Concrete pier cutting device and method based on high-pressure abrasive water jet

Abstract

The application discloses a concrete pier column cutting device based on high-pressure abrasive water jet, which comprises a high-pressure abrasive water jet generating device, a wall-climbing robot, and a multi-degree-of-freedom mechanical arm which is installed on the wall-climbing robot and used for carrying out cutting operation by the abrasive water jet head of the high-pressure abrasive water jet generating device; the abrasive water jet head is installed at the front end of the multi-degree-of-freedom mechanical arm and can be driven to reciprocating swing; and a remote control end is used for controlling the high-pressure abrasive water jet generating device, the wall-climbing robot and the multi-degree-of-freedom mechanical arm to act according to a set flow. The application further discloses a concrete pier column cutting method based on high-pressure abrasive water jet, which is suitable for cutting construction by using the cutting device. The cutting construction can be simplified, the construction efficiency can be improved, the construction quality can be ensured, and the safety of the operator can be improved by using the cutting device and the method.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bridge construction, and particularly relates to a concrete pier column cutting device and method based on high-pressure abrasive water jet. BACKGROUND

[0002] In bridge reconstruction construction, such as cap beam underpinning construction, cutting construction of reinforced concrete pier columns is often involved to solve the contradiction between new projects and existing projects. At present, the cutting of reinforced concrete pier columns is mainly carried out by using the method of hydraulic diamond rope saw cutting, that is, the diamond rope is driven by a hydraulic motor to move around the cutting surface at high speed to grind and cut the body to complete the cutting work. The static cutting process flow includes cutting preparation, cutting position line laying, installation of cutting equipment, cutting, and removal of equipment after cutting, and the method is complex and cumbersome, and has the problems of slow cutting speed, serious rope wear, high labor intensity of workers, and threat to the safety of workers.

[0003] The high-pressure abrasive water jet technology is an environmentally friendly technology with high energy density. The technology adds quartz sand, garnet, brown corundum and other solid particles in high-speed water flow, and then uses the impact kinetic energy of the solid particle flow to cut and process various materials. The technology has been widely used in metal manufacturing, hard and brittle material cutting, mining, oil and gas development and other fields. However, due to the certain size and thickness of the concrete pier column, and the fact that the cutting position is usually located in the high altitude, the existing high-pressure abrasive water jet device cannot be well applied to the cutting of the bridge concrete pier column.

[0004] Therefore, it is urgent to develop a new cutting device and method for concrete pier columns to simplify the construction process, improve the construction efficiency, ensure the construction quality, and improve the safety of workers. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a concrete pier column cutting device and method based on high-pressure abrasive water jet, which can simplify the construction process, improve the construction efficiency, ensure the construction quality, and improve the safety of workers.

[0006] To achieve the above purpose, the present application provides the following technical solution: a concrete pier column cutting device based on high-pressure abrasive water jet, comprising: a high-pressure abrasive water jet generating device; a wall-climbing robot; a multi-degree-of-freedom mechanical arm installed on the wall-climbing robot for carrying out cutting work by the abrasive water jet nozzle of the high-pressure abrasive water jet generating device, the abrasive water jet nozzle being driven to reciprocally swing and being installed at the front end of the multi-degree-of-freedom mechanical arm; and a remote control end for controlling the abrasive water jet generating device, the wall-climbing robot and the multi-degree-of-freedom mechanical arm to act according to the set flow.

[0007] Further, the high-pressure abrasive water jet generating device is a front-mixing type high-pressure abrasive water jet device.

[0008] Further, the abrasive water jet nozzle comprises a nozzle and a pilot pipe, a distal end of the pilot pipe being in communication with the nozzle, and a proximal end of the pilot pipe being in communication with a high-pressure feeding pipe of the front-mixing type high-pressure abrasive water jet device;

[0009] The multi-degree-of-freedom mechanical arm comprises a mechanical arm body and a servo motor, one end of the pilot pipe is hingedly connected to a front end of the mechanical arm body, and a rotation center axis of the hingedly connected portion of the pilot pipe is drivingly connected to a rotation shaft of the servo motor, and the servo motor is controlled to be positively or reversely rotated at a fixed angle to drive the pilot pipe to reciprocatingly swing.

[0010] Further, the wall-climbing robot comprises a negative pressure generating element, a chassis, and a track assembly for driving the chassis to move, a bottom of the chassis is provided with a suction cavity for forming negative pressure with a wall surface, the negative pressure generating element is in communication with the suction cavity, a bottom of the suction cavity is provided with a flexible pad in sealing connection, and the flexible pad is provided with a suction port.

[0011] Further, the track assembly comprises a walking track and two driving wheels, the two driving wheels are arranged at intervals, and the walking track is a flexible track and is drivingly connected to the two driving wheels.

[0012] The track assembly is two groups and is arranged on two sides of the chassis in a transverse direction.

[0013] Further, the suction cavities are arranged in parallel along a moving direction of the chassis, and the suction ports are arranged in a plurality of positions corresponding to the suction cavities.

[0014] Further, the wall-climbing robot is two, which are a front wall-climbing robot and a rear wall-climbing robot, and a transmission assembly is arranged between the two wall-climbing robots, and the multi-degree-of-freedom mechanical arm is selectively installed on one of the wall-climbing robots.

[0015] The transmission assembly comprises a front fork, a front servo motor, a rear fork, and a rear servo motor, and the front fork and the rear fork are hingedly connected.

[0016] A front rotation shaft is arranged at a middle portion of the chassis of the front wall-climbing robot, the front fork is hingedly connected to the front rotation shaft, the front servo motor is fixedly connected to the front fork, an output shaft of the front servo motor is drivingly connected to the front rotation shaft, a front electromagnetic clutch is adaptively arranged at a connection position of the output shaft of the front servo motor and the front rotation shaft, and the front electromagnetic clutch is used to control the output shaft of the front servo motor and the front rotation shaft to be connected or disconnected.

[0017] The chassis of the wall-climbing robot has a rear rotating shaft in the middle. The rear fork is hinged to the rear rotating shaft. The rear servo motor is fixedly connected to the rear fork, and the output shaft of the rear servo motor is driven by the rear rotating shaft. A rear electromagnetic clutch is adapted to be provided at the connection between the output shaft of the rear servo motor and the rear rotating shaft. The connection between the output shaft of the rear servo motor and the rear rotating shaft is controlled by the rear electromagnetic clutch.

[0018] A method for cutting concrete pier columns based on high-pressure abrasive water jet, using the aforementioned cutting device, includes the following steps:

[0019] S1: The wall-climbing robot, equipped with the abrasive water jet generator of the high-pressure abrasive water jet, climbs to the set position of the concrete pier where it needs to be cut.

[0020] S2: Increase the adhesion between the wall-climbing robot and the working surface, and remotely adjust the multi-degree-of-freedom robotic arm through the remote control terminal to align the abrasive water spray nozzle with the position to be cut, and perform a trial cut to confirm the cutting construction parameters.

[0021] S3: Start cutting. The multi-degree-of-freedom robotic arm moves the abrasive water nozzle according to the set program. At the same time, the guide tube is driven to swing up and down. The abrasive water nozzle is turned on. After moving to the set position, the abrasive water nozzle is turned off, and the cutting at that position is completed.

[0022] S4: Decompression of the adsorption chamber allows the wall-climbing robot to move a predetermined distance around the pier to the next position, increasing the adsorption force between the wall-climbing robot and the working surface;

[0023] S5: Return to step S3 until the concrete pier is cut off;

[0024] S6: The wall-climbing robot climbs down the concrete pier, and the cutting operation is complete.

[0025] Furthermore, the front end of the multi-degree-of-freedom robotic arm is equipped with a laser rangefinder sensor for measuring the width and depth of the kerf.

[0026] Furthermore, in step S3, during cutting, the axial direction of the guide tube is directly opposite the center of the pier, and its vertical swing angle does not exceed 30 degrees.

[0027] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0028] 1. The concrete pier cutting device based on high-pressure abrasive water jet provided by the present invention completes the cutting of concrete piers by mounting the nozzle of the high-pressure abrasive water jet generator on a multi-free robotic arm and the wall-climbing robot with the multi-free robotic arm. This can reduce the high-altitude working time of the operators, eliminate the need to set up high-altitude scaffolding and other structures to install the cutting equipment, simplify the construction process and improve construction efficiency.

[0029] 2. The concrete pier cutting device provided by the present invention can further improve construction efficiency because the high-pressure abrasive water jet cutting of concrete has a faster cutting speed than the traditional diamond rope.

[0030] 3. The concrete pier cutting device provided by the present invention, by installing an abrasive water jet nozzle that can be driven to swing back and forth at the front end of a multi-degree-of-freedom robotic arm, allows the width of the cut to be controlled by the swing amplitude during cutting, thereby improving construction efficiency. This enables the front end of the multi-degree-of-freedom robotic arm to extend into the cut as the cutting depth increases, ensuring that the abrasive water jet nozzle is always kept at an effective cutting distance, resulting in a better crushing effect of the abrasive water jet. Furthermore, as the robotic arm extends further in, it can complete the cutting of thicker concrete piers.

[0031] 4. The concrete pier cutting method based on high-pressure abrasive water jet provided by this invention: the entire cutting process is completed at the remote control terminal, which can effectively ensure the safety of the operation; at the same time, the entire process can basically achieve automated program control, which is simple to operate and simplifies the construction process; in addition, the cutting method adopts a unidirectional circumferential cutting method, which can cut thicker concrete piers, i.e., double the thickness.

[0032] 5. The concrete pier cutting device and method based on high-pressure abrasive water jet provided by the present invention can adapt to the cutting of concrete piers of various sizes, has a wide range of applicable working conditions, and also has the advantages of relatively low construction cost and environmental friendliness, and has high market application prospects.

[0033] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0035] Figure 2 This is a schematic diagram of the high-pressure abrasive waterjet generator of the present invention.

[0036] Figure 3 This is a schematic diagram of the wall-climbing robot of the present invention equipped with a multi-free robotic arm.

[0037] Figure 4 This is a top-view structural diagram of the chassis of the wall-climbing robot of the present invention.

[0038] Figure 5This is a schematic diagram of the installation structure of the abrasive water nozzle and the multi-degree-of-freedom robotic arm.

[0039] Figure 6 This is a structural diagram of a wall-climbing robot crossing the outer right angle of a rectangular pier.

[0040] Figure 7 A schematic diagram of the working state of a circular pier.

[0041] Reference numerals: 1-High-pressure abrasive water jet generator; 101-Abrasive water nozzle; 101a-Nozzle; 101b-Pilot guide; 101b-1-Hinge shaft; 101b-2 Proximal end of the pilot guide; 102-High-pressure hose; 103-Water tank; 104-Abrasive container; 105-High-pressure abrasive water mixing chamber; 106-Electromagnetic abrasive valve; 107-Pressure sensor; 108-Flow sensor; 2-Wall-climbing robot; 2a-Front wall-climbing robot; 2a01-Front fork; 2a02- Front servo motor; 2a03-Front pivot; 2b-Rear wall-climbing robot; 2b01-Rear fork; 2b02-Rear servo motor; 2b03-Rear pivot; 201-Negative pressure generator; 202-Chassis; 202a-Adsorption chamber; 203-Track assembly; 203a-Walking track; 203b-Drive wheel; 204-Flexible pad; 204a-Air intake; 3-Multi-degree-of-freedom robotic arm; 301-Robotic arm body; 302-Servo motor; 4-Remote control terminal; 5-Concrete pier. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only for illustrating the basic concept of the present invention; in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0043] Please see Figures 1-7 A concrete pier cutting device based on high-pressure abrasive water jet includes: a high-pressure abrasive water jet generator 1. Since high-pressure abrasive water jet cutting of concrete has a faster cutting speed than traditional diamond wire, it can improve construction efficiency.

[0044] The wall-climbing robot 2 can reduce the time workers spend working at heights, eliminate the need to erect high-altitude scaffolding or other structures to install cutting equipment, simplify the construction process, improve construction efficiency, and enhance construction safety.

[0045] A multi-degree-of-freedom robotic arm 3, mounted on a wall-climbing robot 2, is used to carry an abrasive water jet generator 1 with an abrasive water nozzle 101 for cutting operations. The abrasive water nozzle 101 is driven to reciprocate and is mounted on the front end of the multi-degree-of-freedom robotic arm 3. By mounting the abrasive water nozzle 101 on the front end of the multi-degree-of-freedom robotic arm 3 with a reciprocating swing, the width of the cut can be controlled by the swing amplitude during cutting, improving construction efficiency. This allows the front end of the multi-degree-of-freedom robotic arm 3 to extend into the cut as the cutting depth increases, ensuring that the abrasive water nozzle 101 always maintains an effective cutting distance, resulting in a better crushing effect of the abrasive water jet. Furthermore, as the robotic arm extends further in, it can complete the cutting of thicker concrete piers.

[0046] The remote control terminal 4 is used to control the abrasive waterjet generator 1, the wall-climbing robot 2, and the multi-degree-of-freedom robotic arm 3 to move according to a set process. The remote control terminal here is generally a computer terminal. The abrasive waterjet generator 1, the wall-climbing robot 2, and the multi-degree-of-freedom robotic arm 3 can establish a connection with the computer terminal through electrical connection or wireless communication, respectively, to provide feedback on their own status information and to receive instructions from the computer terminal to perform actions. The execution of actions of each module can be implemented by PLC program control, microcontroller, etc., which are existing mature technologies and will not be elaborated here. The cutting operation is performed by operating the remote control terminal, which simplifies the construction process, facilitates the automatic completion of cutting construction, and improves construction efficiency.

[0047] In this embodiment, the high-pressure abrasive water jet generator 1 is a pre-mixed high-pressure abrasive water jet generator. Existing high-pressure abrasive water jet generators 1 are generally divided into pre-mixed and post-mixed types. Since this is a high-altitude operation and is carried by the wall-climbing robot 2, the pre-mixed high-pressure abrasive water jet generator has great cutting potential and can cut hard materials such as steel and reinforced concrete under lower pressure. By adopting the pre-mixed high-pressure abrasive water jet generator in this structural design, the recoil force during the cutting process can be reduced, ensuring the stability of the attached arm of the wall-climbing robot during the cutting operation.

[0048] Specifically, the premixed high-pressure abrasive water jet device generally includes a water tank 103, an abrasive tank 104, and an abrasive water nozzle 101. The water tank 103 and the abrasive water nozzle 101 are connected by a high-pressure hose 102. A high-pressure abrasive water mixing chamber 105 is provided in the middle of the high-pressure hose 102. The abrasive tank 104 and the high-pressure abrasive water mixing chamber 105 are connected by a pipeline. An electromagnetic abrasive valve 106 for controlling the flow rate is installed on the pipeline between the abrasive tank 104 and the high-pressure abrasive mixing chamber 105. A pressure sensor 107 and a flow sensor 108 are respectively installed on the pipelines before and after the high-pressure abrasive water mixing chamber 106. The pressure sensor 107, the flow sensor 108, and the electromagnetic abrasive valve 106 can establish an electrical connection with a remote control terminal. The remote control terminal receives feedback information and issues commands to control the jet pressure and flow rate of the abrasive water. Of course, the premixed high-pressure abrasive water jet device also includes a high-pressure pump, etc. These can be referred to in the existing technology and will not be described in detail here.

[0049] In this embodiment, the abrasive water jet head includes a nozzle 101a and a pilot tube 101b. The distal end of the pilot tube is connected to the nozzle 101a. Here, "distal end" refers to the end closer to the cutting surface. The proximal end 101b-2 of the pilot tube 101b is connected to the high-pressure feed pipe of the pre-mixed high-pressure abrasive water jet device 1. "Proximal end" refers to the end farther away from the cutting surface. The pilot tube 101b can serve as a transition. At the same time, the pilot tube 101b can be made much smaller than the size of the robotic arm to facilitate its insertion into the cutting kerf.

[0050] The multi-degree-of-freedom robotic arm includes a robotic arm body 301 and a servo motor 302. One end of the pilot guide 101b is hinged to the front end of the robotic arm body 301. The rotation shaft of the servo motor 302 is driven to be connected to the rotation center shaft at the hinge point of the pilot guide 101b. By controlling the forward and reverse rotation of the servo motor 302 at a certain angle, the pilot guide 101b is driven to reciprocate. Specifically, the pilot guide 101b has a hinge shaft 101b-1, i.e., the rotation center shaft, formed by symmetrically protruding radially to both sides at the end away from the nozzle 101a. This hinge shaft 101b-1 is connected to the rotation shaft of the servo motor 302. The drive connection is achieved through couplings, etc. The servo motor 302 can be programmed to control the movement of its own shaft, thereby driving the hinge shaft 101b-1 to move together, realizing the reciprocating swing of the pilot guide 101b. This structural design, by controlling the swing of the pilot guide 101b through the servo motor 302, can achieve precise control of the cutting kerf width, with strong operability, and ultimately ensure the nozzle passability of the abrasive water nozzle 101. Of course, this is because the effective cutting distance of the abrasive water nozzle 101 is limited. This structural design improves the nozzle passability, that is, it only needs to move in one direction to cut the desired width, thereby improving construction efficiency and quality.

[0051] In this embodiment, the wall-climbing robot 2 includes a negative pressure generator 201, a chassis 202, and a track assembly 203 for moving the chassis. The bottom of the chassis 202 is provided with an adsorption chamber 202a for creating negative pressure with the wall surface. The negative pressure generator 201 is connected to the adsorption chamber 202a. Specifically, the negative pressure generator 201 is a negative pressure fan installed on the upper part of the chassis 202. Communication with the negative pressure fan is achieved through an opening at the top of the adsorption chamber 202aa. Alternatively, the negative pressure generator 201 can also be a vacuum pump, etc., which can provide... Greater negative pressure; the bottom of the adsorption chamber 202a is equipped with a sealed flexible pad 204, and the flexible pad 204 is equipped with an air intake 204a. The flexible pad 204 is set to better fit with the cut surface to form a sealed negative pressure chamber. In practice, the flexible pad 204 is generally a rubber pad. In this structural design, the chassis walks by adopting a tracked structure, which has high adaptability to curved surfaces. Combined with the deformation ability of the flexible pad 204, it can better complete the adsorption and walking on the wall surface. The negative pressure wall climbing robot can better achieve the climbing of concrete pier wall.

[0052] Of course, the wall-climbing robot also includes a power supply and a driver, which can establish a connection with a remote control terminal, and then remotely control the climbing path of the wall-climbing robot. The climbing control of the wall-climbing robot can be achieved by means such as remote control, which are existing technologies and will not be elaborated here.

[0053] In this embodiment, the track assembly 203 includes a walking track 203a and two drive wheels 203b. The two drive wheels 203b are arranged at intervals. The walking track 203a is a flexible track, such as a rubber track, and is driven to connect with the two drive wheels 203b. Specifically, the walking track 203a and the drive wheels 203b are connected by a belt drive structure. The rotation of the drive wheels 203b drives the walking track 203a to roll. Each drive wheel 203b can be driven by a separate motor to achieve rotation. This is an existing structure and will not be described in detail here. The use of two drive wheels 203b arranged at intervals is to ensure that the track between the two drive wheels 203b has sufficient curvature adaptability. That is, when the adsorption chamber 202a is pressurized, the walking track 203a can be adsorbed and deformed to fit against the wall of the concrete pier 5. This structural design is particularly important when the cut concrete pier 5 is cylindrical.

[0054] The track assembly 203 consists of two sets, which are respectively located on both sides of the chassis 202 in the lateral direction. Here, the chassis is generally rectangular, and "lateral" refers to the width direction of the chassis. The purpose of setting it into two sets is to increase the contact area between the walking track 203a and the wall surface, which is conducive to the walking of the chassis 202 and also facilitates the steering of the chassis 202, such as changing direction through differential speed.

[0055] In this embodiment, multiple adsorption chambers 202a are arranged side-by-side along the forward direction of the chassis 202, which can be in multiple rows and columns. Multiple air intakes 203a are arranged corresponding to the positions of the adsorption chambers 202a. Of course, each adsorption chamber 202a needs to be connected to the negative pressure generator 201. This structural design is to enhance the bonding force between the chassis 202 and the wall. In actual operation, there may be air leakage and pressure loss in some parts. By designing multiple independent adsorption chambers 202a, it can be ensured that the chassis 202 can be stably adsorbed on the wall at all times. At the same time, since multiple adsorption chambers 202a are arranged side-by-side along the forward direction of the chassis, when each adsorption chamber 202a provides suction, the tracks on both sides can adhere to the wall under the action of adsorption force, which improves the adaptability of curved surfaces when cutting circular piers.

[0056] In this embodiment, there are two wall-climbing robots 2, namely a front wall-climbing robot 2a and a rear wall-climbing robot 2b, and a transmission component 2c is provided between the two wall-climbing robots. The multi-degree-of-freedom robotic arm 3 is selectively installed on one of the wall-climbing robots.

[0057] The transmission assembly 2c includes a front fork 2a01, a front servo motor 2a02, a rear fork 2b01 and a rear servo motor 2b02, wherein the front fork 2a01 and the rear fork 2b01 are hinged together.

[0058] The chassis of the wall-climbing robot 2a has a front pivot 2a03 in the middle. The front fork 2a01 is hinged to the front pivot 2a03. The front servo motor 2a02 is fixedly connected to the front fork 2a01, such as by screws or welding. The output shaft of the front servo motor 2a02 is driven by the front pivot 2a03. A front electromagnetic clutch (not shown in the figure, as it is an existing installation structure and will not be described further) is adapted at the connection between the output shaft of the front servo motor 2a02 and the front pivot 2a03. The output of the front servo motor 2a02 is controlled by the front electromagnetic clutch. The connection and disconnection between the output shaft and the front rotating shaft 2a03 refers to the engagement and disengagement of the electromagnetic clutch via electronic control. Specifically, when the front electromagnetic clutch is closed, the output shaft of the front servo motor 2a02 engages with the front rotating shaft 2a03. The rotation of the output shaft of the front servo motor 2a02 can be controlled to rotate the chassis of the front wall-climbing robot 2a at a controllable angle, which is beneficial for crossing the outer right-angle wall. When the front electromagnetic clutch is disengaged, since the front fork 2a01 is hinged to the front rotating shaft 2a03, the chassis of the front wall-climbing robot 2a can move independently.

[0059] The chassis of the wall-climbing robot 2b has a rear rotating shaft 2b03 in the middle. The rear fork 2b01 is hinged to the rear rotating shaft 2b03. The rear servo motor 2b02 is fixedly connected to the rear fork 2b01, such as by screws or welding. The output shaft of the rear servo motor 2b02 is driven by the rear rotating shaft 2b03. A rear electromagnetic clutch (not shown in the figure, as it is an existing installation structure and will not be described further) is adapted at the connection between the output shaft of the rear servo motor 2b02 and the rear rotating shaft 2b03. The output of the rear servo motor 2b02 is controlled by the rear electromagnetic clutch. The connection and disconnection between the output shaft and the rear rotating shaft 2b03 refers to the engagement and disengagement of the electromagnetic clutch via electronic control. Specifically, when the rear electromagnetic clutch is engaged, the output shaft of the rear servo motor 2b02 engages with the rear rotating shaft 2b03. The rotation of the output shaft of the rear servo motor 2b02 can be controlled to rotate the chassis of the rear wall-climbing robot 2b at a controllable angle, facilitating the crossing of external right-angle walls. When the rear electromagnetic clutch is disengaged, the independent movement of the chassis of the rear wall-climbing robot 2b is achieved because the rear fork 2b01 is hinged to the rear rotating shaft 2b03.

[0060] Of course, both the front servo motor 2a02 and the rear servo motor 2b02 here are servo motors with shaft self-locking function. In this way, when the corresponding electromagnetic clutch is closed, the front fork 2a01 and the front shaft 2a03, and the rear fork 2b01 and the rear shaft 2b03 can be locked together as a whole. In this way, when moving, one of the wall-climbing robots can act as the active walker, while the other acts as the passive walker, which facilitates the overall movement and direction change. Of course, synchronous movement and direction change can also be achieved by controlling the precise speed of each wheel separately, which will not be elaborated here.

[0061] This structural design enables stable crawling on the outer wall of cylindrical and rectangular concrete piers;

[0062] The following example, using a rectangular concrete pier 5 climbing around a wall, illustrates the action process of this embodiment:

[0063] See Figure 6The crossing process at the outer right angle of the pier is as follows: First, both the front climbing robot 2a and the rear climbing robot 2b can be independently controlled to climb. When it is necessary to cross the outer right angle, the chassis of the front climbing robot 2a moves to a position where the chassis extends beyond half of the right angle. Then, the chassis of the front climbing robot 2a is depressurized. Then, the front electromagnetic clutch is closed so that the output shaft of the front servo motor 2a02 engages with the front rotating shaft 2a03. At the same time, the rear electromagnetic clutch is also closed. Then, the front servo motor 2a02 controls the chassis of the front climbing robot to rotate 90 degrees, completing the right angle crossing of the front climbing robot 2a. Then, the front and rear electromagnetic clutches are disengaged and the chassis of the front climbing robot 2a is pressurized and crawls forward a certain distance. Finally, the rear climbing robot 2b completes the crossing of the outer right angle according to a similar action process of the front climbing robot, and finally completes the crossing of the entire outer right angle.

[0064] The crawling process on the planar wall of the rectangular pier is as follows: The front electromagnetic clutch between the front wall-climbing robot 2a and the front fork 2a01 is disengaged, and the rear electromagnetic clutch between the rear wall-climbing robot 2b and the rear fork 2b01 is also disengaged. At this time, all connecting nodes between the front fork 2a01, the chassis of the front wall-climbing robot 2a, the rear fork 2b01, and the chassis of the rear wall-climbing robot 2b are hinged. That is, during the crawling process on the planar wall, the front wall-climbing robot 2a and the rear wall-climbing robot 2b move relatively independently. The overall movement can be achieved by controlling the alternating movement of the front and rear wall-climbing robots separately; or the front electromagnetic clutch and the rear electromagnetic clutch are closed respectively, that is, the two are combined into a whole, and the movement is achieved by controlling the whole.

[0065] See Figure 7 When the concrete pier is cylindrical, it does not need to cross at an external right angle. Its crawling process is similar to that of crawling on the plane wall of a rectangular pier. In practice, in order to stabilize the adsorption, the pressure is usually released first to control the movement of the front wall-climbing robot 2a, then the pressure is increased, and then the pressure is released to control the movement of the rear wall-climbing robot 2b. The overall movement is achieved by the alternating movement of the front and rear wall-climbing robots.

[0066] A method for cutting concrete pier columns based on high-pressure abrasive water jet, using the aforementioned cutting device, includes the following steps:

[0067] S1: The wall-climbing robot 2, equipped with the abrasive water nozzle 101 of the high-pressure abrasive water jet generator 1, climbs to the set position of the concrete pier 5 to be cut. Specifically, the set position here depends on the height of the position to be cut. The wall-climbing robot 2 can be located above or below the position to be cut.

[0068] S2: Increase the adhesion between the wall-climbing robot 2 and the working surface, and remotely adjust the multi-degree-of-freedom robotic arm 3 through the remote control terminal 4 so that the abrasive water spray nozzle 101 is aligned with the position to be cut, and perform a trial cut to confirm the cutting construction parameters.

[0069] In practice, the pressure can be changed by adjusting the power of the negative pressure fan. Increasing the suction force is to ensure that the wall-climbing robot 2 can stably adhere to the wall surface during the cutting process. At the same time, the pressure sensor can be set to feed back accurate pressure information to the remote control terminal.

[0070] Here, trial cuts are performed to confirm the cutting parameters. Generally, 3 to 5 consecutive trial cuts are performed to obtain the dynamic relationship between cutting depth, width and parameters such as abrasive jet movement speed, target distance, jet pressure, flow rate, abrasive concentration and robot stability. Computer analysis is then used to obtain the construction parameters suitable for formal cutting, including abrasive water with given specific jet pressure, flow rate and abrasive concentration.

[0071] S3: Start cutting. The multi-degree-of-freedom robotic arm 3 moves the abrasive water nozzle according to the set program. At the same time, the pilot guide 101b is driven to swing up and down. The abrasive water nozzle 101 is turned on. After moving to the set position, the abrasive water nozzle 101 is turned off to complete the cutting at that position. The motion program of the multi-degree-of-freedom robotic arm is set to the existing technology and will not be described in detail here.

[0072] S4: Depressurize the adsorption chamber 202a. Here, depressurizing the adsorption chamber 202a is to facilitate the movement of the chassis. The wall-climbing robot 2 moves to the next position by a set distance around the pier in the circumference, increasing the adsorption force between the wall-climbing robot 2 and the working surface.

[0073] S5: Return to step S3 until the concrete pier 5 is cut off;

[0074] S6: The wall-climbing robot 2 climbs down the concrete pier 5, and the cutting operation is completed;

[0075] The entire cutting process is completed remotely from the control terminal 4, which effectively ensures the safety of the operation. At the same time, the entire process can be basically automated by program control, which is simple to operate and simplifies the construction process. In addition, the cutting method adopts a unidirectional circumferential cutting method, which can cut thicker concrete piers, i.e., double the thickness.

[0076] In this embodiment, the front end of the multi-degree-of-freedom robotic arm 3 is equipped with a laser rangefinder sensor for measuring the width and depth of the kerf. Multiple laser rangefinder sensors can be designed as needed. By setting up laser rangefinder sensors, the width and depth of the kerf can be effectively obtained, which is beneficial for feeding back information to the computer control terminal for data calculation.

[0077] In this embodiment, during step S3, the axial direction of the guide tube 101b is directly aligned with the center of the pier during cutting, and its vertical swing angle does not exceed 30 degrees. Here, vertical swing is based on the attached... Figure 5 The vertical direction, specifically with the horizontal axis of the pilot guide 101b as the reference, can swing up and down by no more than 30 degrees. This can be controlled by programming the servo motor 302. This design is to ensure that the abrasive water has a better crushing effect.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A concrete pier column cutting device based on high-pressure abrasive water jet, characterized in that, include: High-pressure abrasive water jet generator; Wall-climbing robot; A multi-degree-of-freedom robotic arm, mounted on a wall-climbing robot, is used to carry an abrasive water jet generator for cutting operations. The abrasive water jet can be driven to reciprocate and is mounted on the front end of the multi-degree-of-freedom robotic arm. The remote control terminal is used to control the abrasive waterjet generator, the wall-climbing robot, and the multi-degree-of-freedom robotic arm to move according to the set process. The wall-climbing robot includes a negative pressure generator, a chassis, and a track assembly for moving the chassis. The bottom of the chassis is provided with an adsorption chamber for forming a negative pressure with the wall surface. The negative pressure generator is connected to the adsorption chamber. The bottom of the adsorption chamber is provided with a flexible pad that is sealed and connected to it. The flexible pad is provided with an air intake. The track assembly includes a walking track and two drive wheels, the two drive wheels are arranged at intervals, and the walking track is a flexible track and is drivenly connected to the two drive wheels. The track assembly consists of two sets, located on both sides of the chassis laterally; The adsorption chambers are arranged in multiple parallel configurations along the forward direction of the chassis, and the air intakes are arranged in multiple configurations corresponding to the positions of the adsorption chambers. The flexible track is a rubber track; There are two wall-climbing robots, namely a front wall-climbing robot and a rear wall-climbing robot, and a transmission component is provided between the two wall-climbing robots. The multi-degree-of-freedom robotic arm is selectively installed on one of the wall-climbing robots. The transmission assembly includes a front fork, a front servo motor, a rear fork, and a rear servo motor, wherein the front fork and the rear fork are hinged together. The chassis of the front wall-climbing robot has a front rotating shaft in the middle. The front fork is hinged to the front rotating shaft. The front servo motor is fixedly connected to the front fork, and the output shaft of the front servo motor is driven to the front rotating shaft. A front electromagnetic clutch is adapted to be provided at the connection between the output shaft of the front servo motor and the front rotating shaft. The connection between the output shaft of the front servo motor and the front rotating shaft is controlled by the front electromagnetic clutch. The chassis of the wall-climbing robot has a rear rotating shaft in the middle. The rear fork is hinged to the rear rotating shaft. The rear servo motor is fixedly connected to the rear fork, and the output shaft of the rear servo motor is driven by the rear rotating shaft. A rear electromagnetic clutch is adapted to be provided at the connection between the output shaft of the rear servo motor and the rear rotating shaft. The connection between the output shaft of the front servo motor and the rear rotating shaft is controlled by the front electromagnetic clutch.

2. The concrete pier cutting device based on high-pressure abrasive water jet according to claim 1, characterized in that: The high-pressure abrasive waterjet generator is a premixed high-pressure abrasive waterjet generator.

3. The concrete pier cutting device based on high-pressure abrasive water jet according to claim 2, characterized in that: The abrasive water jet nozzle includes a nozzle and a pilot tube. The distal end of the pilot tube is connected to the nozzle, and the proximal end of the pilot tube is connected to the high-pressure feed pipe of the pre-mixed high-pressure abrasive water jet device. The multi-degree-of-freedom robotic arm includes a robotic arm body and a servo motor. One end of the pilot tube is hinged to the front end of the robotic arm body. The rotating shaft of the servo motor is driven to rotate at the pivot point of the pilot tube. By controlling the forward and reverse rotation of the servo motor at a fixed angle, the pilot tube is driven to swing back and forth.

4. A method for cutting concrete piers based on high-pressure abrasive water jet, applicable to cutting operations using the cutting device described in any one of claims 1-3, characterized in that, Includes the following steps: S1: The wall-climbing robot, equipped with the abrasive water jet generator of the high-pressure abrasive water jet, climbs to the set position of the concrete pier where it needs to be cut. S2: Increase the adhesion between the wall-climbing robot and the working surface, and remotely adjust the multi-degree-of-freedom robotic arm through the remote control terminal to align the abrasive water spray nozzle with the position to be cut, and perform a trial cut to confirm the cutting construction parameters. S3: Start cutting. The multi-degree-of-freedom robotic arm moves the abrasive water nozzle according to the set program. At the same time, the guide tube is driven to swing up and down. The abrasive water nozzle is turned on. After moving to the set position, the abrasive water nozzle is turned off, and the cutting at that position is completed. S4: Decompression of the adsorption chamber allows the wall-climbing robot to move a predetermined distance around the pier to the next position, increasing the adsorption force between the wall-climbing robot and the working surface; S5: Return to step S3 until the concrete pier is cut off; S6: The wall-climbing robot climbs down the concrete pier, and the cutting operation is complete.

5. The method for cutting concrete piers based on high-pressure abrasive water jet according to claim 4, characterized in that: The front end of the multi-degree-of-freedom robotic arm is equipped with a laser rangefinder sensor for measuring the width and depth of the kerf.

6. The method for cutting concrete piers based on high-pressure abrasive water jet according to claim 4, characterized in that: In step S3, during cutting, the axial direction of the guide tube is directly opposite the center of the pier, and its vertical swing angle does not exceed 30 degrees.

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