process, the construction form is still mainly manual. On the one hand, when the area of the pouring silo is large, the labor intensity of the workers is high; on the other hand, for example, the method of flushing with high-pressure water or sand blasting gun has certain dangers in its own mechanical operation. At the same time, the broken concrete residues under the action of high pressure splash around, which is also unfavorable to the safety and health of workers. On the other hand, since there are no clear regulations on the treatment methods and technical indicators of the construction joints in the concrete construction specifications, the construction personnel will rely on their personal experience to carry out the construction joint treatment operations, which may cause engineering problems such as unqualified concrete construction quality .

Therefore, on the basis of using high-pressure water flushing as the construction joint treatment method, designing an automated construction machine that integrates intelligent operation, flushing, and effect detection can well replace manual work and improve the quality of flushing.

Contents of the invention

The purpose of the present invention is to provide a concrete high-pressure punching machine, which adopts mechanical automation technology and has the functions of intelligently controlling the operation of the machine, completing the punching of concrete construction joints, and testing the quality of the punching. Therefore, it can be used in the actual construction process. In place of manual work, and meet the specified flushing effect.

In order to achieve the above-mentioned technical features, the object of the present invention is achieved in the following way: a concrete high-pressure punching machine, which includes a crawler vehicle body, the crawler vehicle body is installed on the walking track, and the walking track passes through multiple The driving wheel drives it to walk, and a water tank is installed on the top of the crawler vehicle body, and the water tank is connected with the pumping device. The water outlet of the high-pressure piston pump is connected to the high-pressure nozzle device used for flushing the concrete floor through the nozzle. The high-pressure nozzle device is installed on the front end of the mechanical arm. The top of the tracked vehicle body.

The high-pressure nozzle device includes an end slider, which is hinged at the end of the mechanical arm, and a translation chute is installed on the end slider in sliding fit, and the translation chute and the end slider They are connected through a rack and pinion transmission mechanism, and drive the entire nozzle control bracket mounted on the translation chute to move in translation along the end slider.

The nozzle control bracket includes two parallel chute arranged in parallel, the parallel chute is fixedly installed on the lower end surface of the translation chute, and a plurality of translation rods are installed in sliding fit between the parallel chute, and the translation rod A grooved track is arranged in the middle, and a sprinkler controller is mounted on the grooved track in a sliding fit, and a sprinkler head is installed on the sprinkler controller, and two rotating motors are installed on the sprinkler controller, one of which can control The rotation angle of the nozzle, another rotating motor can control the pitch injection angle of the nozzle.

The bottom of the walking track is provided with a plurality of induction wheels and supporting pulleys, and the walking track is limited and supported.

There are four driving wheels, and each driving wheel is separately equipped with a driving motor; the outer side of the walking track is provided with deep teeth.

The body of the tracked vehicle is equipped with a three-dimensional laser scanner, a central processing unit and a battery. The three-dimensional laser scanner can scan the pouring warehouse for the first time and transmit the data to the central processing unit. There is an electronic compass, which can sense the position of the wool-flushing machine at all times, and guide the wool-flushing machine to follow the specified requirements during transportation.

The water tank adopts a large-volume water tank, and a water inlet pipe is connected to the water tank, and a water inlet valve is installed on the water inlet pipe, and the other end of the water inlet pipe is connected with the water supply pipeline at the construction site; a low water level valve is installed inside the water tank. , High water level alarm device.

The shape of the water filter is cylindrical, with multi-layer filter media inside. The filter diameters of the multi-layer filter media are different and gradually decrease from top to bottom. The multi-layer filter media is detachable.

The high-pressure piston pump is driven by a motor, the motor adopts a multi-stage speed-regulating motor, and the motor is connected with a gearbox.

The mechanical arm includes a mechanical arm base, and the mechanical arm base is fixedly mounted on the front end of the crawler vehicle body. A first connecting rod is hinged on the mechanical arm base, and a second connecting rod is hinged at the end of the first connecting rod. rod, the first link and the second link are driven by hydraulic cylinders.

The construction method of concrete high-pressure punching machine described in any one, it comprises the following steps:

Step 1: After the flushing machine enters the construction joint processing site, the electronic compass in the central processor will sense the current orientation of the machine, and compare it with the construction joint processing direction required during construction, so as to determine the walking direction of the flushing machine At the same time, the central processor starts the 3D laser scanner to scan the pouring bin for the first time. In the internal calculation module of the processor, the system can establish an accurate shape model of the pouring bin from the scanned point cloud data, so as to delineate the pouring bin. The scope of mechanical construction joint processing, analyze the point cloud data of the concrete surface, compare with the elevation information of the pouring warehouse surface, find out the points that are very different from the elevation information, and set these points as obstacles, so that Avoid it in the planning of the running path of the flushing machine;

Step 2: After obtaining the orientation of the flushing machine, the range of flushing on the warehouse surface, and the information on obstacles on the warehouse surface, the central processor plans the walking path of the flushing machine. The planned walking path is strip-shaped, and its width is the same as the punching The processing width of the hair mechanical nozzle is the same; the direction of the arrangement of the strips is consistent with the specified direction of the hair removal treatment, and they are arranged sequentially from one side to the other on the concrete surface; Calibration, if an obstacle is encountered in the layout of the wool-washing machine walking strip, it will be bypassed directly, and the wool-washing operation will not be performed during the obstacle avoidance process, and the wool-washing operation will continue after the obstacle is successfully bypassed;

Step 3: Before flushing, after the mechanical arm is adjusted, first adjust the slider at the end of the mechanical arm so that it is located in the center of the entire nozzle control bracket;

Step 4: Start the nozzle controller, so that the placed high-pressure nozzle meets the requirements of the spray angle after horizontal rotation and vertical rotation; at the same time, drive the nozzle to move to the rearmost end of the translation rod chute;

Step 5: Control the four translation rods so that each translation rod is placed on the outermost side of its sliding range, and maintain this state to complete the flushing operation during the advancing process of the flushing machine; when the advance reaches the end point, the nozzle controller starts the translation action , continue to push the nozzle to the front end of the translation rod chute;

Step 6: Slide the translation lever to the other side for a certain distance to ensure that the adjusted high-pressure water jet range can partially overlap with the previous flushing range, and keep the changed state to complete the flushing operation during the retreating process of the flushing machine ;When the back reaches the end point, the nozzle will be pulled back to the rearmost end of the translation rod chute again;

Step 7: The flushing machine turns to enter the next flushing strip to work. At the same time, the translation rod returns to the outermost side of its sliding range again, and so on. After the entire construction joint is processed, operate the nozzle controller to return the nozzle to to the initial position.

The present invention has following beneficial effect:

1. By adopting the above-mentioned concrete flushing machine and its automation technology, it can effectively replace the manual processing of concrete construction joints, and ensure that the quality of flushing meets the specified requirements and ensure the safety and stability of the concrete structure.

2. The three-dimensional laser scanner can scan the situation in the warehouse after the furring machine enters the construction site. On the one hand, it scans the boundary conditions of the pouring warehouse to determine the working range of the construction joint treatment; Obstacles on the concrete surface, so as to determine the obstacle-avoiding position during the wool-washing operation; on the other hand, combined with the azimuth information of the compass carried by the wool-washing machine, the running track of the wool-washing machine is planned in the form of strips.

3. The three-dimensional laser scanner needs to scan the surface of the construction joints in the warehouse three times during the process of processing the construction joints. The three scanning tasks are as follows: the first time, when the three-dimensional laser scanner is used for the first time to scan the outline and obstacles of the pouring warehouse, at the same time, the surface of the construction joint in the warehouse is fully scanned, so as to establish the surface of the construction joint before flushing. Point cloud data; the second time, after the flushing test is completed, scan the surface of the construction joint treated by the trial spraying, so as to inspect the quality of the flushing and adjust the initial conditions of the flushing; the third time, after completing all the flushing After the operation, the machine returns to the starting point of flushing to scan the surface of the construction joints in the warehouse again, so as to perform a final inspection on the flushing effect of the construction joints in the entire warehouse.

4. Through the mutual cooperation between the mechanical arm and the nozzle control bracket, the high-pressure nozzle can be regulated during the flushing operation to meet the requirements of the flushing angle and height.

5. Through the water filter, the flushing water extracted from the water tank can be efficiently purified, thereby preventing the high-pressure nozzle from being blocked during the flushing operation.

6. Through the high-pressure piston pump, the gearbox can be used to adjust the speed according to the results of the wool flushing test, so that the piston pump can output high-pressure water that meets the quality requirements of wool flushing.

7. The nozzle shape of the high-pressure nozzle is fan-shaped, which can spray the high-pressure water delivered by the high-pressure piston pump to the surface of the concrete construction joint in a fan-shaped form, thereby peeling off the milk skin on the concrete surface. During the flushing process, the high-pressure nozzle sprays water in an oblique direction of 40-50° downwards. At the same time, ensure that the oblique direction is left and right, which is just perpendicular to the forward direction of the machine. Whether the oblique direction is left or right depends on the The running direction in the actual operation is determined, but the final deflection direction should make the stripped concrete debris flush to the side that has not been roughened, so as to ensure that after the roughening is completed, the concrete debris will be gathered on the surface of the construction joint side for easy cleaning later.

8. One left and one left of said mechanical arm is symmetrically installed on the front end of the wool-flushing machine. Each of the mechanical arms has two connecting rods, which are finally connected with the spray head control bracket. A rotary motor is installed at the joints at both ends of the connecting rod to drive it to rotate around the joint axis. Under the control of the central processing unit, the connecting rods rotate in coordination with each other to realize the retraction of the nozzle control bracket.

9. The motor is a multi-stage speed-regulating motor, and is equipped with a gearbox, which can adjust the speed according to the needs, so as to control the reciprocating speed of the piston and further determine the pressure of the discharged water.

10. The battery is a rechargeable battery, and each hair washing machine is equipped with multiple spare batteries, so as to ensure the uninterrupted operation of the machine in actual use.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is the overall structure diagram of a kind of automatic concrete punching machine of the present invention.

FIG. 2 is a schematic diagram of the first state during the operation of the robotic arm of the present invention.

FIG. 3 is a schematic diagram of the second state during the operation of the robotic arm of the present invention.

FIG. 4 is a schematic diagram of the third state in the operation process of the robotic arm of the present invention.

Fig. 5 is a working schematic diagram of the high-pressure nozzle and the nozzle control bracket of the present invention.

Fig. 6 is a schematic diagram of the structure of the high-pressure nozzle device of the flushing machine of the present invention.

Fig. 7 is a schematic diagram of the operation mode of the flushing machine of the present invention.

Fig. 8 is a flow chart of the construction method of the flushing machine of the present invention.

In the figure: walking track 1, water tank 2, pumping device 3, water filter 4, high-pressure piston pump 5, battery 6, mechanical arm 7, high-pressure nozzle 8, nozzle control bracket 9, electronic compass 10, 3D laser scanner 11, Central processing unit 12, driving wheel 13, induction wheel 14, supporting pulley 15, gearbox 16, translation chute 17, end slider 18, parallel chute 19, translation rod 20, nozzle controller 21, first connecting Rod 22, second connecting rod 23.

Detailed ways

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

Example 1:

As shown in Figures 1-6, a concrete high-pressure punching machine includes a crawler vehicle body, the crawler vehicle body is installed on a walking track 1, and the walking track 1 drives it to walk through a plurality of driving wheels 13 , a water tank 2 is installed on the top of the crawler vehicle body, the water tank 2 is connected to the pumping device 3, the water outlet pipe of the pumping device 3 is equipped with a water filter 4, and the water outlet of the water filter 4 is connected to the high-pressure piston The pump 5 is connected, and the water outlet of the high-pressure piston pump 5 is connected with the high-pressure nozzle device used for flushing the concrete floor through the nozzle. The high-pressure nozzle device is installed on the front end of the mechanical arm 7, and the mechanical arm 7 has two sets , arranged in parallel and mounted on the top of the tracked vehicle body. By using the above-mentioned concrete high-pressure punching machine, it can effectively replace the manual processing of concrete construction joints, and ensure that the quality of punching meets the specified requirements and ensure the safety and stability of the concrete structure.

Further, the high-pressure spray head device includes an end slider 18, which is hinged at the end of the mechanical arm 7, and a translation chute 17 is installed on the end slider 18 in a sliding fit, and the translation The chute 17 and the end slider 18 are connected by a rack and pinion transmission mechanism, and drive the entire spray head control bracket 9 mounted on the translation chute 17 to move in translation along the end slider 18 . The nozzle control bracket 9 includes two parallel chute 19 arranged in parallel, the parallel chute 19 is fixedly installed on the lower end surface of the translation chute 17, and a plurality of translation rods are slidably fitted between the parallel chute 19 20. A groove track is arranged in the middle of the translation rod 20, and a sprinkler controller 21 is mounted on the groove track in sliding fit, and a sprinkler head 8 is installed on the sprinkler controller 21, and a nozzle controller 21 is installed Two rotating motors, one of which can control the rotation angle of the nozzle 8, and the other rotation motor can control the pitch injection angle of the nozzle 8.

Further, a plurality of induction pulleys 14 and idler pulleys 15 are provided under the walking crawler 1 , and provide limit support for the walking crawler 1 . There are four driving wheels 13, and each driving wheel 13 is separately equipped with a driving motor; the outer side of the walking track 1 is provided with deep teeth. There are four driving wheels, each of which is equipped with a corresponding driving motor, so as to meet the running requirements of the wool flushing machine such as forward, backward and turning. The outer side of the crawler is provided with a deep tooth pattern, which prevents the machine from slipping during walking, and also avoids sideways movement caused by the reaction force generated by high-pressure water flushing.

Further, a three-dimensional laser scanner 11, a central processing unit 12 and a storage battery 6 are installed on the body of the crawler vehicle, and the three-dimensional laser scanner 11 can scan the pouring bin for the first time, and transmit the data to the central processing unit 12 , the central processing unit 12 is equipped with an electronic compass 10, which can sense the orientation of the wool-flushing machine at all times, and guide the wool-flushing machine to perform according to the specified requirements in the process of transporting away.

Further, the water tank 2 adopts a large-volume water tank, and a water inlet pipe is connected to the water tank, and a water inlet valve is installed on the water inlet pipe, and the other end of the water inlet pipe is connected with the water supply pipeline at the construction site; Low water level and high water level alarm devices are installed inside. , for alarm prompts in the case of water shortage and full water filling.

Further, the water filter 4 is cylindrical in shape, and multi-layer filter media are arranged inside, and the filter diameters of the multi-layer filter media are different, and gradually decrease from top to bottom, so as to filter the water at the construction site The flushing water containing less impurities can avoid the high-pressure nozzle being blocked by impurities during use. The multi-layer filter medium adopts detachable installation.

Further, the high-pressure piston pump 5 is driven by a motor, and the motor is a multi-stage speed-adjustable motor, and the motor is connected to a gearbox 16 . The speed can be adjusted according to the needs, so as to control the speed of the reciprocating motion of the piston, which further determines the pressure of the discharged water.

Further, the mechanical arm 7 includes a mechanical arm base, the mechanical arm base is fixedly installed on the front end of the crawler vehicle body, the first connecting rod 22 is hinged on the described mechanical arm base, and the first connecting rod 22 The end is hinged with a second connecting rod 23, and the first connecting rod 22 and the second connecting rod 23 are driven by a hydraulic cylinder. A rotary motor is installed at the joints at both ends of the connecting rod to drive it to rotate around the joint axis. Under the control of the central processing unit, the connecting rods rotate in coordination with each other to realize the retraction of the nozzle control bracket.

Further, the nozzle of the high-pressure nozzle 8 has a fan-shaped shape, and can spray the high-pressure water delivered by the high-pressure piston pump 5 onto the surface of the concrete construction joint in a fan-shaped form, thereby peeling off the milk skin on the concrete surface. The high-pressure nozzle 8 sprays water in an oblique downward direction of 40-50° during the flushing process, and at the same time ensures that the oblique direction is left and right, just perpendicular to the forward direction of the machine, and whether the oblique direction is left or right needs to be specified. It is determined according to the running direction in the actual operation, but the final deflection direction should make the stripped concrete debris flush to the side that has not been roughened, so as to ensure that the concrete debris is gathered to the construction joint after the roughening is completed. One side of the surface for easy cleaning later.

Further, the three-dimensional laser scanner 11 pours the surface to obtain the shape information of the construction joint surface. The central processing unit 12 is equipped with an electronic compass 10, which can sense the orientation of the wool-flushing machine at all times, so as to guide the wool-flushing machine to perform according to the specified requirements in the process of transporting away.

Example 2:

As shown in Figure 7-8, the construction method of any one of the described concrete high-pressure punching machines, it includes the following steps:

Step 1: After the wool flushing machine enters the construction joint processing site, the electronic compass 10 in the central processing unit 12 will sense the current orientation of the machine, and compare it with the construction joint processing direction required during construction, so as to determine the direction of the wool flushing machine. walking direction; at the same time, the central processing unit 12 starts the three-dimensional laser scanner 11 to scan the pouring bin for the first time. In the internal calculation module of the processor, the system can establish an accurate shape model of the pouring bin from the scanned point cloud data, thereby Delimit the processing range of the construction joints of the flushing machine, analyze the point cloud data on the concrete surface, compare it with the elevation information of the pouring warehouse surface, find out the points that are very different from the elevation information, and set these points as Obstacles, so as to avoid them in the planning of the running path of the flushing machine;

Step 2: After obtaining the orientation of the wool-flushing machine, the range of wool-flushing on the warehouse surface and the information of obstacles on the warehouse surface, the central processing unit 12 plans the walking path of the wool-flushing machine. The planned walking path is strip-shaped, and its width is the same as The processing width of the flushing mechanical nozzle is the same; the arrangement of the strips is consistent with the specified direction of flushing treatment, and they are arranged sequentially from one side to the other on the concrete surface; If there is an obstacle encountered in the arrangement of the walking belt of the flushing machine, it will be bypassed directly, and the flushing operation will not be performed during the obstacle avoidance process, and the flushing operation will continue after the obstacle is successfully bypassed;

Step 3: Before flushing, after the adjustment of the mechanical arm 7 is completed, first adjust the slider 18 at the end of the mechanical arm so that it is located at the center of the entire nozzle control bracket 9;

Step 4: Start the nozzle controller 21, so that the placed high-pressure nozzle 8 meets the requirements of the spray angle after horizontal rotation and vertical rotation; at the same time, drive the nozzle 8 to move to the rearmost end of the chute of the translation rod 20;

Step 5: Control the four translation rods 20, so that each translation rod 20 is placed on the outermost side of its sliding range, and maintain this state to complete the flushing operation during the advancement of the wool-flushing machine; when the advancement reaches the end point, the nozzle controller 21 Start the translation action, and continue to push the nozzle to the front end of the chute of the translation rod 20;

Step 6: Slide the translation rod 20 to the other side for a certain distance to ensure that the adjusted high-pressure water injection range can partially overlap with the previous flushing range, and keep changing the state to complete the flushing during the retreating process of the flushing machine Operation; when the retreat reaches the end point, the nozzle 8 will be pulled back to the rear end of the chute of the translation rod 20 again;

Step 7: The flushing machine turns to enter the next flushing strip for work. At the same time, the translation rod 20 returns to the outermost side of its sliding range again, and so on. After the entire construction joint is processed, the nozzle controller is operated to turn the nozzle Return to the initial position.

Example 3:

The central processing unit 12 can realize the following functions in the process of construction joint processing by automatically controlling the punching machine:

Function one:

After the wool flushing machine enters the construction joint processing site, first, the electronic compass 10 in the central processing unit 12 will perceive the current orientation of the machine, and compare it with the construction joint processing direction required during construction, so as to determine the walking direction of the wool flushing machine. In addition, the central processing unit 12 starts the three-dimensional laser scanner 11 to scan the pouring bin for the first time. In the internal calculation module of the processor, the system can establish an accurate shape model of the pouring bin from the scanned point cloud data, thereby planning Determine the construction joint processing range of the punching machine, and at the same time, analyze the point cloud data of the concrete surface, compare it with the elevation information of the pouring warehouse surface, find out the points that are very different from the elevation information, and set these points As an obstacle, it can be avoided in the planning of the running path of the flushing machine.

Function two:

After obtaining the orientation of the wool flushing machine, the range of wool flushing on the warehouse surface, and the information on obstacles on the warehouse surface, the central processing will plan the walking path of the wool flushing machine. On the one hand, the planned walking path is in the shape of a strip, and its width is consistent with the processing width of the hair removal machine nozzle; Arranged in sequence to the other side. Since the obstacle on the warehouse surface has been calibrated in function one, if an obstacle is encountered in the arrangement of the walking belt of the flushing machine, it will be bypassed directly, and the flushing operation will not be performed during the obstacle avoidance process. Go around the obstacle before continuing with the flushing operation.

Function three:

Before the wool flushing work officially starts, the central processing unit 12 will instruct the wool flushing machine to carry out the first wool flushing test. The process is:

Step 1: Start the flushing machine, and adjust the mechanical arm 7 and the nozzle control bracket 9, so that the height of the spraying height of the high-pressure nozzle 8 and the concrete surface is 15cm, and the included angle is 45°;

Step 2: Start the high-pressure piston pump 5, and adjust the gearbox 16 so that the high-pressure water pressure generated by the piston pump is a smaller value;

Step 3: Start the test spraying, start the flushing machine with the above initial spraying conditions, and first advance the flushing for a certain distance, and then retreat and flush back to the original position;

Step 4: start the three-dimensional laser scanner 11 again, scan the surface of the construction joint treated by the trial spraying, and compare and calculate the point cloud data generated by scanning with the point cloud data of the first scan of the range;

Step 5: If the comparison and calculation results show that the test spraying has a good flushing effect, then perform the subsequent flushing operation according to the initial spraying conditions; The driving speed of the pump 5 is adjusted to further increase the flushing pressure.

Function four:

After the finishing work, the hair removal machine returns to the starting point, and the central controller 12 guides the three-dimensional laser scanner 11 to perform the final scanning operation again, and compares the point cloud data of the concrete surface scanned this time with the point cloud data of the first scan. Comparing and calculating, so as to judge the flushing effect, the calculation model and evaluation indicators are stipulated as follows:

The point cloud data generated after the first scan of the concrete construction joint surface of the warehouse surface is expressed as:

S={P ₁ ,P ₂ ,P ₃ ,…,P _n }

After finishing the roughening, the final scan of the treated construction joint surface will also get a set of point cloud data:

S'＝{P ₁ ', P ₂ ', P ₃ ',...,P _n '}

In the point cloud data generated by the above two scans, P _i and P _i ' represent the position information of two points whose vertical and horizontal coordinates are correspondingly equal but whose vertical coordinates are different. As stipulated in the concrete construction specification, the criteria for flushing are as follows: remove all laitance and loose materials on the joint surface, so that coarse sand or small stones are exposed, and there is no milk skin. At the same time, the coarse aggregate must not be flushed out. Through the review of relevant literature and construction materials, in the actual high-pressure water flushing quality inspection, it is stipulated that the depth of flushing should be controlled at 2-3 mm, the coarse aggregate should not be washed away, and the surface of the construction joint after flushing should have a certain roughness . Then, firstly, calculate the difference between all P _i and P _i ', and obtain the average value, so that it can be controlled within the range of 2 to 3 mm to determine whether the milk skin on the surface of the construction joint has been washed away:

In addition, from the difference between all P _i and P _i ', find out the points that are greater than the minimum particle size of coarse aggregate 5mm plus a distance of 2~3mm, so as to judge that the coarse aggregate is washed away, and calculate the proportion of these points. Percentage of total points to measure the overall flush quality:

Finally, calculate the standard deviation of the scanned point cloud data after flushing. If the calculation result is too small, it means that the surface of the construction joint after flushing is not rough enough; if the calculation result is too large, although it shows that the surface of the construction joint after flushing It is very rough, but it is likely that the surface undulation slope is very steep, and in this case, it is easy to cause stress concentration inside the poured concrete due to the sharp tip, which is not conducive to structural safety. Therefore, the roughness should be judged moderately:

The central processor sends the final detection results to the on-site construction administrator to facilitate their acceptance of the flushing quality.

The above-mentioned embodiments are used to illustrate the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modification and change made to the present invention will fall into the protection scope of the present invention.

Claims (7)

1. A concrete high-pressure punching machine, characterized in that it includes a crawler vehicle body, the crawler vehicle body is installed on the walking track (1), and the walking track (1) passes through a plurality of driving wheels (13 ) to drive it to walk, a water tank (2) is installed on the top of the crawler vehicle body, the water tank (2) is connected with the pumping device (3), and the outlet pipe of the pumping device (3) is equipped with a water filter (4 ), the water outlet of the water filter (4) is connected with the high-pressure piston pump (5), and the water outlet of the high-pressure piston pump (5) is connected with the high-pressure sprinkler device for roughening the concrete floor through the nozzle pipe, so The high-pressure sprinkler device is installed on the front end of the mechanical arm (7), and there are two sets of the mechanical arm (7), which are arranged in parallel and installed on the top of the crawler vehicle body; The high-pressure nozzle device includes an end slider (18), which is hinged at the end of the mechanical arm (7), and a translation chute is mounted on the end slider (18) for sliding fit (17), the translation chute (17) and the end slider (18) are connected through a rack and pinion transmission mechanism, and drive the entire nozzle control bracket (9) installed on the translation chute (17) along the The end slider (18) moves in translation; The nozzle control bracket (9) includes two parallel chute (19) arranged in parallel, the parallel chute (19) is fixedly installed on the lower end surface of the translation chute (17), the parallel chute (19) A plurality of translation rods (20) are installed in sliding fit between them. A groove track is arranged in the middle of the translation rod (20). A nozzle controller (21) is installed in sliding fit on the groove rail. The nozzle controller A nozzle (8) is installed on (21), and two rotating motors are installed on the nozzle controller (21), one of which can control the rotation angle of the nozzle (8), and the other rotating motor can control the rotation angle of the nozzle (8). ) pitch jet angle; A three-dimensional laser scanner (11), a central processing unit (12) and a battery (6) are installed on the body of the tracked vehicle, and the three-dimensional laser scanner (11) can scan the pouring bin for the first time and transmit the data For the central processing unit (12), the central processing unit (12) is equipped with an electronic compass (10), which can sense the orientation of the wool-washing machine at all times, and guide the wool-washing machine to carry out according to the specified requirements during the transportation process. 2. A concrete high-pressure punching machine according to claim 1, characterized in that: a plurality of induction pulleys (14) and supporting pulleys (15) are provided under the walking crawler (1), and the walking The crawler belt (1) carries out limit support; There are four driving wheels (13), and each driving wheel (13) is separately installed with a driving motor; the outer side of the walking track (1) is provided with deep teeth. 3. A concrete high-pressure flushing machine according to claim 1, characterized in that: the water tank (2) adopts a large-volume water tank, and a water inlet pipe is connected to the water tank, and a water inlet valve is installed on the water inlet pipe , the other end of the water inlet pipe is connected with the water supply pipeline at the construction site; low water level and high water level alarm devices are installed inside the water tank (2). 4. A concrete high-pressure punching machine according to claim 1, characterized in that: the shape of the water filter (4) is cylindrical, with multi-layer filter media inside, and the multi-layer filter media The filter diameters are different and gradually decrease from top to bottom, and the multi-layer filter media is detachable. 5. A concrete high-pressure punching machine according to claim 1, characterized in that: the high-pressure piston pump (5) is driven by a motor, the motor adopts a multi-stage speed-regulating motor, and the motor and the gearbox ( 16) Connected. 6. A concrete high-pressure punching machine according to claim 1, characterized in that: the mechanical arm (7) includes a mechanical arm base, and the mechanical arm base is fixedly installed on the front end of the crawler vehicle body, the A first connecting rod (22) is hinged on the base of the mechanical arm, and a second connecting rod (23) is hinged at the end of the first connecting rod (22), and the first connecting rod (22) and the second connecting rod ( 23) Driven by hydraulic cylinder. 7. adopt the construction method of concrete high-pressure punching machine described in any one of claim 1-6, it is characterized in that it comprises the following steps: Step 1: After the flushing machine enters the construction joint processing site, the electronic compass (10) in the central processing unit (12) will perceive the current orientation of the machine, and compare it with the construction joint processing direction required during construction, so as to determine the The walking direction of the punching machine; at the same time, the central processing unit (12) starts the three-dimensional laser scanner (11) to scan the pouring warehouse for the first time. In the internal calculation module of the processor, the system can be established from the scanned point cloud data. The precise shape model of the pouring warehouse can be used to delineate the processing range of the construction joints of the punching machine, analyze the point cloud data of the concrete surface, compare it with the elevation information of the pouring warehouse surface, and find out the difference from the elevation information. points, and set these points as obstacles, so as to avoid them in the planning of the running path of the flushing machine; Step 2: After obtaining the orientation of the wool flushing machine, the range of wool flushing on the warehouse surface, and the information on obstacles on the warehouse surface, the central processing unit (12) plans the walking path of the wool flushing machine. The planned walking path is strip-shaped, and its The width is consistent with the width that can be processed by the flushing mechanical nozzle; the arrangement of the strips is consistent with the specified direction of flushing treatment, and they are arranged sequentially from one side to the other on the concrete surface; The object has been calibrated. If an obstacle is encountered in the arrangement of the walking belt of the flushing machine, it will be bypassed directly. During the obstacle avoidance process, the flushing operation will not be performed, and the flushing will continue after the obstacle is successfully bypassed. Operation; Step 3: Before flushing, after the mechanical arm (7) is adjusted, first adjust the slider (18) at the end of the mechanical arm so that it is located at the center of the entire nozzle control bracket (9); Step 4: Start the nozzle controller (21), so that the placed high-pressure nozzle (8) meets the requirements of the spray angle after horizontal rotation and vertical rotation; at the same time, drive the nozzle (8) to move to the chute of the translation rod (20) the last end of Step 5: Control the four translation rods (20), so that each translation rod (20) is placed on the outermost side of its sliding range, and keep this state to complete the flushing operation during the advancement of the flushing machine; when the advance reaches the end point, The nozzle controller (21) starts the translation action, and continues to push the nozzle to the front end of the chute of the translation rod (20); Step 6: Slide the translation rod (20) to the other side for a certain distance to ensure that the adjusted high-pressure water jet range can partially overlap with the previous flushing range, and keep the changed state to complete the retreat process of the flushing machine Flushing operation; when the back reaches the end point, the nozzle (8) will be pulled back to the rear end of the chute of the translation rod (20) again; Step 7: The flushing machine turns to enter the next flushing strip to work, and at the same time, the translation rod (20) returns to the outermost side of its sliding range again, and so on and forth. After the entire construction joint is processed, the nozzle controller is operated Return the nozzle to its original position.

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