Automatic disassembly equipment and method for tensioning members at the end of reinforced concrete poles

Abstract

The present invention belongs to the technical field of electric pole production, specifically a device and method for automatically disassembling the tension member at the end of a reinforced concrete electric pole, comprising a frame, a machine platform arranged above the frame, and a lifting mechanism that drives the machine platform to move up and down; a nut loosening mechanism is slidably connected to the machine platform along the axial direction of the electric pole, and the nut loosening mechanism includes a base slidably connected to the machine platform by a propulsion cylinder, a mounting plate vertically fixed to the base, a rotating disk rotatably connected to the mounting plate, and a pneumatic wrench assembly radially symmetrically arranged on the rotating disk, a laser sensor is also fixed on the rotating disk, and the laser sensor is arranged in the radial direction of the tension member; a fixing mechanism for fixing the tension member is also provided on the machine platform. Before removing the nut, the present invention drives the laser sensor to position the nut on the tension member by the rotating disk, and after positioning is completed, the nuts are removed one by one by the pneumatic wrench to complete the automatic disassembly of the tension member, thereby greatly improving the disassembly efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of electric pole production, and in particular relates to automatic disassembly equipment and a disassembly method for a tensioning member at the end of a reinforced concrete electric pole. Background Art

[0002] As we all know, the tensioning parts at the end of reinforced concrete poles include tensioning heads and tensioning discs. The tensioning heads or tensioning discs are connected to the poles by threading the main reinforcement of the pole steel cage and then connecting the tensioning heads and the poles with nuts. After the poles are formed, the tensioning heads or tensioning discs need to be removed from the poles. At present, the method of disassembling ordinary tensioning heads or tensioning discs in pole production workshops is to manually loosen the nuts symmetrically with a box wrench and then loosen the nuts with a pneumatic wrench. In the process of loosening the nuts with the pneumatic wrench, the worker has to hold the tensioning head or the tensioning disc by hand to prevent the tensioning head or tensioning disc from falling directly to the ground. In addition, during the manual disassembly process, the loosened nuts sometimes fall or the tensioning parts fall and hit the workers' feet, posing a major safety hazard.

[0003] Therefore, it is urgent to design an automatic disassembly device to realize the disassembly of the tensioning head or tensioning disc. Summary of the Invention

[0004] In order to solve the problems in the above-mentioned background technology, the present invention provides an automatic disassembly device and disassembly method for the end tensioning members of reinforced concrete poles, which solves the problems of unsafety and high labor intensity when manually disassembling tensioning members, and is applicable to different pole types and has high versatility.

[0005] The present invention adopts the following technical solutions:

[0006] An automatic disassembly device for the end tensioning member of a reinforced concrete pole comprises a frame, a platform movably arranged above the frame, and a lifting mechanism for driving the platform to move up and down;

[0007] A nut loosening mechanism is slidably connected to the machine platform along the axial direction of the pole. The nut loosening mechanism includes a base slidably connected to the machine platform through a propulsion cylinder, a mounting plate vertically fixed to the base, a rotating disk rotatably connected to the mounting plate, and a pneumatic wrench assembly symmetrically arranged on the rotating disk along the radial direction.

[0008] The rotating disk is driven by a rotary motor and is coaxially arranged with the pole. A bolt position detection assembly is also fixed on the rotating disk. The bolt position detection assembly includes a laser sensor, which is arranged in the radial direction of the tensioning member.

[0009] The machine platform is also provided with a fixing mechanism for fixing the tensioning member.

[0010] Furthermore, the pneumatic wrench assembly includes a motor mounting plate fixed on the circumferential surface of the rotating disk, a variable diameter motor fixed on the motor mounting plate, a spring floating assembly connected to the output shaft of the variable diameter motor, and a pneumatic wrench connected to the spring floating assembly;

[0011] The spring floating assembly includes a mounting frame fixedly connected to the output shaft of the variable diameter motor, a guide rod fixed in the mounting frame, and a wrench mounting block movably mounted on the guide rod. A spring is mounted between the wrench mounting block and the mounting frame. The pneumatic wrench is fixed on the wrench mounting block and floats laterally with the wrench mounting block.

[0012] Furthermore, a running wheel is installed at the bottom of the frame, and a driving mechanism for driving the running wheel to move along the axis direction of the pole is provided on the frame.

[0013] Furthermore, the tensioning member is a tensioning head fixed to the end of the pole, and the fixing mechanism includes a bracket fixed on the machine platform and a support rod fixed on the bracket. The support rod extends toward the rotating disk and is coaxially arranged with the rotating disk.

[0014] Furthermore, the bolt position detection assembly also includes a sensor mounting bracket fixedly connected to the rotating disk, the sensor mounting bracket extends toward the tensioning head, and the laser sensor is mounted on the sensor mounting bracket.

[0015] Furthermore, the tensioning member is a tensioning disk fixed at the end of the pole, and the fixing mechanism includes a mounting frame fixed to the front end of the machine, a clamping assembly symmetrically arranged on the mounting frame along the radial horizontal direction of the tensioning disk, and the clamping assembly includes a clamping cylinder symmetrically arranged on the mounting frame and an arc-shaped clamping block fixedly connected to the telescopic end of the clamping cylinder, and the two arc-shaped clamping blocks clamp the outer periphery of the tensioning disk.

[0016] Furthermore, the mounting frame includes a longitudinal rod arranged above the tensioning disk, and a position detection sensor for detecting the clamping position of the tensioning disk is fixed on the longitudinal rod.

[0017] Furthermore, the bolt position detection assembly also includes a sensor telescopic frame fixed at the center of the rotating disk and extending toward the pole. The laser sensor is installed at the end of the sensor telescopic frame and is located at the center of the tensioning disk.

[0018] The present invention also provides a method for disassembling a tensioning member, comprising the following steps:

[0019] 1) Input the pole type information, read the tension member radius parameter R and the number of bolts N;

[0020] 2) Control the variable diameter motor to position the pneumatic wrench to the target position;

[0021] 3) Start the rotary motor to rotate the rotating disk and monitor whether the laser sensor detects a bolt. If the laser sensor does not detect a bolt, continue to control the rotating disk to rotate until a bolt is detected. If the laser sensor detects a bolt, record the angular coordinates of the laser sensor first detecting the bolt edge as a1, and record the angular coordinates of the laser sensor last detecting the bolt edge as a2, where the cross coordinate system is the tension member coordinate system, and a1 and a2 are the angles of the pneumatic wrench.

[0022] 4) Calculate the angular coordinate of the i-th bolt and save the bolt position, recording the bolt angular coordinate as A = (a2-a1) / 2 + a1 + β, where β is the angular offset between the laser sensor and the sleeve of the pneumatic wrench;

[0023] 5) Determine whether i≥N holds true. If not, set i=i+1 and continue with steps 3) and 4). If true, store all bolt angle coordinates in an array from small to large.

[0024] 6) Carry out the bolt disassembly process from small to large according to the size of the bolt angle coordinates.

[0025] Furthermore, the bolt removal process in step 6) includes:

[0026] The control rotating disk is rotated to the bolt coordinate position k, the propulsion cylinder is pushed forward to put the pneumatic wrench on the bolt and remove the bolt, and the propulsion cylinder is withdrawn;

[0027] Determine whether k≥N is true. If so, complete the removal of all bolts. If not, set k=k+1 and continue to execute the above steps until k≥N is true.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The automatic disassembly equipment of the present invention is provided with a rotating disk, a nut loosening mechanism and a laser sensor. Before removing the nuts, the rotating disk can drive the laser sensor to position the nuts on the tensioning member. After the positioning is completed, the nuts are removed one by one by a pneumatic wrench to complete the automatic disassembly of the tensioning member. It solves the problems of unsafety and high labor intensity when manually disassembling the tensioning member, and greatly improves the disassembly efficiency.

[0030] (2) The pneumatic wrench assembly of the automatic disassembly device of the present invention includes a spring floating assembly connected to the pneumatic wrench, so that the pneumatic wrench can retreat backward when loosening the nut, and at the same time, plays a role of shock absorption and buffering.

[0031] (3) After the electric pole is demoulded, the automatic disassembly equipment of the present invention transfers the electric pole to the top of the rod moving roller. The automatic disassembly equipment of the ordinary tensioning member is lifted by the lifting mechanism to find the center of the tensioning member. The fixing mechanism fixes the tensioning member on the equipment. The rotating disk drives the nut loosening mechanism to rotate together, and the position of the nut in the circumferential direction of the tensioning member is determined by the laser sensor detection. According to the pole type, the variable diameter motor drives the pneumatic wrench to move radially to the nut position, pushes the cylinder to extend, and pushes the rotating disk and the nut loosening mechanism forward together, so that the sleeve on the pneumatic wrench is put into the nut. The two symmetrical pneumatic wrenches loosen the nuts symmetrically at the same time. After loosening, the cylinder is pushed to retract, rotate to change the angle, and then move forward to loosen the second set of nuts. After all the nuts are loosened, the tensioning member will automatically fall off from the pole by gravity. If the tensioning member is a tensioning head, the tensioning head will be hung on the support rod after falling off, and the equipment will move backward to transport the tensioning head back, completing the disassembly of the tensioning head; if the tensioning member is a tensioning disk, the tensioning disk will be clamped by the clamping assembly and moved back with the equipment to complete the disassembly of the tensioning disk.

[0032] (4) The method for removing nuts from a tensioning member of the present invention first determines the position of the nuts in the circumferential direction of the tensioning member by using a laser sensor, and then removes the nuts one by one using a pneumatic wrench according to the position of the nuts. The method for determining the position of the nuts can be applied to different pole types by setting a rotating disk and a variable diameter motor, and has high versatility and is suitable for the automated production of electric poles. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 The automatic disassembly device structure of the tensioning head of embodiment 1 of the present invention Figure 1 ;

[0035] Figure 2 The automatic disassembly device structure of the tensioning head of embodiment 1 of the present invention Figure 2 ;

[0036] Figure 3 The automatic disassembly device structure of the tensioning plate of embodiment 2 of the present invention Figure 1 ;

[0037] Figure 4 The automatic disassembly device structure of the tensioning plate of embodiment 2 of the present invention Figure 2 ;

[0038] Figure 5A structural diagram of a spring floating assembly of the present invention;

[0039] Figure 6 A schematic diagram showing the positioning of the nut of the present invention in the circumferential direction of the tensioning member;

[0040] Among them: 1-frame, 11-travel wheel, 12-drive mechanism, 2-machine table, 3-lifting mechanism, 4-loose nut mechanism, 41-propulsion cylinder, 42-base, 43-mounting plate, 44-rotating disk, 45-pneumatic wrench assembly, 451-motor mounting plate, 452-reducing motor, 453-spring floating assembly, 4531-mounting frame, 4532-guide rod, 4533-wrench mounting block, 4534-spring, 454-pneumatic wrench, 46-rotating motor, 47-laser sensor, 5-fixing mechanism, 6-tensioning head, 61-bracket, 62-support rod, 7-tensioning disk, 71-mounting frame, 72-clamping assembly, 73-clamping cylinder, 74-arc clamping block, 75-longitudinal rod, 76-position detection sensor, 77-sensor telescopic frame. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0042] The following is combined with Figure 1 To the attached Figure 6 The present invention is described in detail with specific embodiments.

[0043] like Figures 1 to 6As shown, the present invention provides an automatic disassembly device for the tensioning member at the end of a reinforced concrete pole, which can disassemble the tensioning disk or the tensioning head, including a frame 1, a machine table 2 movably arranged above the frame 1, and a lifting mechanism 3 for driving the machine table 2 to move up and down, and the lifting mechanism 3 is driven up and down by a lifting motor; a nut loosening mechanism 4 is slidably connected to the machine table 2 along the axial direction of the pole, and the nut loosening mechanism 4 is used to loosen and disassemble the nuts on the tensioning head or the tensioning disk, and the nut loosening mechanism 4 includes a base 42 slidably connected to the machine table 2 by a propulsion cylinder 41, a mounting plate 43 vertically fixed on the base 42, a rotating disk 44 rotatably connected to the mounting plate 43, and a pneumatic wrench assembly 45 symmetrically arranged on the rotating disk 44 along the radial direction; the rotating disk 44 is driven by a rotating electric The machine 46 is driven to rotate, and the rotating disk 44 is coaxially arranged with the pole. The rotation of the rotating disk 44 drives the pneumatic wrench assembly 45 to rotate, so that the pneumatic wrench assembly 45 removes the nuts on the tensioning member in turn. A bolt position detection assembly is also fixed on the rotating disk 44. The bolt position detection assembly includes a laser sensor 47. The laser sensor 47 is arranged in the radial direction of the tensioning member. During the rotation of the rotating disk 44, the laser sensor 47 scans the outer peripheral surface of the bolt to determine the angular coordinate of the bolt and record it; the machine table 2 is also provided with a fixing mechanism 5 for fixing the tensioning member. During the process of loosening the bolt, the position of the tensioning member on the equipment is positioned by the fixing mechanism 5. After the bolt is loosened, the tensioning member is clamped or supported by the fixing mechanism 5 to prevent the tensioning member from falling and causing safety hazards.

[0044] Specifically, the pneumatic wrench assembly 45 includes a motor mounting plate 451 fixed to the circumferential surface of the rotating disk 44, a variable diameter motor 452 fixed to the motor mounting plate 451, a spring floating assembly 453 connected to the output shaft of the variable diameter motor 452, and a pneumatic wrench 454 connected to the spring floating assembly 453. The sleeve of the pneumatic wrench 454 is arranged toward the tensioning member. The arrangement of the spring floating assembly 453 allows the pneumatic wrench 454 to retreat when loosening the nut, and at the same time plays a role in shock absorption and buffering. Figure 5 As shown, the spring floating assembly 453 includes a mounting frame 4531 fixedly connected to the output shaft of the variable diameter motor 452, a guide rod 4532 fixed in the mounting frame 4531, and a wrench mounting block 4533 movably mounted on the guide rod 4532. A spring 4534 is mounted between the wrench mounting block 4533 and the mounting frame 4531. The pneumatic wrench 454 is fixed on the wrench mounting block 4533 and floats laterally with the wrench mounting block 4533. During the process of tightening the nut, as the nut is loosened, the pneumatic wrench 454 compresses the spring and retreats laterally.

[0045] It should be noted that the "transverse direction" in the present invention refers to the direction along the axis of the pole, and the "longitudinal direction" refers to the direction perpendicular to the transverse direction.

[0046] Specifically, the bottom of the frame 1 is equipped with running wheels 11. A drive mechanism 12 is provided on the frame 1 to drive the running wheels 11 along the axis of the pole. The running wheels 11 move in a transverse direction and include active and passive running wheels. The drive mechanism 12 includes a translation motor that drives the active running wheels through a gear transmission mechanism. The movement of the equipment can be automatically controlled by the running wheels at the bottom, and the equipment can be moved to the corresponding disassembly station according to the position of the pole.

[0047] Specifically, such as Figure 1-2 、 Figure 5 In the illustrated embodiment 1, the tensioning member is a tensioning head 6 fixed to the end of the pole. The fixing mechanism 5 includes a bracket 61 fixed to the machine platform 2 and a support rod 62 fixed to the bracket 61. The support rod 62 extends toward the rotating disk 44 and is coaxial with the rotating disk 44. The support rod 62 is inserted into the screw hole of the tensioning head 6 to support and fix the tensioning head 6. After the tensioning head 6 is fixed, the tensioning head can be disassembled.

[0048] Specifically, the bolt position detection component also includes a sensor mounting bracket (not shown in the figure) fixedly connected to the rotating disk 44, the sensor mounting bracket extends toward the tensioning head 6, and the laser sensor (not shown in the figure) is installed on the sensor mounting bracket. When the tensioning head 6 is fixed on the equipment, the laser sensor is located exactly on the circumferential surface of the bolt on the tensioning head 6, and scans the angular coordinates of the bolt as the rotating disk 44 rotates.

[0049] Specifically, such as Figure 3-5 As shown, the tensioning member is a tensioning disk 7 fixed to the end of the pole. The fixing mechanism 5 includes a mounting frame 71 fixed to the front end of the machine 2, and a clamping assembly 72 symmetrically arranged on the mounting frame 71 along the radial direction of the tensioning disk 7. The clamping assembly 72 includes a clamping cylinder 73 symmetrically arranged on the mounting frame 71 and an arc-shaped clamping block 74 fixedly connected to the telescopic end of the clamping cylinder 73. The two arc-shaped clamping blocks 74 are used to clamp the outer periphery of the tensioning disk 7. Preferably, the mounting frame 71 is also symmetrically provided with clamping grooves extending along the clamping direction of the arc-shaped clamping blocks 74, and the lower ends of the arc-shaped clamping blocks 74 are slidably connected in the slide grooves.

[0050] Specifically, the mounting frame 71 includes a longitudinal rod 75 disposed above the tensioning disk 7. A position detection sensor 76 is fixed to the longitudinal rod 75 for detecting the clamping position of the tensioning disk 7. When the position detection sensor 76 detects that the tensioning disk has moved into position, the clamping assembly 72 is activated, and the tensioning disk 7 is clamped and fixed using two opposing arc-shaped clamping blocks 74.

[0051] Specifically, the bolt position detection assembly also includes a sensor telescopic bracket 77 fixed to the center of the rotating disk 44 and extending toward the pole. The laser sensor 47 is mounted at the end of the sensor telescopic bracket 77 and located at the center of the tensioning disk 7. When the bolt position needs to be detected, the sensor telescopic bracket 77 is extended, so that the laser sensor 47 is exactly at the axis of the tensioning disk 7, facilitating the laser sensor 47 to scan the bolts along the tensioning disk's circumference. After the bolt position detection is completed, the sensor telescopic bracket 77 is retracted, away from the tensioning disk, to prevent the tensioning disk from falling and damaging the laser sensor 47 after disassembly.

[0052] The working principle of the present invention is as follows: after the pole is demoulded, it is transferred to the top of the pole moving roller. The automatic disassembly equipment of the ordinary tensioning member is lifted by the lifting mechanism 3 to find the center of the tensioning member. The fixing mechanism 5 fixes the tensioning member on the equipment. The rotating disk 44 drives the nut loosening mechanism 4 to rotate together, and the laser sensor 47 is used to detect and determine the position of the nut in the circumferential direction of the tensioning member. According to the pole type, the variable diameter motor 452 drives the pneumatic wrench 454 to move radially to the nut position, and the propulsion cylinder 41 is extended to push the rotating disk 44 and the nut loosening mechanism 4 forward together, so that the sleeve on the pneumatic wrench 454 is inserted into the nut. The two symmetrical pneumatic wrenches 454 loosen the nuts symmetrically at the same time. After loosening, the propulsion cylinder 41 contracts, rotates and changes the angle, and then moves forward to loosen the second set of nuts. After all the nuts are loosened, the tensioning member automatically falls off from the pole due to gravity. If the tensioning member is a tensioning head 6, the tensioning head 6 will be hung on the support rod 62 after falling off, and the equipment will move backward to transport the tensioning head back, completing the disassembly of the tensioning head; if the tensioning member is a tensioning disk 7, the tensioning disk 7 will be clamped by the clamping assembly 72 and moved back with the equipment to complete the disassembly of the tensioning disk.

[0053] The present invention also provides a method for disassembling a tensioning member, wherein the disassembly method first requires determining the position of the nut in the circumferential direction of the tensioning member, and then disassembling the nut one by one according to the position of the nut, wherein, Figure 6 As shown, determining the position of the nut in the circumferential direction of the tensioning member includes the following steps:

[0054] 1) Input the pole type information, read the tensioning member (tensioning plate or tensioning head) radius parameter R and the number of bolts N;

[0055] 2) Controlling the variable diameter motor 452 to position the pneumatic wrench 454 to the target position;

[0056] 3) Start the rotary motor 46 to rotate the rotating disk 44 and monitor whether the laser sensor 47 detects a bolt. If the laser sensor 47 does not detect a bolt, continue to control the rotating disk 44 to rotate until a bolt is detected. If the laser sensor 47 detects a bolt, record the angular coordinates of the laser sensor 47 first detecting the bolt edge as a1, and record the angular coordinates of the laser sensor 47 last detecting the bolt edge as a2, where the cross coordinate system is the coordinate system of the tensioning disk or tensioning head, and a1 and a2 are the angles of rotation of the rotary motor shaft;

[0057] It should be noted that the zero degree of the rotary motor and the zero degree of the pneumatic wrench theoretically coincide, so a1 and a2 are also the angles of the pneumatic wrench.

[0058] 4) Calculate the angular coordinate of the i-th bolt and save the bolt position, recording the bolt angular coordinate as A = (a2-a1) / 2 + a1 + β, where β is the angular offset between the laser sensor and the sleeve of the pneumatic wrench;

[0059] For example, assuming that the angular offset between the sleeve of the pneumatic wrench 454 and the laser sensor 47 is 90°, the rotary motor 46 is controlled to drive the rotating disk 44 to rotate clockwise to start searching for the bolt. When the rotating disk 44 rotates to -29°, the laser sensor 47 detects the upper edge of the bolt and records a1 = -29°. When the rotating disk 44 continues to rotate clockwise to -31°, the laser sensor 47 detects the lower edge of the bolt and records a2 = -31°. Therefore, (a2 - a1) / 2 + a1 + 90° = 60° is the position coordinate of the bolt axis.

[0060] 5) Determine whether i≥N holds true. If not, set i=i+1 and continue with steps 3) and 4). If true, store all bolt angle coordinates in an array from small to large.

[0061] 6) Carry out the bolt disassembly process from small to large according to the size of the bolt angle coordinates.

[0062] The method for determining the position of the nut of the present invention can be applied to different pole types by configuring the rotating disk 44 and the variable diameter motor 452, and has high versatility, and is particularly suitable for the automated production of electric poles.

[0063] Furthermore, the bolt removal process in step 6) includes:

[0064] The control rotating disk 44 is rotated and positioned to the bolt coordinate position k, the propulsion cylinder 41 is pushed forward to make the pneumatic wrench 454 be put on the bolt and remove the bolt, and the propulsion cylinder is withdrawn;

[0065] Determine whether k≥N is true. If so, complete the removal of all bolts. If not, set k=k+1 and continue to execute the above steps until k≥N is true.

[0066] The present invention is further described above with the aid of specific embodiments. However, it should be understood that the specific description herein should not be construed as limiting the essence and scope of the present invention. Various modifications made to the above embodiments by ordinary technicians in this field after reading this specification are all within the scope of protection of the present invention.

Claims

1. An automatic disassembly device for the end tensioning member of a reinforced concrete pole, characterized in that: It includes a frame, a platform movably arranged above the frame, and a lifting mechanism for driving the platform to move up and down; A nut loosening mechanism is slidably connected to the machine platform along the axial direction of the pole, and the nut loosening mechanism includes a base slidably connected to the machine platform through a propulsion cylinder, a mounting plate vertically fixed to the base, a rotating disk rotatably connected to the mounting plate, and a pneumatic wrench assembly symmetrically arranged on the rotating disk along the radial direction; The rotating disk is driven to rotate by a rotary motor and is coaxially arranged with the pole. A bolt position detection assembly is also fixed on the rotating disk. The bolt position detection assembly includes a laser sensor, and the laser sensor is arranged in the radial direction of the tensioning member. The machine platform is also provided with a fixing mechanism for fixing the tensioning member; The pneumatic wrench assembly includes a motor mounting plate fixed to the circumferential surface of the rotating disk, a variable diameter motor fixed to the motor mounting plate, a spring floating assembly connected to the output shaft of the variable diameter motor, and a pneumatic wrench connected to the spring floating assembly; The spring floating assembly includes a mounting frame fixedly connected to the output shaft of the variable diameter motor, a guide rod fixed in the mounting frame, and a wrench mounting block movably mounted on the guide rod. A spring is mounted between the wrench mounting block and the mounting frame. The pneumatic wrench is fixed on the wrench mounting block and floats laterally with the wrench mounting block.

2. The automatic disassembly device for the end tensioning member of a reinforced concrete pole according to claim 1 is characterized in that: Travel wheels are installed at the bottom of the frame, and a driving mechanism for driving the travel wheels to travel along the axis direction of the electric pole is provided on the frame.

3. The automatic disassembly device for the end tensioning member of a reinforced concrete pole according to claim 1 is characterized in that: The tensioning member is a tensioning head fixed to the end of the pole, and the fixing mechanism includes a bracket fixed to the machine platform and a support rod fixed to the bracket. The support rod extends toward the rotating disk and is coaxially arranged with the rotating disk.

4. The automatic disassembly device for the end tensioning member of a reinforced concrete pole according to claim 3 is characterized in that: The bolt position detection assembly further includes a sensor mounting bracket fixedly connected to the rotating disk, the sensor mounting bracket extending toward the tensioning head, and the laser sensor being mounted on the sensor mounting bracket.

5. The automatic disassembly device for the end tensioning member of a reinforced concrete pole according to claim 1, characterized in that: The tensioning member is a tensioning disk fixed to the end of the pole, and the fixing mechanism includes a mounting frame fixed to the front end of the machine, a clamping assembly symmetrically arranged on the mounting frame along the radial horizontal direction of the tensioning disk, and the clamping assembly includes a clamping cylinder symmetrically arranged on the mounting frame and an arc-shaped clamping block fixedly connected to the telescopic end of the clamping cylinder, and the two arc-shaped clamping blocks clamp the outer periphery of the tensioning disk.

6. The automatic disassembly device for the end tensioning member of a reinforced concrete pole according to claim 5, characterized in that: The mounting frame includes a longitudinal rod arranged above the tensioning disk, and a position detection sensor for detecting the clamping position of the tensioning disk is fixed on the longitudinal rod.

7. The automatic disassembly device for the end tensioning member of a reinforced concrete pole according to claim 5, characterized in that: The bolt position detection assembly also includes a sensor telescopic frame fixed at the center of the rotating disk and extending toward the pole. The laser sensor is installed at the end of the sensor telescopic frame and is located at the center of the tensioning disk.

8. A method for disassembling a tension member based on the automatic disassembly device according to any one of claims 1 to 7, characterized in that: The following steps are involved: 1) Input the pole type information, read the tension member radius parameter R and the number of bolts N; 2) Control the variable diameter motor to position the pneumatic wrench to the target position; 3) Start the rotary motor to rotate the rotating disk and monitor whether the laser sensor detects a bolt. If the laser sensor does not detect a bolt, continue to control the rotating disk to rotate until a bolt is detected. If the laser sensor detects a bolt, record the angular coordinates of the laser sensor first detecting the bolt edge as a1, and record the angular coordinates of the laser sensor last detecting the bolt edge as a2, where the cross coordinate system is the tension member coordinate system, and a1 and a2 are the angles of the pneumatic wrench. 4) Calculate the angular coordinate of the i-th bolt and save the bolt position, recording the bolt angular coordinate as A = (a2-a1) / 2 + a1 + β, where β is the angular offset between the laser sensor and the sleeve of the pneumatic wrench; 5) Determine whether i≥N holds true. If not, set i=i+1 and continue with steps 3) and 4). If true, store all bolt angle coordinates in an array from small to large. 6) Carry out the bolt disassembly process from small to large according to the size of the bolt angle coordinates.

9. The method according to claim 8, characterized in that The steps of the bolt removal process in step 6) include: The control rotating disk is rotated to the bolt coordinate position k, the propulsion cylinder is pushed forward to put the pneumatic wrench on the bolt and remove the bolt, and the propulsion cylinder is withdrawn; Determine whether k≥N is true. If so, complete the removal of all bolts. If not, set k=k+1 and continue to execute the above steps until k≥N is true.

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