A high-pressure water jet demolition robot

Abstract

A high-pressure water jet demolition robot relates to the field of cutting and demolition devices. The high-pressure water jet demolition robot includes a base, a telescopic mounting seat connected to the base, a lifting column inserted into the top of the telescopic mounting seat in a liftable manner, a rotary support, a telescopic arm connected to the rotary support and capable of telescoping in a linear direction, and a high-pressure water jet module for conveying high-pressure water jets. The high-pressure water jet module is connected to one end of the telescopic arm, the telescopic arm is connected to the rotary support, a lifting cylinder for driving the lifting column to lift is arranged in the telescopic mounting seat, a yaw mechanism for driving the rotary support to rotate relative to the lifting column in a horizontal plane is connected to the rotary support, at least two guide rails extending in the vertical direction are arranged on the outer wall of the lifting column, and at least one V-shaped roller rollingly engaged with each guide rail is arranged on the inner wall of the telescopic mounting seat. The high-pressure water jet demolition robot provided by this application has the advantages of high motion accuracy and good operation stability.

Description

Technical Field

[0001] This application relates to the field of cutting and demolition devices, and more particularly, to a high-pressure water jet demolition robot. Background Art

[0002] A high-pressure water jet demolition robot is a special robotic arm device equipped with high-pressure water jet equipment for concrete demolition. It is mainly applicable to situations where the internal structure of concrete contains steel bars, steel plates, etc., resulting in discontinuous concrete structure demolition, a relatively large depth of overall structure demolition, and insufficient operating space.

[0003] Traditional high-pressure water jet demolition robots generally use a crawler chassis as the basis and are equipped with robotic arms, fuel tanks, water tanks, robotic arms, etc. The robotic arms have various forms, which can be truss telescopic lifting type or two-section type. For the two-section type, there are the above-mentioned solutions, or the large arm is a telescopic arm that can be telescoped and controlled in the vertical direction. The end of the small arm is connected to the front section of the large arm, and the small arm controls its rotation angle through a motor at the connection. The small arm is also a telescopic arm, and the front section of the small arm is equipped with a driving mechanism, and the structure is similar to the above-mentioned driving mechanism. In the above-mentioned traditional high-pressure water jet demolition robots, due to the high-pressure water jet generating a certain reaction force on the actuator carrying the nozzle during the spraying and demolition process, the overall stiffness of the actuator is relatively large, resulting in a relatively large volume, and it cannot penetrate into the complex demolition surface for demolition. It can only perform demolition operations on a spacious plane. Moreover, this machine is mostly manually controlled, with low demolition accuracy. After multiple-layer demolitions on the same working surface, the surface flatness of the working surface drops severely, resulting in reduced efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a high-pressure water jet demolition robot, which has the advantages of high motion accuracy and good running stability, and can deeply cut and demolish concrete structures while maintaining the flatness of the working surface.

[0005] The embodiments of this application are implemented as follows:

[0006] The embodiments of this application provide a high-pressure water jet demolition robot, which includes a base, a telescopic mounting seat connected to the base, a lifting column inserted into the top of the telescopic mounting seat and capable of lifting, a rotary support, a telescopic arm connected to the rotary support and capable of telescoping in a straight line direction, and a high-pressure water jet module for conveying high-pressure water jets. The high-pressure water jet module is connected to one end of the telescopic arm, the telescopic arm is connected to the rotary support, a lifting cylinder for driving the lifting column to lift is provided inside the telescopic mounting seat, a yaw mechanism for driving the rotary support to rotate relative to the lifting column in the horizontal plane is connected to the rotary support, at least two guide rails extending in the vertical direction are provided on the outer wall of the lifting column, and at least one V-shaped roller that rolls with each guide rail is provided on the inner wall of the telescopic mounting seat.

[0007] In some alternative embodiments, the telescopic arm includes a basic arm, a first-stage telescopic arm slidably inserted into one end of the basic arm, a second-stage telescopic arm slidably inserted into the first-stage telescopic arm, and a telescopic arm drive mechanism. The telescopic arm drive mechanism includes a telescopic motor, a telescopic reduction gear connected to the telescopic motor, and a first gear and a second gear sleeved on the output shaft of the telescopic reduction gear. The first-stage telescopic arm and the second-stage telescopic arm are respectively provided with a first rack and a second rack meshing with the first gear and the second gear.

[0008] In some alternative embodiments, a pair of limit anti-collision blocks are respectively provided on the inner wall of the basic arm and the inner wall of the first-stage telescopic arm, and a pair of limit anti-collision blocks are respectively provided at both ends of the first rack and the second rack.

[0009] In some alternative embodiments, the number of teeth of the first gear is greater than the number of teeth of the second gear.

[0010] In some alternative embodiments, a pitching drive mechanism for driving the high-pressure water jet module to rotate in the vertical plane is connected to one end of the second-stage telescopic arm far from the basic arm.

[0011] In some alternative embodiments, the yaw mechanism includes a joint reduction gear with an output end connected to the lifting column and a yaw motor drivingly connected to the joint reduction gear.

[0012] In some alternative embodiments, multiple sets of rail clamping roller groups for rolling connection with the annular track and a circumferential motion drive mechanism for driving the rail clamping rollers to roll along the annular track are provided at the bottom of the base.

[0013] In some alternative embodiments, the rail clamping roller group includes a roller frame. The roller frame is hinged with a first roller for rolling and pressing against the top of the corresponding annular track, a second roller for rolling and pressing against the bottom of the corresponding annular track, and a third roller for rolling and pressing against the side wall of the corresponding annular track. The roller frame, the first roller, the second roller and the third roller enclose an accommodation cavity for accommodating the corresponding annular track; the circumferential motion drive mechanism includes a circumferential drive motor connected to the base and a circumferential drive gear sleeved on the output shaft of the circumferential drive motor.

[0014] The beneficial effects of the present application are as follows: The high-pressure water jet demolition robot provided in this embodiment includes a base, a telescopic mounting seat connected to the base, a lifting column inserted into the top of the telescopic mounting seat in a liftable manner, a rotary support, a telescopic arm connected to the rotary support and telescoping in a linear direction, and a high-pressure water jet module for conveying high-pressure water jets. The high-pressure water jet module is connected to one end of the telescopic arm, the telescopic arm is connected to the rotary support, a lifting cylinder for driving the lifting column to lift is provided inside the telescopic mounting seat, a yaw mechanism for driving the rotary support to rotate relative to the lifting column in the horizontal plane is connected to the rotary support, at least two guide rails extending in the vertical direction are provided on the outer wall of the lifting column, and at least one V-shaped roller rollingly mating with each guide rail is provided on the inner wall of the telescopic mounting seat. The high-pressure water jet demolition robot provided in this embodiment has the advantages of high motion accuracy and good operation stability, and can deeply cut and demolish concrete structures while keeping the working surface flat. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic structural diagram of the high-pressure water jet demolition robot provided in the embodiment of the present application from the first perspective;

[0017] Figure 2 It is a schematic structural diagram of the high-pressure water jet demolition robot provided in the embodiment of the present application from the second perspective;

[0018] Figure 3 It is a cross-sectional view of the connection between the lifting column and the telescopic mounting seat of the high-pressure water jet demolition robot provided in the embodiment of the present application;

[0019] Figure 4 It is a longitudinal sectional view of the high-pressure water jet demolition robot provided in the embodiment of the present application;

[0020] Figure 5 For Figure 4 The partial enlarged view at position A in

[0021] Figure 6 For Figure 4 The partial enlarged view at position B in

[0022] In the figure: 100, base; 110, telescopic mounting seat; 120, lifting column; 121, guide rail; 122, V-shaped roller; 123, articulated reduction gear; 124, yaw motor; 130, rotating support; 140, telescopic boom; 141, basic boom; 142, first-stage telescopic boom; 143, second-stage telescopic boom; 144, telescopic motor; 145, telescopic reduction gear; 146, first gear; 147, second gear; 148, first rack; 149, second rack; 150, high-pressure water jet module; 160, lifting cylinder; 170, pitching motor; 180, limit anti-collision block; 190, circumferential drive motor; 191, roller frame; 192, first roller; 193, second roller; 194, third roller; 195, rolling cavity; 200, circumferential drive gear. Detailed implementation manners

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0026] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this application is usually placed when in use. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0027] In addition, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0028] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0029] In the present application, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "under" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature is at a lower horizontal height than the second feature.

[0030] The features and performance of the high-pressure water jet demolition robot of the present application will be further described in detail below in conjunction with embodiments.

[0031] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown in

[0032] On both sides of the outer wall of the lifting column 120, there are respectively two guide rails 121 extending in the vertical direction. On both sides of the inner wall of the telescopic mounting seat 110, there are respectively connected with 6 rotatable V-shaped rollers 122. On one side of each guide rail 121, 3 V-shaped rollers 122 are respectively in rolling contact. Inside the telescopic mounting seat 110, there is a lifting cylinder 160 for driving the lifting column 120 to lift. The rotary support 130 is connected with a yaw mechanism for driving it to rotate in the horizontal plane relative to the lifting column 120. The yaw mechanism includes a joint reducer 123 with an output end connected to the lifting column 120 and a yaw motor 124 drivingly connected to the joint reducer 123. The telescopic arm 140 includes a basic arm 141 connected to the rotary support 130, a first-stage telescopic arm 142 slidably inserted into one end of the basic arm 141, a second-stage telescopic arm 143 slidably inserted into the first-stage telescopic arm 142, and a telescopic arm driving mechanism. The telescopic arm driving mechanism includes a telescopic motor 144, a telescopic reducer 145 connected to the telescopic motor 144, and a first gear 146 and a second gear 147 sleeved on the output shaft of the telescopic reducer 145. The first-stage telescopic arm 142 and the second-stage telescopic arm 143 are respectively provided with a first rack 148 and a second rack 149 meshing with the first gear 146 and the second gear 147. On the inner walls of the basic arm 141 and the first-stage telescopic arm 142, there are respectively a pair of limit and anti-collision blocks 180. At both ends of the first rack 148 and the second rack 149, there are respectively a pair of limit and anti-collision blocks 180. The number of teeth of the first gear 146 is greater than the number of teeth of the second gear 147. The high-pressure water jet module 150 is connected to one end of the second-stage telescopic arm 143 far from the basic arm 141. One end of the second-stage telescopic arm 143 far from the basic arm 141 is connected with a pitching driving mechanism for driving the high-pressure water jet module 150 to rotate in the vertical plane. The pitching driving mechanism is a pitching motor 170 with an output shaft connected to the high-pressure water jet module 150. At the bottom of the base 100, there are two groups of rail clamping roller sets respectively used for rolling connection with two concentric ring-shaped tracks and a circumferential movement driving mechanism for driving the two groups of rail clamping rollers to roll along the corresponding ring-shaped tracks. Each rail clamping roller set includes a roller frame 191 connected to the base 100. The roller frame 191 is hinged with a first roller 192 for rolling contact with the top of the corresponding ring-shaped track, a second roller 193 for rolling contact with the bottom of the corresponding ring-shaped track, and a third roller 194 for rolling contact with the side wall of the corresponding ring-shaped track. The roller frame 191, the first roller 192, the second roller 193, and the third roller 194 enclose a rolling cavity 195 for accommodating the ring-shaped track. The circumferential movement driving mechanism includes a circumferential driving motor 190 connected to the base 100 and a circumferential driving gear 200 sleeved on the output shaft of the circumferential driving motor 190. The output shaft of the circumferential driving motor 190 is vertically arranged. The high-pressure water jet module 150 is a well-known and commonly used device in the art, so its structure will not be described in detail herein.

[0033] When the high-pressure water jet demolition robot provided in this embodiment is used, the two sets of track-clamping roller assemblies provided at the bottom of the base 100 are respectively connected to the two preset cocentric annular tracks in a rolling manner, and then the annular drive gear 200 in the annular motion drive mechanism connected to the base 100 is meshed with the preset fixed internal gear, and the internal gear is arranged cocentrically with the two annular tracks, so that the annular drive motor 190 can be controlled to start driving the annular drive gear 200 to rotate, thereby pushing the annular motion drive mechanism to move along the internal gear through the reaction force of the internal gear meshing with the annular drive gear 200, and driving the two sets of track-clamping roller assemblies provided at the bottom of the base 100 to roll along the two cocentric annular tracks respectively, and the two sets of track-clamping roller assemblies connected to the bottom of the base 100 respectively have a function of The first roller 192 for rolling against the top of the corresponding circular track, the second roller 193 for rolling against the bottom of the corresponding circular track, and the third roller 194 for rolling against the side wall of the corresponding circular track, cooperate with the corresponding roller frame 191 arranged opposite to the third roller 194, so as to roll the base 100 to the corresponding circular track in four directions: upper, lower and two side directions, so that the base 100 can move along the circular track stably, reliably and with low vibration, effectively reducing the shaking of the base 100 relative to the circular track and not restricting its movement along the circular track; when the base 100 moves to the preset position, the cylinder rod of the lifting cylinder 160 is extended to push the lifting column 120 to lift and lower the top rotating support 130, the telescopic arm 140 and the high-pressure water jet The height of the flow module 150, at this time the lifting column 120 is lifted and moved relative to the telescopic mounting seat 110, and the guide rail 121 provided on the outer wall of the lifting column 120 and the rotatable V-shaped roller 122 connected to the inner wall of the telescopic mounting seat 110 roll together to ensure the stable lifting of the lifting column 120, and reduce the gap between the lifting column 120 and the telescopic mounting seat 110 to facilitate positioning, thereby avoiding the reaction of the high-pressure water jet module 150 when spraying the high-pressure water jet causing the lifting column 120 to be unstable and shaken; after the lifting column 120 is lifted to the preset position, the yaw motor 124 is controlled to drive the joint reducer 123 to rotate, thereby driving the lifting column 120 to rotate to a preset angle in the horizontal plane relative to the rotating support 130, and the lifting column 120 can be controlled to move relative to the rotating support 130. The telescopic arm 140 is controlled to extend and retract, and the output shaft of the telescopic motor 144 is used to simultaneously drive the first gear 146 and the second gear 147 to rotate, thereby driving the first rack 148 and the second rack 149 to move in a straight line direction, so that the first telescopic arm 142 and the second telescopic arm 143 are respectively moved relative to the basic arm 141 and the first telescopic arm 142 to realize the telescopic function, and a pair of limiting anti-collision blocks 180 provided at both ends of the first rack 148 and the second rack 149 are used to limit the telescopic distance of the first telescopic arm 142 and the second telescopic arm 143, so that the high-pressure water jet module 150 connected to the secondary telescopic arm 143 is moved to a preset position, and the high-pressure water jet provided by the high-pressure water jet module 150 can be used to cut and demolish the concrete structure.

[0034] Among them, the number of teeth of the first gear 146 is greater than that of the second gear 147, so that when the output shaft of the telescopic motor 144 drives the first gear 146 and the second gear 147 to rotate simultaneously, the driving displacement of the first rack 148 is greater than the displacement of the second rack 149, and the extension amount of the secondary telescopic arm 143 is less than that of the primary telescopic arm 142.

[0035] The embodiments described above are some embodiments of the present application, rather than all embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts fall within the scope of protection of the present application.

Claims

1. A high-pressure water jet demolition robot, characterized in that: It includes a base, a telescopic mounting seat connected to the base, a lifting column inserted in the top of the telescopic mounting seat, a rotating support, a telescopic arm connected to the base and capable of being extended and retracted in a linear direction, and a high-pressure water jet module for delivering high-pressure water jets, the high-pressure water jet module is connected to one end of the telescopic arm, the telescopic arm is connected to the rotating support, a lifting cylinder for driving the lifting column to rise and fall is provided in the telescopic mounting seat, the rotating support is connected to a yaw mechanism for driving it to rotate in a horizontal plane relative to the lifting column, the outer wall of the lifting column is provided with at least two guide rails extending in the vertical direction, and the inner wall of the telescopic mounting seat is provided with at least one V-shaped roller rollingly matched with each of the guide rails.

2. The high-pressure water jet demolition robot according to claim 1, characterized in that: The telescopic arm includes a basic arm, a first-level telescopic arm slidably inserted at one end of the basic arm, a second-level telescopic arm slidably inserted in the first-level telescopic arm, and a telescopic arm driving mechanism. The telescopic arm driving mechanism includes a telescopic motor, a telescopic reducer connected to the telescopic motor, and a first gear and a second gear sleeved on the output shaft of the telescopic reducer. The first-level telescopic arm and the second-level telescopic arm are respectively provided with a first rack and a second rack meshing with the first gear and the second gear.

3. The high-pressure water jet demolition robot according to claim 2, characterized in that: A pair of position-limiting anti-collision blocks are respectively provided on the inner wall of the basic arm and the inner wall of the first-level telescopic arm, and a pair of position-limiting anti-collision blocks are respectively provided on both ends of the first rack and the second rack.

4. The high-pressure water jet demolition robot according to claim 2, characterized in that: The number of teeth of the first gear is greater than the number of teeth of the second gear.

5. The high-pressure water jet demolition robot according to claim 2, characterized in that: One end of the secondary telescopic arm away from the basic arm is connected to a pitch driving mechanism for driving the high-pressure water jet module to rotate in a vertical plane.

6. The high-pressure water jet demolition robot according to claim 1, characterized in that: The yaw mechanism includes a joint reducer whose output end is connected to the lifting column and a yaw motor that is transmission-connected to the joint reducer.

7. The high-pressure water jet demolition robot according to claim 1, characterized in that: The bottom of the base is provided with a plurality of rail-clamping roller groups for rolling connection with the annular track and a circumferential motion driving mechanism for driving the rail-clamping rollers to roll along the annular track.

8. The high-pressure water jet demolition robot according to claim 7, characterized in that: The track-clamping roller group includes a roller frame, and the roller frame is hinged with a first roller for rolling and pressing against the top of the corresponding circular track, a second roller for rolling and pressing against the bottom of the corresponding circular track, and a third roller for rolling and pressing against the side wall of the corresponding circular track. The roller frame, the first roller, the second roller and the third roller together form a accommodating cavity for accommodating the corresponding circular track; the circumferential motion driving mechanism includes a circumferential driving motor connected to the base and a circumferential driving gear sleeved on the output shaft of the circumferential driving motor.

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