CN107858933A

CN107858933A - A kind of wet seam construction robot of prestressed concrete for automating dabbing fluting

Info

Publication number: CN107858933A
Application number: CN201711302607.5A
Authority: CN
Inventors: 吴丹
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-11
Filing date: 2017-12-11
Publication date: 2018-03-30

Abstract

The present invention relates to a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting, including bottom plate, the lower end of bottom plate is provided with universal wheel, work nest is provided with the middle part of bottom plate, elevation and subsidence regulating device is installed on bottom plate, the lower end of elevation and subsidence regulating device is provided with dabbing grooving apparatus, the lower end of dabbing grooving apparatus is provided with crushing retracting device, the elevation and subsidence regulating device includes two lift telescopic cylinders being arranged on bottom plate, the top of two lift telescopic cylinders is arranged in lifting supporting plate by flange, lift span is provided with the middle part of lifting supporting plate, lift drive mechanism is provided with lift span, the upper end of lift drive mechanism is provided with lifting fixed mechanism.The present invention can solve to need manually to be constructed by existing dabbing equipment present in existing wet seam dabbing grooving process, manually be constructed according to the deep-controlled dabbing of connecting sewing, it is possible to achieve the function of wet seam construction automation dabbing fluting.

Description

A kind of wet seam construction robot of prestressed concrete for automating dabbing fluting

Technical field

The present invention relates to the wet seam technical field of construction of prestressed concrete, specifically one kind can automate dabbing and open The wet seam construction robot of prestressed concrete of groove.

Background technology

Wet seam, refer to prestressed concrete beam body precast block, cantilever, which is abandoned, dresses up large-span continuous beam, using existing between beam body Pouring concrete is linked to be beam block overall wet seam.Need to carry out dabbing processing to connecting sewing position in wet seam work progress, Dabbing processing is the important step in wet seam work progress, and nowadays in the market dabbing equipment is more rich and varied, alleviates wet The pressure of seam dabbing construction, debris during work high above the ground during dabbing can directly be fallen, but existing wet seam dabbing is opened Need manually to be constructed by existing dabbing equipment during groove, carrying out the wet seam dabbing construction of different size needs to select The regulation instrument of adaptation, it is unstable, it is necessary to manually according to the depth control of connecting sewing that manual control dabbing equipment carries out dabbing processing Dabbing equipment processed carries out overall dabbing construction, and complicated connecting sewing position needs to carry out repeatedly dabbing, manual control dabbing Equipment processing is not comprehensive, is needed during dabbing in order to ensure wet seam construction quality needs that specified location slot to add Work using grooving tool, it is necessary to be manually processed, complex operation, the impurities and dust pollution environment in work progress, danger Evil health, debris caused by construction is shed everywhere has potential safety hazard.

The content of the invention

In order to solve the above problems, the invention provides a kind of wet seam of prestressed concrete for automating dabbing fluting Construction robot, can solve to need manually by existing dabbing equipment to enter present in existing wet seam dabbing grooving process Row construction, carrying out the wet seam dabbing construction of different size is needed to select the regulation instrument adapted to, and manual control dabbing equipment is carried out Dabbing processing is unstable, it is necessary to manually carry out overall dabbing construction, complicated company according to the deep-controlled dabbing equipment of connecting sewing Seaming position needs to carry out repeatedly dabbing, and the processing of manual control dabbing equipment is not comprehensive, is needed during dabbing in order to true Moisturizing seam construction quality needs to carry out specified location fluting processing, it is necessary to manually be processed using grooving tool, Complex operation, the impurities and dust pollution environment in work progress, is detrimental to health, debris sheds presence everywhere caused by construction The problems such as potential safety hazard, it is possible to achieve the function of wet seam construction automation dabbing fluting, without manual operation, ring will not be polluted Border, in the absence of potential safety hazard, and there is the advantages that labor intensity is small, and operating efficiency is high.

To achieve these goals, the present invention is realized using following technical scheme：It is a kind of to automate what dabbing was slotted The wet seam construction robot of prestressed concrete, including bottom plate, the lower end of bottom plate are provided with universal wheel, and universal wheel can be with backman Make personnel and move the present invention, be provided with work nest in the middle part of bottom plate, elevation and subsidence regulating device, elevation and subsidence regulating device are installed on bottom plate Lower end be provided with dabbing grooving apparatus, the lower end of dabbing grooving apparatus is provided with crushing retracting device, and elevation and subsidence regulating device exists Dabbing grooving apparatus can be driven to carry out lift adjustment motion in work, dabbing grooving apparatus can connect to wet seam at work The outer wall of access slot carries out automating dabbing slot grooving, and crushing retracting device can return to caused debris in the course of work Receipts processing, it is automatic that elevation and subsidence regulating device, dabbing grooving apparatus and crushing retracting device are used in conjunction with each other the wet seam construction of completion The technique for changing dabbing fluting.

The elevation and subsidence regulating device includes two lift telescopic cylinders being arranged on bottom plate, two lift telescopic cylinders pair Claim to be arranged in lifting supporting plate by flange positioned at the left and right sides of work nest, the top of two lift telescopic cylinders, lifting Lift span is provided with the middle part of supporting plate, lift drive mechanism is provided with lift span, the upper end of lift drive mechanism is provided with Fixed mechanism is lifted, the lower end of lift drive mechanism is arranged on dabbing grooving apparatus, and two lift telescopic cylinders can control The height of supporting plate is lifted, so that it is guaranteed that the present invention can be moved stably, according to the depth of connecting sewing, elevator drive machine Structure drives dabbing grooving apparatus to carry out appropriate height regulation, it is ensured that can be carried out in wet seam dabbing work progress comprehensive Operation, the scope of application of the present invention is improved, without manual operation, the labor intensity of staff is reduced, improves work Efficiency.

The dabbing grooving apparatus include installed in lift drive mechanism lower end dabbing fluting frame, dabbing fluting frame it is upper End is symmetrically arranged with dabbing fixed mechanism, is provided with dabbing travel mechanism in dabbing fluting frame, is provided with dabbing travel mechanism Dabbing grooving mechanism, the tune that dabbing fixed mechanism can be adapted to during construction according to the width between connecting sewing Section, it is ensured that the carry out operation that dabbing grooving mechanism can be stablized during wet seam dabbing is constructed, in order to adjust wet seam The effect of dabbing construction, dabbing travel mechanism can drive dabbing grooving mechanism to carry out past return to work in specified working region Make,, can without manually carrying out construction processing by existing dabbing equipment so as to improve the effect of wet seam construction dabbing fluting Staff's body is damaged with dust caused by construction, in the absence of potential safety hazard, the work for reducing staff is strong Degree, improve the efficiency of work.

The retracting device that crushes includes being arranged on the dabbing supporting plate of dabbing fluting frame lower end, the lower end of dabbing supporting plate Installed in crushing on recovery frame, two crushing guide mechanisms, two crushing guide mechanisms pair are symmetrically arranged with dabbing supporting plate Claim positioned at the left and right sides of dabbing supporting plate, the upper end for crushing recovery frame is provided with two feed wells, two symmetrical positions of feed well In the left and right sides for crushing recovery frame, the lower end for crushing recovery frame is provided with blow tank, crushes recovery inframe and is provided with pulverizer Structure, the lower end for crushing recovery frame is provided with crushing blocking mechanism, according to the wet seam dabbing condition of construction of different in width, two powder Broken guide mechanism is close on the outer wall of connecting sewing during work, it is ensured that caused debris can be smooth in work progress Be transported to crushing recovery inframe, disintegrating mechanism crushes the blocking debris of recovery inframe and carries out pulverization process to entering, it is ensured that Crush recovery frame farthest can be reclaimed to caused debris in work, and after end-of-job, the present invention is moved to The position specified, crush blocking mechanism and start working and will crush the debris discharge for reclaiming inframe, without manual operation, ensure construction In debris will not shed everywhere, while the debris to be dropped in can constructing hurts health, prevents potential safety hazard, without Manually reclaimed, protect environment, reduce labor intensity.

As a preferred technical solution of the present invention, the lift drive mechanism includes being arranged in lifting supporting plate Two pieces of lifting fixed plates, two pieces of lifting fixed plates are symmetrically positioned in the left and right sides of lift span, passed through between two pieces of lifting fixed plates Sliding matching mode is connected with lifting driving plate, lifts and two driving stopper slots are provided with driving plate, two driving stopper slots Positioned at the left and right sides of lifting driving plate, drive in stopper slot and be provided with driving clamping block, drive the left and right sides of clamping block from On be down provided with lifting clamping slot at equal intervals, the lower end for lifting driving plate is provided with lifting limited post, lifts limited post Lower end is arranged on dabbing grooving apparatus, and is lifted limited post and be located in lift span, and the lower end for lifting supporting plate is provided with lifting Buffer spring, the lower end for lifting buffer spring are arranged on dabbing grooving apparatus, and the lower end for lifting driving plate is pacified by motor cabinet Equipped with two lifting motors, two lifting motors are symmetrically positioned in the left and right sides of lifting driving plate, lifting driving electricity Lifting drive gear is provided with the output shaft of machine, lifts and lifting driving rack is engaged with drive gear, lifting driving rack In lifting fixed plate, lifting driving plate is driven to carry out height regulation by lifting motor, lifting driving plate is in work Dabbing grooving apparatus is driven to carry out wet seam dabbing construction in place by lifting limited post during work, lifting is slow The effect that spring serves auxiliary damping during work is rushed, without manual operation, can be entered according to the depth of connecting sewing The regulation that row automation adapts to, without manual operation, the labor intensity of staff is reduced, improves the efficiency of work.

As a preferred technical solution of the present invention, the lifting fixed mechanism includes being arranged on lifting by motor cabinet Motor is fixed in lifting in driving plate, and the output shaft of the fixed motor of lifting is crossed shaft coupling and is connected with one end of positive screw rod, positive The other end of screw rod is connected by welding manner with one end of counterscrew, and the other end of counterscrew is arranged on by bearing to be risen Drop on fixed dam, lifting fixed dam is arranged in lifting driving plate, is all connected in positive screw rod and counterscrew by screw thread The mode of connecing is provided with fixed feeding block, is provided with two lifting moving side chains on the outer wall of fixed feeding block, fixes on feeding block Fixed follower plate is installed, positioning hole is provided with fixed follower plate, positioning hole has lifting locating dowel, and lifting locating dowel is arranged on On two pieces of adjustable end stops, two pieces of adjustable end stops are arranged in lifting driving plate, and the lower end of fixed follower plate is provided with two clampings Locating rack, clamping locating rack is connected by sliding matching mode with lifting driving plate, and clamping locating rack is with lifting clamping slot phase Mutual routing motion, two fixed feeding blocks being arranged on by lifting fixed motor driven in positive screw rod counterscrew enter simultaneously Row move toward one another, two lifting moving side chains play a part of being oriented at work to work with auxiliary stopper, lifting locating dowel During support and the effect being oriented to are served to fixed follower plate, fixed follower plate drives two cards during motion Tight locating rack is synchronously moved, and the clamping locating rack of two fixed follower plate lower ends of move toward one another works simultaneously and lifting clamp Tight groove cooperates to be fixed to lifting driving plate progress position, without manual operation, reduces the labor intensity of staff, can To ensure to lift the work stablized in specified position of driving plate, the stability of work is improved.

The lifting moving side chain includes the fixation mobile chute being arranged on fixed feeding block, is set in fixed mobile chute Mobile fixing hole is equipped with, fixes in mobile chute and fixed sliding frame is connected with by sliding matching mode, fixed sliding frame is L-shaped Structure, slip fixing hole is provided with fixed sliding frame at equal intervals from front to back, and mobile fixing hole and slip fixing hole are mutual Routing motion, the lower end of fixed sliding frame are provided with mobile limiting cylinder, and the top of mobile limiting cylinder is arranged on by flange On movement limiting frame, movement limiting frame is in Z-shaped structure, and the upper end of movement limiting frame is provided with slip fixed column, slides and fix Post, which is located at, to be slided in fixing hole, and is slided fixed column and moved with mobile fixing hole mutual cooperation, fixed mobile chute and fixed cunning Moving frame cooperates motion to the fixed effect for feeding block and serving guiding and auxiliary, solid by mobile limiting cylinder drive slip Fixed column motion carries out position restriction to fixed feeding block, it is ensured that the work that fixed feeding block be able to can be stablized in specified position Make.

As a preferred technical solution of the present invention, the dabbing fixed mechanism includes being arranged on dabbing fluting frame Dabbing location-plate, dabbing telescopic cylinder is installed in the side wall of dabbing location-plate, the top of dabbing telescopic cylinder is pacified by flange On dabbing expansion plate, dabbing fixed plate is installed on the outside of dabbing fluting frame, it is spacing to be provided with dabbing in dabbing fixed plate Hole, dabbing limited post is provided with the side wall of dabbing expansion plate, dabbing limited post is located in dabbing spacing hole, dabbing spacing hole Radius is more than the radius of dabbing limited post, and dabbing limited post is arranged on dabbing working plate, on the outer wall of dabbing working plate in the past It is provided with dabbing locating dowel at equal intervals backward, dabbing locating dowel is cone-shaped structure, according to the condition of construction of wet seam, is passed through Dabbing telescopic cylinder drives the dabbing expansion plate on dabbing limited post to carry out telescopic adjustment, and dabbing spacing hole rises to dabbing limited post The spacing effect with support, the company of being fixed on that the dabbing locating dowel on dabbing expansion plate can be stable during work are arrived On the inwall of seam, without manual operation, the labor intensity of staff is reduced, improves the stability of work.

As a preferred technical solution of the present invention, the dabbing travel mechanism includes being arranged on dabbing fluting frame Two pieces of dabbings move riser, and dabbing movement tooth is provided with equal intervals from left to right by bearing between two pieces of dabbing movement risers Wheel, the front end of dabbing carrier wheel are provided with dabbing sprocket wheel, are connected between two neighboring dabbing sprocket wheel by a linkage, position It is connected in the dabbing carrier wheel of dabbing fluting frame right-hand member by shaft coupling with the output of dabbing mobile motor, dabbing mobile motor Dabbing is arranged on by motor cabinet to move on riser, is opened on two neighboring dabbing carrier wheel by gear transmission mode and dabbing Groove mechanism is connected, and drives dabbing carrier wheel to be rotated by dabbing mobile motor, process of the dabbing carrier wheel in rotation Middle drive dabbing grooving mechanism is moved left and right, so as to ensure that the effect of wet seam dabbing construction without manual operation, reduces The labor intensity of staff, improve the efficiency of work.

As a preferred technical solution of the present invention, the dabbing grooving mechanism includes engaging by gear transmission mode Dabbing mobile rack on two neighboring dabbing carrier wheel, dabbing mobile rack are arranged on dabbing movable plate, and dabbing is moved Dabbing positioning side chain is installed, dabbing movable plate is arranged on two pieces of dabbings and fed on plate, and two blocks of dabbing feeding plates are symmetrical on dynamic plate Positioned at the front and rear sides of dabbing fluting frame, dabbing feeds plate and is connected to by sliding matching mode on dabbing fluting frame, and dabbing is entered To dabbing fluting side chain is provided with the side wall of plate, two blocks of dabbing feeding plates serve during work to dabbing movable plate Support, the effect of auxiliary and guiding, the dabbing mobile rack on dabbing movable plate drives dabbing to enter by gear-driven mode Moved left and right to plate, dabbing fluting side chain carries out reciprocal working process in the presence of dabbing feeds plate, wet so as to improve The efficiency of seam dabbing processing.

The dabbing positioning side chain includes the dabbing positioning cylinder being arranged on dabbing movable plate, the top of dabbing positioning cylinder End is arranged in dabbing fixed column by flange, is provided with dabbing positioning pipe at equal intervals from left to right on dabbing fluting frame, is dug Hair positioning pipe is cooperated with dabbing fixed column and moved, and dabbing fixed column and dabbing positioning pipe phase are driven by dabbing positioning cylinder Mutual routing motion carries out position to dabbing movable plate and fixed, it is ensured that complicated wet seam dabbing construction location can repeat to dig Hair fluting processing, so as to improve the effect of wet seam dabbing construction.

The dabbing fluting side chain includes the fluting telescopic cylinder being arranged in dabbing feeding plate side wall, telescopic cylinder of slotting Top by flange be arranged on fluting dabbing frame on, slot the U-shaped structure of dabbing frame, slot dabbing frame on pacified by motor cabinet Equipped with conversion motor, it is connected on the output shaft of conversion motor by shaft coupling with conversion roller, the lower end of conversion roller is pacified by bearing On fluting dabbing frame, two conversion expansion links are installed, the top of two conversion expansion links is arranged on the outside of conversion roller On dabbing locating rack, dabbing vibrating motor, the outer wall of dabbing locating rack are provided with by motor cabinet on the inwall of dabbing locating rack On be provided with automatic dabbing machine at equal intervals, conversion telescopic cylinder is installed on the inside of conversion roller, changes the top of telescopic cylinder It is arranged on by flange on fluting posting, lifting carriage groove is provided with the side wall for posting of slotting, is led on posting of slotting Cross motor cabinet and fluting lifting motor is installed, the output shaft for lifting motor of slotting is arranged on fluting posting by bearing, is opened The output shaft of groove lifting motor is connected by shaft coupling with the upper end for elevating screw of slotting, and the lower end for elevating screw of slotting passes through axle Hold on installation fluting posting, fluting elevator is provided with elevating screw of slotting, fluting elevator passes through sliding matching mode It is connected with fluting posting, fluting connecting plate is installed on elevator of slotting, fluting connecting plate is arranged on fluting sliding panel, opened Fluting electric rotating machine is provided with by motor cabinet on groove sliding panel, fluting rotation is installed on the output shaft for electric rotating machine of slotting Plate, slot swivel plate on electric groover is installed, according to specific condition of construction selection corresponding to wet joint construction method, need When carrying out dabbing processing, drive fluting dabbing frame to move to the position specified by telescopic cylinder of slotting, make automatic dabbing machine Move on the outer wall of connecting sewing, automatic dabbing machine is under the auxiliary that two conversion expansion links and dabbing vibrating motor cooperate Carry out fast and effectively dabbing processing and, it is necessary to when carrying out fluting processing, work is moved to by conversion motor driving electric groover Make position, conversion telescopic cylinder control electric groover carries out telescopic adjustment, and fluting electric rotating machine can adjust electricity at work The fluting direction of dynamic groover, fluting lifting motor drive fluting elevating screw to be rotated, elevating screw driving electric of slotting Groover carries out elevating movement, it is ensured that and electric groover can carry out automation angular adjustment at work, without manual operation, Ensure the effect of wet seam dabbing construction, reduce the labor intensity of staff, improve the efficiency of work.

As a preferred technical solution of the present invention, the crushing guide mechanism is arranged in dabbing supporting plate side wall Telescopic cylinder is crushed, the top for crushing telescopic cylinder is arranged on crushing guide plate by flange, is provided with dabbing supporting plate Expansion link is crushed, expansion link is crushed and is arranged on crushing guide plate, the lower end for crushing guide plate is provided with crushing drainage plate, crushes The lower end of drainage plate is arranged on the feed well for crushing recovery frame, is crushed drainage plate and is formed for flexible material, flexible by crushing Cylinder, which drives, crushes guide plate progress stretching motion, crushes the effect that expansion link serves limited support to dabbing supporting plate, really Protecting crushing guide plate can be close on the outer wall of connecting sewing, crush drainage plate and debris transporting is guided into powder during work Broken recovery inframe, without manual operation, it can be ensured that the debris in work will not be trickled down everywhere, ensure that the debris in work will not Threat personal safety is shed everywhere.

As a preferred technical solution of the present invention, the disintegrating mechanism, which includes being arranged on by bearing, crushes recovery frame Crushing drive roll on inwall, crush and be uniformly provided with crushing block along its circumferential direction on the outer wall of drive roll, crush actively The left end of roller is provided with crushing driving gear, crushes driving gear and connects on the output shaft for crushing motor, crushes motor and leads to Cross motor cabinet to be arranged on the outer wall for crushing recovery frame, crush and two crushing driven gears, two powder are engaged with driving gear Broken driven gear is symmetrically positioned in the front and rear sides for crushing driving gear, crushes driven gear and is arranged on crushing driven voller, crushes Driven voller is arranged on by bearing on the inwall for crushing recovery frame, is crushed and is uniformly provided with powder along its circumferential direction on driven voller Broken groove, crushing block are cooperated with crushing groove and moved, and phase is carried out with crushing driven voller by crushing motor driven crushing drive roll To rotation, crushing groove serves the effect for collecting conveying to block debris during rotation, and crushing block is mutual with crushing groove Routing motion is ground to blocking debris, it is ensured that crush recovery frame farthest can enter to caused debris in work Row recovery.

As a preferred technical solution of the present invention, the crushing blocking mechanism includes being connected through the hinge crushing back The crushing stop bracket of frame lower end is received, crushes and two crushing adjustable columns is provided with the outer wall of stop bracket, two crushing adjustable columns pair Claim positioned at the left and right sides for crushing recovery frame, crush and crushing adjustable plate is provided with by bearing on adjustable column, crush adjustable plate Upper end is arranged on by bearing and crushed on active post, is crushed active post and is arranged on stop swivel plate, stops that swivel plate is arranged on On the output shaft for stopping electric rotating machine, stop that electric rotating machine is arranged on by motor cabinet on the outer wall for crushing recovery frame, pass through resistance Keeping off electric rotating machine drives the crushing stop bracket crushed on adjustable column to carry out position adjustments, and it is right during regulation to crush stop bracket Crush the debris that recovery inframe is collected to be blocked and conveyed, without manual operation, reduce the labor intensity of staff, carry The high efficiency of work.

During work, the present invention is moved to the operating position specified by staff first, the lifting on elevation and subsidence regulating device Drive mechanism is started working, and drives lifting driving plate to carry out height regulation by lifting motor, lifting driving plate is working During drive dabbing grooving apparatus to carry out wet seam dabbing in place by lifting limited post to construct, lifting buffering Spring serves the effect of auxiliary damping during work, and lifting fixed mechanism is started working, by lifting fixed motor Two be arranged in positive screw rod counterscrew fixed feeding blocks are driven to carry out move toward one another, two lifting moving side chains simultaneously Play a part of guiding and auxiliary stopper at work, fixed mobile chute cooperates motion to fixing with fixed sliding frame The effect being oriented to auxiliary is served to block, fixed column motion is slided to fixed feeding block progress by mobile limiting cylinder drive Position restriction, it is ensured that the work that fixed feeding block be able to can be stablized in specified position, process of the lifting locating dowel in work In support and the effect being oriented to are served to fixed follower plate, fixed follower plate drives two clampings to position during motion Frame is synchronously moved, and the clamping locating rack of two fixed follower plate lower ends of move toward one another works with lifting clamping slot phase simultaneously Mutually coordinate and lifting driving plate progress position is fixed, the dabbing fixed mechanism on dabbing grooving apparatus is started working, and is connect according to wet The condition of construction of seam, the dabbing expansion plate on dabbing limited post is driven to carry out telescopic adjustment, dabbing limit by dabbing telescopic cylinder Position hole serves the spacing effect with support to dabbing limited post, and the dabbing locating dowel on dabbing expansion plate is during work Can be stable be fixed on the inwall of connecting sewing, dabbing travel mechanism by dabbing mobile motor drive dabbing carrier wheel enter Row rotation, dabbing carrier wheel drive dabbing grooving mechanism to be moved left and right during rotation, and dabbing positioning side chain leads to Crossing dabbing positioning cylinder drives dabbing fixed column to be fixed with dabbing positioning pipe mutual cooperation motion to dabbing movable plate progress position, Ensure that the wet seam dabbing construction location of complexity can repeat dabbing fluting and process, two pieces of dabbings on dabbing grooving mechanism Feeding plate serves support, the effect of auxiliary and guiding, the chisel on dabbing movable plate during work to dabbing movable plate Hair mobile rack drives dabbing to feed plate and moved left and right by gear-driven mode, and dabbing slots side chain in dabbing feeding Reciprocal working process is carried out in the presence of plate, so as to improve the efficiency of wet seam dabbing processing, dabbing slots side chain according to specific Condition of construction selection corresponding to wet joint construction method, it is necessary to when carrying out dabbing processing, driven and opened by telescopic cylinder of slotting Reamer hair frame moves to the position specified, and automatic dabbing machine is moved on the outer wall of connecting sewing, and automatic dabbing machine turns at two Change under the auxiliary that expansion link cooperates with dabbing vibrating motor and carry out fast and effectively dabbing processing, it is necessary to carry out fluting processing When, operating position is moved to by conversion motor driving electric groover, conversion telescopic cylinder control electric groover is stretched Contracting regulation, fluting electric rotating machine can adjust the fluting direction of electric groover at work, and fluting lifting motor drives fluting Elevating screw is rotated, and fluting elevating screw driving electric groover carries out elevating movement, it is ensured that electric groover is working In can carry out automation angular adjustment, the crushing guide mechanism crushed on retracting device is started working, and is passed through and is crushed flexible gas Cylinder, which drives, crushes guide plate progress stretching motion, crushes the effect that expansion link serves limited support to dabbing supporting plate, it is ensured that Crushing guide plate can be close on the outer wall of connecting sewing, crush drainage plate and debris transporting is guided into crushing during work Inframe is reclaimed, disintegrating mechanism crushes drive roll with crushing driven voller progress opposite direction rotating by crushing motor driven, in rotation During crushing groove the effect for collecting conveying is served to block debris, crushing block and crushing groove cooperate motion to blocking Debris is ground, it is ensured that crush recovery frame farthest can reclaim to caused debris in work, end-of-job Afterwards, the present invention is moved to the position specified, and crushes blocking mechanism by stopping that electric rotating machine drives the powder crushed on adjustable column Broken stop bracket carries out position adjustments, and the debris discharge for reclaiming inframe will be crushed by crushing blocking mechanism, it is possible to achieve wet seam construction Automate the function of dabbing fluting.

The beneficial effects of the invention are as follows：

1st, the present invention can solve to need manually by existing dabbing present in existing wet seam dabbing grooving process Equipment is constructed, and carrying out the wet seam dabbing construction of different size is needed to select the regulation instrument adapted to, and manual control dabbing is set The standby dabbing that carries out is processed unstable, it is necessary to manually carry out overall dabbing construction according to the deep-controlled dabbing equipment of connecting sewing, multiple Miscellaneous connecting sewing position needs to carry out repeatedly dabbing, and the processing of manual control dabbing equipment is not comprehensive, is needed during dabbing In order to ensure wet seam construction quality needs slot processing, it is necessary to manually be processed using grooving tool to specified location Handle, complex operation, the impurities and dust pollution environment in work progress, be detrimental to health, debris is thrown everywhere caused by construction Spill and the problems such as potential safety hazard be present, it is possible to achieve the function of wet seam construction automation dabbing fluting, will not without manual operation Environment is polluted, in the absence of potential safety hazard, and there is the advantages that labor intensity is small, and operating efficiency is high；

2nd, the present invention devises elevation and subsidence regulating device, and two lift telescopic cylinders on elevation and subsidence regulating device can control liter The height of descending branch fagging, so that it is guaranteed that the present invention can be moved stably, according to the depth of connecting sewing, lift drive mechanism Dabbing grooving apparatus is driven to carry out appropriate height regulation, it is ensured that can comprehensively be made in wet seam dabbing work progress Industry, the scope of application of the present invention is improved, without manual operation, the labor intensity of staff is reduced, improves work Efficiency；

3rd, the present invention devises dabbing grooving apparatus, and the dabbing fixed mechanism on dabbing grooving apparatus is during construction The regulation that can be adapted to according to the width between connecting sewing, it is ensured that the dabbing groover during wet seam dabbing is constructed The carry out operation that structure can be stablized, in order to adjust the effect of wet seam dabbing construction, dabbing travel mechanism is in specified workspace Dabbing grooving mechanism can be driven to carry out working in reciprocating mode in domain, so as to improve the effect of wet seam construction dabbing fluting, without people Work carries out construction processing by existing dabbing equipment, and the caused dust that can construct damages to staff's body, no Potential safety hazard be present, reduce the labor intensity of staff, improve the efficiency of work；

4th, the present invention devises crushing retracting device, according to the wet seam dabbing condition of construction of different in width, crushes recovery Two on device crush guide mechanism and are close to during work on the outer wall of connecting sewing, it is ensured that are produced in work progress Debris can smoothly be transported to crushing recovery inframe, disintegrating mechanism crushes the blocking debris of recovery inframe and carried out to entering Pulverization process, it is ensured that crush recovery frame farthest can reclaim to caused debris in work, after end-of-job, this Invention is moved to the position specified, and crushes blocking mechanism start-up operation and discharges the debris for crushing recovery inframe, without artificial Operation, ensure that the debris in construction will not be shed everywhere, while the debris to be dropped in can constructing hurts health, prevents Potential safety hazard, without manually being reclaimed, environment is protected, reduces labor intensity.

Brief description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

Fig. 1 is the structural representation of the present invention；

Fig. 2 is the structural representation between elevation and subsidence regulating device of the present invention and dabbing fluting frame；

Fig. 3 is present invention lifting fixed plate, lifting driving plate and drives the structural representation between clamping block；

Fig. 4 is Fig. 2 of the present invention I to partial enlarged drawing；

Fig. 5 is the structural representation of dabbing grooving apparatus of the present invention；

Fig. 6 is the knot that dabbing of the present invention is slotted between frame, dabbing travel mechanism, dabbing fluting side chain and dabbing positioning side chain Structure schematic diagram；

Fig. 7 is the structural representation that the present invention crushes retracting device；

Fig. 8 is that the present invention crushes recovery frame, crushes drive roll, crushing block and crushes the sectional view between driven voller.

Embodiment

In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.

As shown in Figures 1 to 8, a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting, bag Bottom plate 1 is included, bottom plate 1 is provided with universal wheel 2, and universal wheel 2 can move the present invention with ancillary staff, and the middle part of bottom plate 1 is set Work nest is equipped with, elevation and subsidence regulating device 3 is installed on bottom plate 1, the lower end of elevation and subsidence regulating device 3 is provided with dabbing grooving apparatus 4, The lower end of dabbing grooving apparatus 4, which is provided with, crushes retracting device 5, and elevation and subsidence regulating device 3 can drive dabbing to slot at work Device 4 carries out lift adjustment motion, and dabbing grooving apparatus 4 can automate to the outer wall of wet seam link slot at work Dabbing slot grooving, crushing retracting device 5 can recycle to caused debris in the course of work, elevation and subsidence regulating device 3rd, dabbing grooving apparatus 4 is used in conjunction with each other the technique for completing wet seam construction automation dabbing fluting with crushing retracting device 5.

The elevation and subsidence regulating device 3 includes two lift telescopic cylinders 31 being arranged on bottom plate 1, two lift telescopic gas Cylinder 31 is symmetrically positioned in the left and right sides of work nest, and the top of two lift telescopic cylinders 31 is arranged on lifting supporting plate by flange On 32, the middle part of lifting supporting plate 32 is provided with lift span, and lift drive mechanism 33, lift drive mechanism are provided with lift span 33 upper end is provided with lifting fixed mechanism 34, and the lower end of lift drive mechanism 33 is arranged on dabbing grooving apparatus 4, and two rise Drop telescopic cylinder 31 can control the height of lifting supporting plate 32, so that it is guaranteed that the present invention can be moved stably, according to The depth of connecting sewing, lift drive mechanism 33 drive dabbing grooving apparatus 4 to carry out appropriate height regulation, it is ensured that can be connect wet Comprehensive operation is carried out in seam dabbing work progress, the scope of application of the present invention is improved, without manual operation, reduces work The labor intensity of personnel, improve the efficiency of work.

The dabbing grooving apparatus 4 includes the dabbing fluting frame 41 installed in the lower end of lift drive mechanism 33, dabbing fluting The upper end of frame 41 is symmetrically arranged with dabbing fixed mechanism 42, is provided with dabbing travel mechanism 43 in dabbing fluting frame 41, dabbing is moved Dabbing grooving mechanism 44 is provided with motivation structure 43, dabbing fixed mechanism 42 can be according between connecting sewing during construction The regulation that is adapted to of width, it is ensured that the progress that dabbing grooving mechanism 44 can be stablized during wet seam dabbing is constructed Operation, in order to adjust the effect of wet seam dabbing construction, dabbing travel mechanism 43 can drive chisel in specified working region Hair grooving mechanism 44 carries out working in reciprocating mode, so as to improve the effect of wet seam construction dabbing fluting, without manually by existing Dabbing equipment carries out construction processing, can construct caused by dust staff's body is damaged, in the absence of potential safety hazard, The labor intensity of staff is reduced, improves the efficiency of work.

The retracting device 5 that crushes includes being arranged on the dabbing supporting plate 51 of dabbing fluting frame 41 lower end, dabbing supporting plate 51 lower end be arranged on crush recovery frame 52 on, be symmetrically arranged with dabbing supporting plate 51 two crushing guide mechanisms 53, two The left and right sides that guide mechanism 53 is symmetrically positioned in dabbing supporting plate 51 is crushed, the upper end for crushing recovery frame 52 is provided with two chargings Groove, two feed wells are symmetrically positioned in the left and right sides for crushing recovery frame 52, and the lower end for crushing recovery frame 52 is provided with blow tank, powder Disintegrating mechanism 54 is provided with broken recovery frame 52, the lower end for crushing recovery frame 52 is provided with crushing blocking mechanism 55, according to difference The wet seam dabbing condition of construction of width, two crush the outer wall that guide mechanism 53 is close to connecting sewing during work On, it is ensured that caused debris can be smoothly transported in crushing recovery frame 52 in work progress, and disintegrating mechanism 54 is to entering Crush debris blocking in recovery frame 52 and carry out pulverization process, it is ensured that crush recovery frame 52 can be farthest to producing in work Raw debris is reclaimed, and after end-of-job, the present invention is moved to the position specified, and crushing the start-up operation of blocking mechanism 55 will The debris discharge in recovery frame 52 is crushed, without manual operation, ensures that the debris in construction will not be shed everywhere, while can apply The debris to be dropped in work hurts health, prevents potential safety hazard, without manually being reclaimed, protects environment, reduces Labor intensity.

The lift drive mechanism 33 includes two pieces of lifting fixed plates 331 being arranged in lifting supporting plate 32, and two pieces rise Drop fixed plate 331 is symmetrically positioned in the left and right sides of lift span, is connected between two pieces of lifting fixed plates 331 by sliding matching mode There is lifting driving plate 332, lift and two driving stopper slots are provided with driving plate 332, two driving stopper slots drive positioned at lifting The left and right sides of dynamic plate 332, drive and driving clamping block 333 is provided with stopper slot, drive the left and right sides of clamping block 333 from upper Lifting clamping slot is down provided with equal intervals, and the lower end of lifting driving plate 332 is provided with lifting limited post 334, and lifting is spacing The lower end of post 334 is arranged on dabbing grooving apparatus 4, and is lifted limited post 334 and be located in lift span, is lifted under supporting plate 32 End is provided with lifting buffer spring 335, and the lower end of lifting buffer spring 335 is arranged on dabbing grooving apparatus 4, lifts driving plate 332 lower end is provided with two lifting motors 336 by motor cabinet, and two lifting motors 336 are symmetrically positioned in lifting The left and right sides of driving plate 332, lift and lifting drive gear 337 is provided with the output shaft of motor 336, lift sliding tooth Lifting driving rack 338 is engaged with wheel 337, lifting driving rack 338 is arranged in lifting fixed plate 331, driven by lifting Dynamic motor 336 drives lifting driving plate 332 to carry out height regulation, and lifting driving plate 332 is limited during work by lifting Position post 334 drives dabbing grooving apparatus 4 to carry out wet seam dabbing construction in place, and lifting buffer spring 335 is working During serve auxiliary damping effect, without manual operation, automation adaptation can be carried out according to the depth of connecting sewing Regulation, without manual operation, reduce the labor intensity of staff, improve the efficiency of work.

The lifting fixed mechanism 34 includes fixing motor by the lifting that motor cabinet is arranged in lifting driving plate 332 341, the output shaft for lifting fixed motor 341 is crossed shaft coupling and is connected with one end of positive screw rod 342, positive screw rod 342 it is another End is connected by welding manner with one end of counterscrew 343, and the other end of counterscrew 343 is arranged on lifting admittedly by bearing Determine on baffle plate 344, lifting fixed dam 344 is arranged in lifting driving plate 332, on positive screw rod 342 and counterscrew 343 all The mode of being connected through a screw thread is provided with fixed feeding block 345, and two lifting moving branch are provided with the outer wall of fixed feeding block 345 Chain 35, fixed feed are provided with fixed follower plate 346, are provided with positioning hole on fixed follower plate 346, positioning hole has on block 345 Locating dowel 347 is lifted, lifting locating dowel 347 is arranged on two pieces of adjustable end stops 348, and two pieces of adjustable end stops 348 are arranged on lifting In driving plate 332, the lower end of fixed follower plate 346 is provided with two clamping locating racks 349, and clamping locating rack 349 passes through slip Fit system is connected with lifting driving plate 332, and clamping locating rack 349 cooperates with lifting clamping slot and moved, and passes through lifting It is opposite that fixed motor 341 drives two be arranged in the positive counterscrew 343 of screw rod 342 fixed feeding blocks 345 to carry out simultaneously Motion, two lifting moving side chains 35 play a part of being oriented at work and auxiliary stopper, and lifting locating dowel 347 is in work During support and the effect being oriented to are served to fixed follower plate 346, fixed follower plate 346 drives two during motion Individual clamping locating rack 349 is synchronously moved, and the clamping locating rack 349 of two fixed lower ends of follower plate 346 of move toward one another is same When work with lifting clamping slot cooperate to lifting driving plate 332 progress position fix, without manual operation, reduce work The labor intensity of personnel, it can be ensured that the work that lifting driving plate 332 is stablized in specified position, improve the steady of work It is qualitative.

The lifting moving side chain 35 includes the fixation mobile chute 351 being arranged on fixed feeding block 345, fixed movement Mobile fixing hole is provided with chute 351, fixes in mobile chute 351 and fixed sliding frame is connected with by sliding matching mode 352, fixed sliding frame 352 is of an L-shaped structure, and is provided with slip fixing hole on fixed sliding frame 352 at equal intervals from front to back, is moved Dynamic fixing hole moves with sliding fixing hole mutual cooperation, and the lower end of fixed sliding frame 352 is provided with mobile limiting cylinder 353, moves The top of dynamic limiting cylinder 353 is arranged on movement limiting frame 354 by flange, and movement limiting frame 354 is in Z-shaped structure, is moved The upper end of dynamic position-limited rack 354, which is provided with, slides fixed column 355, slides fixed column 355 in slip fixing hole, and slide and fix Post 355 cooperates with mobile fixing hole and moved, and fixed mobile chute 351 cooperates motion to solid with fixed sliding frame 352 Surely feeding block 345 serves the effect being oriented to auxiliary, is driven by mobile limiting cylinder 353 and slides the motion pair of fixed column 355 Fixed feeding block 345 carries out position restriction, it is ensured that the work that fixed feeding block 345 be able to can be stablized in specified position.

The dabbing fixed mechanism 42 includes the dabbing location-plate 421 being arranged on dabbing fluting frame 41, dabbing location-plate Dabbing telescopic cylinder 422 is installed, the top of dabbing telescopic cylinder 422 is stretched by flange installed in dabbing in 421 side wall On plate 423, the outside of dabbing fluting frame 41 is provided with dabbing fixed plate 427, and it is spacing to be provided with dabbing in dabbing fixed plate 427 Hole, dabbing limited post 424 is provided with the side wall of dabbing expansion plate 423, dabbing limited post 424 is located in dabbing spacing hole, chisel The radius of hair spacing hole is more than the radius of dabbing limited post 424, and dabbing limited post 424 is arranged on dabbing working plate 425, dabbing It is provided with dabbing locating dowel 426 on the outer wall of working plate 425 at equal intervals from front to back, dabbing locating dowel 426 is coniform knot Structure, according to the condition of construction of wet seam, the dabbing expansion plate 423 on dabbing limited post 424 is driven by dabbing telescopic cylinder 422 Telescopic adjustment is carried out, dabbing spacing hole serves the spacing effect with support to dabbing limited post 424, on dabbing expansion plate 423 Dabbing locating dowel 426 can be stable during work be fixed on the inwall of connecting sewing, without manual operation, reduce The labor intensity of staff, improve the stability of work.

Two pieces of dabbings movement riser 431 that the dabbing travel mechanism 43 slots on frame 41 including being arranged on dabbing, two pieces Dabbing carrier wheel 432, dabbing carrier wheel are provided with by bearing at equal intervals from left to right between dabbing movement riser 431 432 front end is provided with dabbing sprocket wheel 433, is connected between two neighboring dabbing sprocket wheel 433 by a linkage 434, is located at The dabbing carrier wheel 432 of the dabbing fluting right-hand member of frame 41 is connected by shaft coupling with the output of dabbing mobile motor 435, and dabbing is moved Dynamic motor 435 is arranged on dabbing by motor cabinet and moved on riser 431, passes through gear on two neighboring dabbing carrier wheel 432 The kind of drive is connected with dabbing grooving mechanism 44, drives dabbing carrier wheel 432 to be rotated by dabbing mobile motor 435, Dabbing carrier wheel 432 drives dabbing grooving mechanism 44 to be moved left and right during rotation, so as to ensure wet seam chisel The effect of hair construction reduces the labor intensity of staff without manual operation, improves the efficiency of work.

The dabbing grooving mechanism 44 includes being engaged on two neighboring dabbing carrier wheel 432 by gear transmission mode Dabbing mobile rack 441, dabbing mobile rack 441 be arranged on dabbing movable plate 442 on, be provided with dabbing movable plate 442 Dabbing positions side chain 46, and dabbing movable plate 442 is arranged on two pieces of dabbings and fed on plate 443, two pieces of 443 symmetrical positions of dabbing feeding plate In the front and rear sides of dabbing fluting frame 41, dabbing feeds plate 443 and is connected to by sliding matching mode on dabbing fluting frame 41, chisel Dabbing fluting side chain 45 is installed, two pieces of dabbings feed plate and dabbing is moved during work in the side wall of hair feeding plate 443 Dynamic plate 442 serves support, the effect of auxiliary and guiding, and the dabbing mobile rack 441 on dabbing movable plate 442 is passed by gear Dynamic mode drives dabbing feeding plate 443 to be moved left and right, and dabbing fluting side chain 45 enters in the presence of dabbing feeds plate 443 The reciprocal working process of row, so as to improve the efficiency of wet seam dabbing processing.

The dabbing positioning side chain 46 includes the dabbing positioning cylinder 461 being arranged on dabbing movable plate 442, dabbing positioning The top of cylinder 461 is arranged in dabbing fixed column 462 by flange, is set at equal intervals from left to right on dabbing fluting frame 41 There is dabbing positioning pipe 463, dabbing positioning pipe 463 cooperates with dabbing fixed column 462 and moved, and passes through dabbing positioning cylinder 461 Drive dabbing fixed column 462 to carry out position to dabbing movable plate 442 with the mutual cooperation of dabbing positioning pipe 463 motion to fix, it is ensured that Complicated wet seam dabbing construction location can repeat dabbing fluting processing, so as to improve the effect of wet seam dabbing construction Fruit.

The dabbing fluting side chain 45 includes the fluting telescopic cylinder 451 being arranged in the dabbing feeding side wall of plate 443, fluting The top of telescopic cylinder 451 is arranged on fluting dabbing frame 452 by flange, 452 U-shaped structure of fluting dabbing frame, grooving chisel Conversion motor 453 is provided with by motor cabinet on hair frame 452, passes through shaft coupling and conversion roller on the output shaft of conversion motor 453 454 are connected, and the lower end of conversion roller 454 is arranged on fluting dabbing frame 452 by bearing, and the outside of conversion roller 454 is provided with two Individual conversion expansion link 455, the top of two conversion expansion links 455 are arranged on dabbing locating rack 456, dabbing locating rack 456 Dabbing vibrating motor 457 is provided with by motor cabinet on inwall, is provided with equal intervals on the outer wall of dabbing locating rack 456 automatic Dabbing machine 458, the inner side of conversion roller 454 are provided with conversion telescopic cylinder 459, and the top of conversion telescopic cylinder 459 passes through flange On fluting posting 4510, lifting carriage groove is provided with the side wall for posting 4510 of slotting, posting 4510 of slotting Upper to be provided with fluting lifting motor 4511 by motor cabinet, the output shaft for lifting motor 4511 of slotting is arranged on fluting by bearing On posting 4510, the output shaft for lifting motor 4511 of slotting is connected by shaft coupling with the upper end for elevating screw 4512 of slotting, The lower end of fluting elevating screw 4512 is installed on fluting posting 4510 by bearing, is provided with out on elevating screw 4512 of slotting Groove elevator 4513, fluting elevator 4513 are connected by sliding matching mode with fluting posting 4510, elevator of slotting Fluting connecting plate 4514 is installed, fluting connecting plate 4514 is arranged on fluting sliding panel 4515, sliding panel of slotting on 4513 Fluting electric rotating machine 4516 is provided with by motor cabinet on 4515, fluting rotation is installed on the output shaft for electric rotating machine 4516 of slotting Flap 4517, slot swivel plate 4517 on electric groover 4518 is installed, according to specific condition of construction selection corresponding to it is wet Joint construction method drives fluting dabbing frame 452 to move to finger, it is necessary to when carrying out dabbing processing by telescopic cylinder 451 of slotting Fixed position, automatic dabbing machine 458 is set to move on the outer wall of connecting sewing, automatic dabbing machine 458 is in two conversion expansion links 455 Fast and effectively dabbing processing is carried out under the auxiliary to cooperate with dabbing vibrating motor 457, it is necessary to when carrying out fluting processing, to lead to Cross the driving electric groover 4518 of conversion motor 453 and move to operating position, conversion telescopic cylinder 459 controls electric groover 4518 carry out telescopic adjustment, and fluting electric rotating machine 4516 can adjust the fluting direction of electric groover 4518, open at work Groove lifting motor 4511 drives fluting elevating screw 4512 to be rotated, the driving electric groover 4518 of elevating screw 4512 of slotting Carry out elevating movement, it is ensured that electric groover 4518 can carry out automation angular adjustment at work, without manual operation, really The effect of moisturizing seam dabbing construction, the labor intensity of staff is reduced, improve the efficiency of work.

The crushing telescopic cylinder 531 for crushing guide mechanism 53 and being arranged in the side wall of dabbing supporting plate 51, is crushed flexible The top of cylinder 531 is arranged on by flange and crushed on guide plate 532, is provided with dabbing supporting plate 51 and is crushed expansion link 533, Crush expansion link 533 to be arranged on crushing guide plate 532, the lower end for crushing guide plate 532 is provided with crushing drainage plate 534, powder The lower end of broken drainage plate 534 is arranged on the feed well for crushing recovery frame 52, is crushed drainage plate 534 and is formed for flexible material, is led to Crossing crushing telescopic cylinder 531 drives crushing guide plate 532 to carry out stretching motion, crushes expansion link 533 and dabbing supporting plate 51 is risen The effect of limited support is arrived, it is ensured that crushing guide plate 532 can be close on the outer wall of connecting sewing, crush drainage plate 534 and exist Debris transporting is guided in crushing recovery frame 52 during work, without manual operation, it can be ensured that the debris in work is not It can everywhere trickle down, ensure that the debris in work will not shed threat personal safety everywhere.

The disintegrating mechanism 54 includes being arranged on the crushing drive roll 541 crushed on the recovery inwall of frame 52, powder by bearing Crushing block 542 is uniformly provided with along its circumferential direction on the outer wall of broken drive roll 541, crushes the left end installation of drive roll 541 Have and crush driving gear 543, crush driving gear 543 and connect on the output shaft for crushing motor 544, it is logical to crush motor 544 Cross motor cabinet to be arranged on the outer wall for crushing recovery frame 52, crush and two crushing driven gears are engaged with driving gear 543 545, two crush driven gear 545 and are symmetrically positioned in the front and rear sides for crushing driving gear 543, crush driven gear 545 and install On driven voller 546 is crushed, crush driven voller 546 and be arranged on by bearing on the inwall for crushing recovery frame 52, crush driven voller Crushing groove is uniformly provided with along its circumferential direction on 546, crushing block 542 cooperates with crushing groove and moved, by crushing electricity Machine 544, which drives, crushes drive roll 541 with crushing the progress opposite direction rotating of driven voller 546, and crushing groove is to bulk during rotation Debris serves the effect for collecting conveying, and crushing block 542 cooperates to move with crushing groove and blocking debris is ground, really Protect crushing recovery frame 52 farthest can reclaim to caused debris in work.

The crushing stop bracket 551 for crushing blocking mechanism 55 and including being connected through the hinge in crushing recovery frame 52 lower end, Crush and two crushing adjustable columns 552 are provided with the outer wall of stop bracket 551, two crushing adjustable columns 552 are symmetrically positioned in and crushed back The left and right sides of frame 52 is received, crushes and crushing adjustable plate 553 is provided with by bearing on adjustable column 552, crush the upper of adjustable plate 553 End is arranged on by bearing and crushed on active post 554, and crushing active post 554, which is arranged on, to be stopped on swivel plate 555, stops swivel plate 555 are arranged on the output shaft for stopping electric rotating machine 556, stop that electric rotating machine 556 is arranged on by motor cabinet and crush recovery frame On 52 outer wall, by stopping that electric rotating machine 556 drives the crushing stop bracket 551 crushed on adjustable column 552 to carry out position adjustments, Crush stop bracket 551 to be blocked and conveyed to crushing the debris collected in recovery frame 52 during regulation, without artificial Operation, the labor intensity of staff is reduced, improve the efficiency of work.

During work, the present invention is moved to the operating position specified by staff first, the lifting on elevation and subsidence regulating device 3 Drive mechanism 33 is started working, and drives lifting driving plate 332 to carry out height regulation, lifting driving by lifting motor 336 Plate 332 drives dabbing grooving apparatus 4 to carry out wet seam chisel in place during work by lifting limited post 334 Hair construction, lifting buffer spring 335 serve the effect of auxiliary damping during work, and lifting fixed mechanism 34 starts work Make, drive two be arranged in the positive counterscrew 343 of screw rod 342 fixed feeding blocks 345 same by lifting fixed motor 341 Shi Jinhang move toward one anothers, two lifting moving side chains 35 play a part of being oriented to and auxiliary stopper, fixed mobile cunning at work Groove 351 cooperates to move with fixed sliding frame 352 serves the effect being oriented to aiding in fixed feeding block 345, passes through shifting Dynamic limiting cylinder 353 drives slip fixed column 355 to move and carries out position restriction to fixed feeding block 345, it is ensured that fixed to feed block 345 work that be able to can stablize in specified position, lifting locating dowel 347 is during work to fixed follower plate 346 Support and the effect being oriented to are served, fixed follower plate 346 drives two 349 same steppings of clamping locating rack during motion Row motion, the work simultaneously of clamping locating rack 349 of two fixed lower ends of follower plate 346 of move toward one another and lifting clamping slot are mutual Coordinating and the lifting progress of driving plate 332 position is fixed, the dabbing fixed mechanism 42 on dabbing grooving apparatus 4 is started working, according to The condition of construction of wet seam, the dabbing expansion plate 423 on dabbing limited post 424 is driven to be stretched by dabbing telescopic cylinder 422 Contracting regulation, dabbing spacing hole serve the spacing effect with support, the dabbing on dabbing expansion plate 423 to dabbing limited post 424 Locating dowel 426 can be stable during work be fixed on the inwall of connecting sewing, dabbing travel mechanism 43 passes through dabbing Mobile motor 435 drives dabbing carrier wheel 432 to be rotated, and dabbing carrier wheel 432 drives dabbing during rotation Grooving mechanism 44 is moved left and right, and dabbing positions side chain 46 and drives dabbing fixed column 462 and chisel by dabbing positioning cylinder 461 Hair positioning pipe 463 cooperates to move and the progress of dabbing movable plate 442 position is fixed, it is ensured that complicated wet seam dabbing construction position Dabbing fluting processing can be repeated by putting, and two pieces of dabbings on dabbing grooving mechanism 44 feed plate during work to chisel Hair movable plate 442 serves support, the effect of auxiliary and guiding, and the dabbing mobile rack 441 on dabbing movable plate 442 passes through tooth The mode of wheel transmission drives dabbing feeding plate 443 to be moved left and right, effect of the dabbing fluting side chain 45 in dabbing feeding plate 443 Lower to carry out reciprocal working process, so as to improve the efficiency of wet seam dabbing processing, dabbing slots side chain 45 according to specific construction Wet joint construction method corresponding to situation selection is, it is necessary to when carrying out dabbing processing, and by slotting, telescopic cylinder 451 drives grooving chisel Hair frame 452 moves to the position specified, and automatic dabbing machine 458 is moved on the outer wall of connecting sewing, automatic dabbing machine 458 is two Fast and effectively dabbing is carried out under the auxiliary that individual conversion expansion link 455 cooperates with dabbing vibrating motor 457 to handle, it is necessary to enter During row fluting processing, operating position is moved to by the driving electric groover 4518 of conversion motor 453, changes telescopic cylinder 459 Electric groover 4518 is controlled to carry out telescopic adjustment, fluting electric rotating machine 4516 can adjust electric groover 4518 at work Fluting direction, fluting lifting motor 4511 drive fluting elevating screw 4512 rotated, fluting elevating screw 4512 drive Electric groover 4518 carries out elevating movement, it is ensured that and electric groover 4518 can carry out automation angular adjustment at work, The crushing guide mechanism 53 crushed on retracting device 5 is started working, and crushing guide plate 532 is driven by crushing telescopic cylinder 531 Stretching motion is carried out, crushes the effect that expansion link 533 serves limited support to dabbing supporting plate 51, it is ensured that crushes guide plate 532 can be close on the outer wall of connecting sewing, crush drainage plate 534 and debris transporting is guided into crushing recovery during work In frame 52, disintegrating mechanism 54 drives crushing drive roll 541 to carry out opposite direction rotating with crushing driven voller 546 by crushing motor 544, Crushing groove serves the effect for collecting conveying to block debris during rotation, and crushing block 542 cooperates with crushing groove Motion is ground to blocking debris, it is ensured that crush recovery frame 52 farthest can be carried out to caused debris in work Reclaim, after end-of-job, the present invention is moved to the position specified, and crushes blocking mechanism 55 by stopping the band of electric rotating machine 556 The dynamic crushing stop bracket 551 crushed on adjustable column 552 carries out position adjustments, and crushing blocking mechanism 55 will crush in recovery frame 52 Debris is discharged, and realizes the function of wet seam construction automation dabbing fluting, solves in existing wet seam dabbing grooving process Existing to need manually to be constructed by existing dabbing equipment, carrying out the wet seam dabbing construction of different size needs to select to fit The regulation instrument answered, it is unstable, it is necessary to manually according to the deep-controlled of connecting sewing that manual control dabbing equipment carries out dabbing processing Dabbing equipment carries out overall dabbing construction, and complicated connecting sewing position needs progress, and repeatedly dabbing, manual control dabbing are set Standby processing is not comprehensive, is needed during dabbing in order to ensure wet seam construction quality needs to carry out fluting processing to specified location, Need manually to be processed using grooving tool, complex operation, the impurities and dust pollution environment in work progress, endanger people Body health, debris caused by construction is shed everywhere has the problems such as potential safety hazard, has reached purpose.

The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims

1. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting, including bottom plate (1), its feature exist In：The lower end of bottom plate (1) is provided with universal wheel (2), and work nest is provided with the middle part of bottom plate (1), and bottom plate is provided with lifting on (1) Adjusting means (3), the lower end of elevation and subsidence regulating device (3) are provided with dabbing grooving apparatus (4), the lower end of dabbing grooving apparatus (4) It is provided with and crushes retracting device (5), elevation and subsidence regulating device (3), dabbing grooving apparatus (4) is with crushing retracting device (5) phase interworking Close the technique slotted using wet seam construction automation dabbing is completed；

The elevation and subsidence regulating device (3) includes two lift telescopic cylinders (31) being arranged on bottom plate (1), two lift telescopics Cylinder (31) is symmetrically positioned in the left and right sides of work nest, and the top of two lift telescopic cylinders (31) is arranged on lifting by flange In supporting plate (32), lift and be provided with lift span in the middle part of supporting plate (32), lift drive mechanism (33) is provided with lift span, The upper end of lift drive mechanism (33) is provided with lifting fixed mechanism (34), and the lower end of lift drive mechanism (33) is arranged on dabbing On grooving apparatus (4)；

The dabbing grooving apparatus (4) includes the dabbing fluting frame (41) installed in lift drive mechanism (33) lower end, and dabbing is opened The upper end of truss (41) is symmetrically arranged with dabbing fixed mechanism (42), and dabbing travel mechanism is provided with dabbing fluting frame (41) (43) dabbing grooving mechanism (44), is provided with dabbing travel mechanism (43)；

The retracting device (5) that crushes includes being arranged on the dabbing supporting plate (51) of dabbing fluting frame (41) lower end, dabbing support The lower end of plate (51), which is arranged on, to be crushed on recovery frame (52), and two crushing guide mechanisms are symmetrically arranged with dabbing supporting plate (51) (53), two crush the left and right sides that guide mechanism (53) is symmetrically positioned in dabbing supporting plate (51), crush the upper of recovery frame (52) End is provided with two feed wells, and two feed wells are symmetrically positioned in the left and right sides for crushing recovery frame (52), crush recovery frame (52) Lower end be provided with blow tank, crush and disintegrating mechanism (54) be provided with recovery frame (52), the lower end for crushing recovery frame (52) is set It is equipped with and crushes blocking mechanism (55).

2. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The lift drive mechanism (33) includes two pieces of lifting fixed plates being arranged in lifting supporting plate (32) (331), two pieces of lifting fixed plates (331) are symmetrically positioned in the left and right sides of lift span, pass through between two pieces of lifting fixed plates (331) Sliding matching mode is connected with lifting driving plate (332), lifts and two driving stopper slots are provided with driving plate (332), two Stopper slot is driven to drive positioned at the left and right sides of lifting driving plate (332) and be provided with driving clamping block (333) in stopper slot, drive The left and right sides of dynamic clamping block (333) is provided with lifting clamping slot, the lower end of lifting driving plate (332) at equal intervals from top to bottom Lifting limited post (334) is installed, the lower end of lifting limited post (334) is arranged on dabbing grooving apparatus (4), and is lifted spacing Post (334) is located in lift span, and the lower end of lifting supporting plate (32) is provided with lifting buffer spring (335), lifts buffer spring (335) lower end is arranged on dabbing grooving apparatus (4), and the lower end of lifting driving plate (332) is provided with two by motor cabinet Motor (336) is lifted, two lifting motors (336) are symmetrically positioned in the left and right sides of lifting driving plate (332), lifting Lifting drive gear (337) is provided with the output shaft of motor (336), lifting is engaged with lifting drive gear (337) Rack (338) is driven, lifting driving rack (338) is arranged in lifting fixed plate (331).

3. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The lifting fixed mechanism (34) includes consolidating by the lifting that motor cabinet is arranged in lifting driving plate (332) Determine motor (341), the output shaft of the fixed motor (341) of lifting is crossed shaft coupling and is connected with one end of positive screw rod (342), positive spiral shell The other end of bar (342) is connected by welding manner with one end of counterscrew (343), and the other end of counterscrew (343) leads to Cross bearing to be arranged on lifting fixed dam (344), lifting fixed dam (344) is arranged in lifting driving plate (332), positive Screw rod (342) is provided with fixed feeding block (345), fixed feeding block with being all connected through a screw thread mode in counterscrew (343) (345) two lifting moving side chains (35) are provided with outer wall, fixed follower plate is installed on fixed feeding block (345) (346) positioning hole, is provided with fixed follower plate (346), positioning hole has lifting locating dowel (347), lifting locating dowel (347) peace On two pieces of adjustable end stops (348), two pieces of adjustable end stops (348) are arranged in lifting driving plate (332), fixed follower plate (346) lower end is provided with two clamping locating racks (349), and clamping locating rack (349) is driven by sliding matching mode and lifting Dynamic plate (332) is connected, and clamping locating rack (349) cooperates with lifting clamping slot and moved；

The lifting moving side chain (35) includes the fixation mobile chute (351) being arranged on fixed feeding block (345), fixed to move Mobile fixing hole is provided with dynamic chute (351), fixes in mobile chute (351) and fixed cunning is connected with by sliding matching mode Moving frame (352), fixed sliding frame (352) are of an L-shaped structure, and fixed sliding frame is provided with cunning at equal intervals from front to back on (352) Dynamic fixing hole, mobile fixing hole move with sliding fixing hole mutual cooperation, and the lower end of fixed sliding frame (352) is provided with mobile limit Position cylinder (353), the top of mobile limiting cylinder (353) are arranged on movement limiting frame (354) by flange, movement limiting frame (354) it is in Z-shaped structure, the upper end of movement limiting frame (354), which is provided with, slides fixed column (355), slides fixed column (355) position In sliding in fixing hole, and slide fixed column (355) and cooperated with mobile fixing hole and moved.

4. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The dabbing fixed mechanism (42) includes the dabbing location-plate (421) being arranged on dabbing fluting frame (41), chisel Dabbing telescopic cylinder (422) is installed in the side wall of hair location-plate (421), the top of dabbing telescopic cylinder (422) passes through flange On dabbing expansion plate (423), dabbing fixed plate (427), dabbing fixed plate are installed on the outside of dabbing fluting frame (41) (427) dabbing spacing hole is provided with, dabbing limited post (424) is provided with the side wall of dabbing expansion plate (423), dabbing is spacing Post (424) is located in dabbing spacing hole, and dabbing limited post (424) is arranged on dabbing working plate (425), dabbing working plate (425) it is provided with dabbing locating dowel (426) on outer wall at equal intervals from front to back, dabbing locating dowel (426) is coniform knot Structure.

5. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The dabbing travel mechanism (43) includes the two pieces of dabbings movement riser being arranged on dabbing fluting frame (41) (431) dabbing carrier wheel, is provided with by bearing at equal intervals from left to right between two pieces of dabbing movement risers (431) (432), the front end of dabbing carrier wheel (432) is provided with dabbing sprocket wheel (433), leads between two neighboring dabbing sprocket wheel (433) Cross a linkage (434) to be connected, the dabbing carrier wheel (432) positioned at dabbing fluting frame (41) right-hand member passes through shaft coupling and chisel The output of hair mobile motor (435) is connected, and dabbing mobile motor (435) is arranged on dabbing by motor cabinet and moves riser (431) On, it is connected on two neighboring dabbing carrier wheel (432) by gear transmission mode with dabbing grooving mechanism (44).

6. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The dabbing grooving mechanism (44) includes being engaged on two neighboring dabbing carrier wheel by gear transmission mode (432) the dabbing mobile rack (441) on, dabbing mobile rack (441) are arranged on dabbing movable plate (442), dabbing movement Dabbing positioning side chain (46) is installed on plate (442), dabbing movable plate (442) is arranged on two pieces of dabbings and fed on plate (443), and two Block dabbing feeding plate (443) is symmetrically positioned in the front and rear sides of dabbing fluting frame (41), and dabbing feeding plate (443) is by being slidably matched Mode is connected on dabbing fluting frame (41), and dabbing fluting side chain (45) is provided with the side wall of dabbing feeding plate (443)；

The dabbing positioning side chain (46) includes the dabbing positioning cylinder (461) being arranged on dabbing movable plate (442), and dabbing is fixed The top of position cylinder (461) is arranged in dabbing fixed column (462) by flange, between being waited from left to right on dabbing fluting frame (41) Away from be provided with dabbing positioning pipe (463), dabbing positioning pipe (463) cooperates with dabbing fixed column (462) and moved；

The dabbing fluting side chain (45) includes the fluting telescopic cylinder (451) being arranged in dabbing feeding plate (443) side wall, opens The top of groove telescopic cylinder (451) is arranged on fluting dabbing frame (452) by flange, dabbing frame (452) U-shaped knot of slotting Structure, conversion motor (453) is provided with by motor cabinet on fluting dabbing frame (452), passed through on the output shaft of conversion motor (453) Shaft coupling is connected with conversion roller (454), and the lower end of conversion roller (454) is arranged on fluting dabbing frame (452) by bearing, conversion Two conversion expansion links (455) are installed, the top of two conversion expansion links (455) is determined installed in dabbing on the outside of roller (454) On position frame (456), dabbing vibrating motor (457), dabbing positioning are provided with by motor cabinet on the inwall of dabbing locating rack (456) Automatic dabbing machine (458) is provided with the outer wall of frame (456) at equal intervals, conversion is installed flexible on the inside of conversion roller (454) Cylinder (459), the top of conversion telescopic cylinder (459) are arranged on fluting posting (4510) by flange, posting of slotting (4510) lifting carriage groove is provided with side wall, fluting lifting motor is provided with by motor cabinet on posting (4510) of slotting (4511), the output shaft of fluting lifting motor (4511) is arranged on fluting posting (4510) by bearing, and fluting lifting is electric The output shaft of machine (4511) is connected by shaft coupling with the upper end of fluting elevating screw (4512), fluting elevating screw (4512) Lower end is installed on fluting posting (4510) by bearing, and fluting elevator is provided with elevating screw (4512) of slotting (4513) elevator (4513) of, slotting is connected by sliding matching mode with fluting posting (4510), elevator of slotting (4513) fluting connecting plate (4514) is installed, fluting connecting plate (4514) is arranged on fluting sliding panel (4515), fluting on Fluting electric rotating machine (4516) is provided with by motor cabinet on sliding panel (4515), slotted on the output shaft of electric rotating machine (4516) Fluting swivel plate (4517) is installed, electric groover (4518) is installed on fluting swivel plate (4517).

7. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The crushing telescopic cylinder (531) for crushing guide mechanism (53) and being arranged in dabbing supporting plate (51) side wall, The top for crushing telescopic cylinder (531) is arranged on crushing guide plate (532) by flange, and dabbing supporting plate is provided with (51) Expansion link (533) is crushed, expansion link (533) is crushed and is arranged on crushing guide plate (532), crush the lower end of guide plate (532) It is provided with and crushes drainage plate (534), the lower end for crushing drainage plate (534) is arranged on the feed well for crushing recovery frame (52), powder Broken drainage plate (534) forms for flexible material.

8. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The disintegrating mechanism (54) includes being arranged on the crushing drive roll crushed on recovery frame (52) inwall by bearing (541), crush and be uniformly provided with crushing block (542) along its circumferential direction on the outer wall of drive roll (541), crush drive roll (541) left end, which is provided with, crushes driving gear (543), crushes driving gear (543) and is arranged on the output for crushing motor (544) Connect on axle, crush motor (544) and be arranged on by motor cabinet on the outer wall for crushing recovery frame (52), crush driving gear (543) On be engaged with two crush driven gears (545), two crush driven gears (545) be symmetrically positioned in crush driving gear (543) Front and rear sides, crush driven gear (545) and be arranged on and crush on driven voller (546), crush driven voller (546) and pacified by bearing On the inwall for crushing recovery frame (52), crush and be uniformly provided with crushing groove, powder along its circumferential direction on driven voller (546) Fragment (542) cooperates with crushing groove and moved.

9. a kind of wet seam construction robot of prestressed concrete for automating dabbing fluting according to claim 1, It is characterized in that：The crushing stop for crushing blocking mechanism (55) and including being connected through the hinge in crushing recovery frame (52) lower end Frame (551), crush and two crushing adjustable columns (552) are provided with the outer wall of stop bracket (551), two crush adjustable columns (552) The left and right sides for crushing recovery frame (52) is symmetrically positioned in, crushes and crushing adjustable plate is provided with by bearing on adjustable column (552) (553) upper end for, crushing adjustable plate (553) is arranged on crushing active post (554) by bearing, crushes active post (554) peace Mounted in stopping on swivel plate (555), stop that swivel plate (555) is arranged on the output shaft for stopping electric rotating machine (556), stop rotation Rotating motor (556) is arranged on by motor cabinet on the outer wall for crushing recovery frame (52).