Waste road fence dismantling robot for municipal engineering

Abstract

The invention discloses a waste road fence dismantling robot for municipal engineering, and relates to the technical field of dismantling robots. The device comprises a crawler-type chassis, a dismantling vehicle body is installed on the top of the crawler-type chassis in a driving mode, an electric main push rod is fixedly installed on one side of the dismantling vehicle body, and a vertically-arranged lifting electric push rod is fixedly installed at the telescopic end of the electric main push rod; the telescopic end of the lifting electric push rod is arranged downwards and fixedly provided with a steering mechanical arm, and the driving end of the steering mechanical arm is fixedly provided with a horizontally-arranged connecting cantilever. When a fence stand column buried underground is pulled out, a slotting drilling machine drives a drill bit to drill a circle of bucket-shaped groove in the circumferential side of the stand column, then an electric main push rod, a lifting electric push rod and a drilling machine electric push rod are reset, automatic machining of the bucket-shaped groove in the top end of the stand column is completed, and the pulling-out frame assembly can be stably connected with the stand column in a clamped mode through the bucket-shaped groove; and the top end of the upright post cannot be unhooked in the pulling process without pre-punching and threading.

Description

Technical Field

[0001] The invention relates to the technical field of demolition robots, and in particular to a robot for removing waste road fences for municipal engineering. Background Art

[0002] Demolition robots, also known as demolition robots, play an important role in municipal road construction operations. Before repaving severely damaged old roads, it is necessary to remove the old road materials in advance. Manually operated semi-automatic machinery to remove the road surface is time-consuming and labor-intensive and poses a safety hazard. Demolition robots can efficiently replace manual labor, reduce labor costs, improve safety, and provide a more precise and controllable demolition process. In the process of demolishing the road surface, it is also necessary to remove the old fences on both sides of the damaged road section.

[0003] For old fences or guardrails with underground columns, such as corrugated guardrails, after the railing structure on the ground is removed, one end of the wire rope needs to be hung or tied to the upper end of the column, and then the column is lifted and pulled out by a crane. However, the current method of removing the column has many defects. On the one hand, the crane or hoist has site requirements for the construction site. On the other hand, it is necessary to pre-drill holes and then insert the wire rope to ensure the structural stability of the connection between the wire rope and the column. Only then can it be ensured that the column can be stably pulled out. The operation is cumbersome. For this reason, a robot for removing old road fences for municipal engineering is proposed. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the current method of dismantling old fences or guardrail posts has many defects. The present invention provides a robot for dismantling old road fences for municipal engineering.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0006] A robot for dismantling waste road fences for municipal engineering, comprising a crawler chassis, a dismantling body is drive-mounted on the top of the crawler chassis, an electric main push rod is fixedly mounted on one side of the dismantling body, a vertically arranged lifting electric push rod is fixedly mounted on the telescopic end of the electric main push rod, a steering mechanical arm is fixedly mounted on the telescopic end of the lifting electric push rod downwardly, a horizontally arranged connecting cantilever is fixedly mounted on the driving end of the steering mechanical arm, a drilling rig electric push rod is fixedly mounted on one end of the connecting cantilever, a slotting drill is fixedly mounted on the telescopic end of the drilling rig electric push rod obliquely downwardly and fixedly mounted, the slotting drill is used to clean up gravel around a column and open a clamping groove on both sides of the column, a drill is drive-mounted on the output end of the slotting drill, and a removal frame assembly is arranged on one side of the dismantling body;

[0007] The extraction frame assembly is used to cooperate with the clamping grooves on both sides of the column to pull the column out from the ground;

[0008] The pulling frame assembly includes two assembly frame columns arranged on one side of the demolished vehicle body, a telescopic frame column is arranged on one side of the assembly frame column, the assembly frame column and the telescopic frame column are both vertically arranged, the bottom end of the assembly frame column and the telescopic end of the telescopic frame column are fixedly installed with universal wheels, the two assembly frame columns and the top ends of the two telescopic frame columns are fixedly installed with the same top frame, a winch is fixedly installed on the top of the top frame, a pulling rope is wound on the driving end of the winch, the bottom end of the pulling rope extends to the bottom of the top frame and is fixedly installed with a clamping claw driver, the position of the clamping claw driver corresponds to the position of the slotting drill, and the bottom drive of the clamping claw driver is installed with two symmetrically arranged column pulling claws.

[0009] Furthermore, a short-range positioner is provided at the bottom of the clamping jaw driver, and a plurality of evenly distributed spring grooves are opened on the circumferential side of the short-range positioner, and spring slide rods are slidably installed inside the spring slide grooves, and return springs are provided inside the spring slide grooves, and the return springs are fixedly installed between the inner wall of the spring slide groove and the side wall of the spring slide rod, and a positioning claw is fixedly installed at the bottom of one end of the spring slide rod located outside the short-range positioner.

[0010] Furthermore, a positioning electric slide rail is fixedly installed on one side of the telescopic frame column, an electric slide table is drive-installed on one side of the positioning electric slide rail, the same lifting plate is fixedly installed on one side of the two electric slide tables, a horizontally arranged positioning electric push rod is fixedly installed on one side of the lifting plate, a vertically arranged hanging rack is fixedly installed on the telescopic end of the positioning electric push rod, a positioning support plate is fixedly installed on the bottom end of the hanging rack, a laser signal receiver is fixedly installed on the bottom of the positioning support plate, a laser transmitter compatible with the laser signal receiver is fixedly installed on the top of the short-range locator, and the laser signal receiver, the laser transmitter and the clamp driver are located on the same vertical plane.

[0011] Furthermore, an electromagnet is fixedly mounted on the top of the positioning support plate.

[0012] Furthermore, a same recovery box is fixedly installed on one side of the two telescopic frame columns facing the clamping claw driver, and the recovery box corresponds to the position of the electromagnet.

[0013] Furthermore, an adjusting electric push rod is fixedly installed on one side of the telescopic frame column, and the telescopic end of the adjusting electric push rod is fixedly connected to the telescopic end of the telescopic frame column.

[0014] Furthermore, a limiting multi-section telescopic tube is fixedly installed at the bottom of the top frame, the telescopic end of the limiting multi-section telescopic tube is fixedly installed on the top of the clamping claw driver, and the bottom end of the pulling rope is located inside the limiting multi-section telescopic tube.

[0015] Furthermore, two docking plates are fixedly installed on the side of the dismantled car body facing the assembly frame column, and the two assembly frame columns are respectively located inside the two docking plates, and a plurality of assembly frames evenly distributed from top to bottom are fixedly installed on one side of the docking plates, and an assembly screw sleeve is fixedly installed on one end of the assembly frame, and a horizontally arranged assembly screw is screwed inside the assembly screw sleeve, and an assembly threaded hole matched with the assembly screw is opened on one side of the assembly frame column, and the assembly screw located at the same place is screwed to the assembly threaded hole, and a rotating handle is fixedly installed on the end of the assembly screw away from the assembly frame column.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. When removing the fence posts buried underground, the slotting drill drives the drill bit to drill a circle of bucket-shaped grooves around the posts, and then the electric main push rod, the lifting electric push rod and the drilling rig electric push rod are reset to complete the automatic processing of the bucket-shaped groove at the top of the post, so that the extraction frame assembly can be stably connected with the post by means of the bucket-shaped groove, and it is ensured that the top of the post will not be unhooked during the extraction process without pre-drilling and threading;

[0018] 2. The present invention sets a pulling frame assembly so that the winch unwinds the pulling rope, causes the clamp driver to descend to the top of the column, and then drives the two column pulling clamps to clamp inside the bucket-shaped groove. At this time, the winch starts to reel in and directly pulls the column out of the pre-buried hole underground. The crawler chassis, the demolition body and the pulling frame assembly cooperate with each other without occupying a large space, and are easy to move and can be quickly transferred at the construction site;

[0019] 3. The present invention provides a short-range locator so that the on-site staff can buckle the short-range locator on the top of the column, so that the multiple spring slide bars and the positioning claws are respectively clamped on the column under the elastic force of the reset spring, so that the short-range locator can be fixed on the top of the column to play a short-range positioning role, which is convenient for the subsequent dismantling of the vehicle body to detect the position of the column, and realize the automatic positioning of the column by the demolition robot;

[0020] 4. The present invention sets a laser signal receiver and a laser transmitter, so that the positioning electric push rod drives the positioning support plate to approach the column, and the laser transmitter on the top of the short-range positioner emits laser upward, and then the crawler chassis drives the extraction frame assembly to move in a small range until the laser signal receiver receives the laser emitted by the laser transmitter, so that the clamp driver and the column are accurately positioned, avoiding the column extraction clamp from being unable to be stably clamped on the top of the column;

[0021] 5. The present invention sets an electromagnet so that after the clamp driver and the column are accurately positioned, the electromagnet is energized, the positioning electric slide drives the positioning support plate to descend and contact the short-range positioner, the short-range positioner will be adsorbed, and then the positioning electric slide drives the positioning support plate to lift, so that the short-range positioner is separated from the top of the column, so as to avoid the short-range positioner from hindering the subsequent opening of the column bucket groove and the removal of the column;

[0022] 6. The present invention sets a recycling box, so that after the short-range positioner is separated from the top of the column, the positioning electric push rod drives the positioning support plate to move to the top of the recycling box, and then the positioning electric slide rail drives the positioning support plate and the short-range positioner to move to the inside of the recycling box. At this time, the electromagnet is powered off and loses its magnetic attraction, so that the short-range positioner falls into the inside of the recycling box. Finally, the positioning support plate is reset to the initial position, completing the recycling of the short-range positioner, which is convenient for subsequent reuse;

[0023] 7. The present invention sets an adjustable electric push rod, so that when there is no roadbed outside the column and there is a common curb or soil slope on both sides of the road, the bottom ends of the two telescopic frame columns away from the demolished body will be stuck on one side of the curb or suspended on the top of the slope. At this time, the adjustable electric push rod can drive the telescopic frame column to extend and retract, so that the universal wheel at the bottom of the telescopic frame column can be pressed on the curb or slope, thereby enhancing the stability of the extraction frame assembly;

[0024] 8. The present invention sets a position-limiting multi-section telescopic tube, which is sleeved on the outside of the bottom end of the pulling rope, and can play a role of position-limiting guide for the winding and releasing of the pulling rope, thereby preventing external factors from interfering with the movement of the bottom end of the pulling rope, so that the clamping claw driver always moves up and down in the vertical direction without deviation and shaking, thereby increasing the stability of the clamping claw driver and the column;

[0025] 9. The present invention provides a docking plate so that the docking plate cooperates with the assembly screw and the assembly threaded hole to form a detachable structure, so that the extraction frame assembly and the dismantled vehicle body can be quickly disassembled and assembled, which is convenient for the dismantled vehicle body and the extraction frame assembly to be inspected and maintained separately, avoiding mutual obstruction between the two during the maintenance process. After the maintenance is completed, the extraction frame assembly can be pushed to one side of the dismantled vehicle body for reassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure of the vehicle body removed according to the present invention;

[0028] Figure 3 The present invention Figure 2 Schematic diagram of the structure at A in the middle;

[0029] Figure 4 is a schematic diagram of the three-dimensional structure of the plucking frame assembly of the present invention from a first viewing angle;

[0030] Figure 5 is a schematic diagram of the three-dimensional structure of the extraction frame assembly of the present invention from a second viewing angle;

[0031] Figure 6 It is a schematic diagram of the three-dimensional structure of the winch and the clamping claw driver of the present invention;

[0032] Figure 7 It is a schematic diagram of the three-dimensional structure of the bottom of the positioning support plate of the present invention;

[0033] Figure 8 It is a schematic diagram of the three-dimensional structure of the short-range locator of the present invention;

[0034] Fig. 9 It is a schematic diagram of the three-dimensional structure of the docking plate of the present invention;

[0035] Figure numerals: 1. crawler chassis; 2. dismantling the vehicle body; 3. electric main push rod; 4. lifting electric push rod; 5. steering mechanical arm; 6. connecting cantilever; 7. drilling rig electric push rod; 8. slotting drilling rig; 9. drill bit; 10. assembly frame column; 1001, assembly threaded hole; 11. telescopic frame column; 12. universal wheel; 13. top frame; 14. winch; 15. pulling rope; 16. clamping claw driver; 17. column pulling claw; 18. short-range positioner; 19 , spring slide; 20, positioning claw; 21, positioning electric slide rail; 22, electric slide; 23, lifting plate; 24, positioning electric push rod; 25, hanging rack; 26, positioning support plate; 27, laser signal receiver; 28, laser transmitter; 29, electromagnet; 30, recycling box; 31, adjusting electric push rod; 32, limiting multi-section telescopic tube; 33, docking plate; 34, assembly frame; 35, assembly screw sleeve; 36, assembly screw; 37, turning handle. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0039] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do 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 therefore cannot be understood as a limitation on the present invention.

[0040] like Figures 1 to 9 As shown, a robot for removing waste road fences for municipal engineering includes a crawler chassis 1, and a removal body 2 is installed on the top drive of the crawler chassis 1. Figure 2 As shown, an electric main push rod 3 is fixedly installed on one side of the removed vehicle body 2, and a vertically arranged lifting electric push rod 4 is fixedly installed on the telescopic end of the electric main push rod 3. Figure 3As shown, the telescopic end of the lifting electric push rod 4 is arranged downward and fixedly installed with a steering mechanical arm 5, the driving end of the steering mechanical arm 5 is fixedly installed with a horizontally arranged connecting cantilever 6, one end of the connecting cantilever 6 is fixedly installed with a drilling rig electric push rod 7, the telescopic end of the drilling rig electric push rod 7 is arranged obliquely downward and fixedly installed with a slotting drill 8, the slotting drill 8 is used to clean the gravel around the column and open the clamping grooves on both sides of the column, the output end of the slotting drill 8 is driven and installed with a drill bit 9, and a removal frame assembly is arranged on one side of the demolished body 2; specifically, when the municipal engineering waste road fence demolition robot is removing the fence posts buried underground, the demolition machine first destroys the roadbed around the top of the column, and a bucket-shaped removal pit is opened around the top of the column, and then the crawler chassis 1 carries the demolished body 2 and the removal frame assembly to the column, so that the removal frame assembly is located at the top of the column and the removal pit. At this time, the electric main push rod 3 The lifting electric push rod 4 is driven to move to the top of the column, and then the lifting electric push rod 4 drives the steering mechanical arm 5 to descend to the top of the column. The steering mechanical arm 5 drives the drilling rig electric push rod 7 to move around the column in a circle by connecting the cantilever 6. At the same time, the drilling rig electric push rod 7 drives the slotting drill 8 to move toward the side wall of the column. The slotting drill 8 starts to drive the drill bit 9 to rotate. When the drill bit 9 contacts the column, a circle of shallow bucket-shaped grooves is drilled on the side of the column. Every time the slotting drill 8 circles around the column, the drilling rig electric push rod 7 drives the slotting drill 8 to move downward for a short distance, so that the bucket-shaped groove on the side wall of the top of the column gradually deepens until it is fully formed. Subsequently, the electric main push rod 3, the lifting electric push rod 4 and the drilling rig electric push rod 7 are reset to complete the automatic processing of the bucket-shaped groove at the top of the column, so that the extraction frame assembly can be stably connected with the column with the help of the bucket-shaped groove, and it is not necessary to pre-drill holes and thread to ensure that the top of the column will not be unhooked during the extraction process;

[0041] The extraction frame assembly is used to cooperate with the clamping grooves on both sides of the column to pull the column out from the ground;

[0042] like Figure 1 , Figure 4 As shown, the removal frame assembly includes two assembly frame columns 10 arranged on one side of the dismantling vehicle body 2, and a telescopic frame column 11 is arranged on one side of the assembly frame column 10. The assembly frame column 10 and the telescopic frame column 11 are both vertically arranged, and the bottom end of the assembly frame column 10 and the telescopic end of the telescopic frame column 11 are fixedly installed with a universal wheel 12. The top ends of the two assembly frame columns 10 and the two telescopic frame columns 11 are fixedly installed with the same top frame 13, and the top of the top frame 13 is fixedly installed with a winch 14. Figure 6As shown, a pulling rope 15 is wound on the driving end of the winch 14, and the bottom end of the pulling rope 15 extends to the bottom of the top frame 13 and is fixedly installed with a clamping claw driver 16. The position of the clamping claw driver 16 corresponds to the position of the slotting drill 8, and the bottom drive of the clamping claw driver 16 is installed with two symmetrically arranged column pulling claws 17; specifically, by setting a pulling frame assembly, after the column bucket slot is opened, the winch 14 starts to unwind the pulling rope 15, so that the clamping claw driver 16 at the bottom end of the pulling rope 15 is lowered to the top of the column. The two column pulling claws 17 are kept at the same height as the bucket-shaped groove, and then the claw driver 16 drives the two column pulling claws 17 to move toward the column and directly clamp them inside the bucket-shaped groove to complete the three-point clamping of the column. At this time, the winch 14 starts to reel in the pulling rope 15, driving the claw driver 16 to lift upward, and directly pull the column out of the pre-buried hole underground to complete the automatic removal of the column. The crawler chassis 1, the demolition body 2 and the extraction frame assembly cooperate with each other without occupying a large space, and are easy to move, and can be quickly transferred at the construction site.

[0043] like Figure 1 As shown, a short-range positioner 18 is provided at the bottom of the clamping jaw driver 16, and the short-range positioner 18 has a small-range positioning device built in. Figure 8 As shown, a plurality of evenly distributed spring slide grooves are provided on the circumference of the short-range positioner 18, and spring slide bars 19 are slidably installed inside the spring slide grooves. Return springs are provided inside the spring slide grooves, and the return springs are fixedly installed between the inner wall of the spring slide grooves and the side wall of the spring slide bar 19. A positioning claw 20 is fixedly installed at the bottom of one end of the spring slide bar 19 located outside the short-range positioner 18. In this embodiment, the return springs inside the short-range positioner 18 are all small-rigidity springs, and the spring slide bar 19 can be pulled by manpower. The return spring only serves to pre-tighten the spring slide bar 19, so that the spring slide bar 19 and the positioning claw 20 can be elastically clamped at the top of the column, so that the short-range positioner 18 is not It will fall and shift, and the corresponding number of short-range locators 18 can be selected and used in combination according to the number of pillars that need to be removed on site; specifically, by setting the short-range locator 18, after the demolition machine digs a bucket-shaped pit in the roadbed around the pillar, the on-site staff can buckle the short-range locator 18 on the top of the pillar and pull out the spring slide bar 19, so that the multiple spring slide bars 19 and the positioning claws 20 on the side of the short-range locator 18 are respectively clamped on the pillar under the elastic force of the reset spring, so that the short-range locator 18 can be fixed on the top of the pillar to play a short-range positioning role, which is convenient for the subsequent demolition of the vehicle body 2 to explore the position of the pillar, and realize the automatic positioning of the pillar by the demolition robot.

[0044] like Figure 4As shown, one side of the telescopic frame column 11 is fixedly installed with a positioning electric slide rail 21, one side of the positioning electric slide rail 21 is driven and installed with an electric slide table 22, and one side of the two electric slide tables 22 is fixedly installed with the same lifting plate 23, as shown in FIG. Figure 5 As shown, a horizontally arranged positioning electric push rod 24 is fixedly installed on one side of the lifting plate 23, and a vertically arranged hanging bracket 25 is fixedly installed on the telescopic end of the positioning electric push rod 24. Figure 7 As shown, a positioning support plate 26 is fixedly installed at the bottom end of the hanging frame 25, and a laser signal receiver 27 is fixedly installed at the bottom of the positioning support plate 26. Figure 8 As shown, a laser transmitter 28 adapted to the laser signal receiver 27 is fixedly installed on the top of the short-range positioner 18, and the laser signal receiver 27, the laser transmitter 28 and the clamping claw driver 16 are located on the same vertical plane; specifically, by setting the laser signal receiver 27 and the laser transmitter 28, when the extraction frame assembly moves to the top of the column to be extracted, the clamping claw driver 16 is roughly aligned with the column under the positioning action of the short-range positioner 18, and the positioning electric push rod 24 drives the hanging frame 25 and the positioning support plate 2 6 moves to the position of the column, so that the positioning support plate 26 approaches the column, and at the same time, the short-range positioner 18 located at the top of the column emits a laser upward through the laser emitter 28 at its top, and then the crawler chassis 1 drives the removal body 2 and the entire extraction frame assembly to move in a small range on the top of the column until the positioning support plate 26 passes the short-range positioner 18 and the laser signal receiver 27 receives the laser emitted by the laser emitter 28, so that the clamp driver 16 is accurately positioned with the column, avoiding the column extraction clamp 17 from being unable to be stably clamped on the top of the column.

[0045] like Figure 5 , Figure 7 As shown, an electromagnet 29 is fixedly installed on the top of the positioning support plate 26; specifically, by setting the electromagnet 29, after the clamping claw driver 16 and the column are accurately positioned, the positioning support plate 26 is located directly above the short-range positioner 18, at this time, the electromagnet 29 is energized, and the positioning electric slide rail 21 drives the electric slide 22 to descend, and then drives the positioning support plate 26 to descend to the top of the short-range positioner 18 and contact with the short-range positioner 18 through the lifting plate 23, the positioning electric push rod 24 and the hanging bracket 25, and the short-range positioner 18 will be magnetically adsorbed by the electromagnet 29, so that the short-range positioner 18 is adsorbed on the bottom of the positioning support plate 26, and then the positioning electric slide rail 21 drives the positioning support plate 26 to lift upward, so that the short-range positioner 18 is separated from the top of the column, so as to avoid the short-range positioner 18 from hindering the subsequent opening of the bucket-shaped groove of the column and the removal of the column.

[0046] like Figure 5As shown, the same recycling box 30 is fixedly installed on one side of the two telescopic frame columns 11 facing the clamping claw driver 16, and the recycling box 30 corresponds to the position of the electromagnet 29; specifically, by setting the recycling box 30, after the short-range locator 18 is separated from the top of the column under the adsorption of the electromagnet 29, the positioning electric push rod 24 drives the positioning support plate 26 to move to the top of the recycling box 30 through the hanging rack 25, and then the positioning electric slide rail 21 drives the electric slide table 22 to descend, so that the positioning support plate 26 and the short-range locator 18 move to the inside of the recycling box 30. At this time, the electromagnet 29 is powered off and loses its magnetic attraction, so that the short-range locator 18 falls into the inside of the recycling box 30, and finally the positioning support plate 26 is reset to the initial position, completing the recovery of the short-range locator 18, which is convenient for subsequent reuse.

[0047] like Figure 4 As shown, an adjusting electric push rod 31 is fixedly installed on one side of the telescopic frame column 11, and the telescopic end of the adjusting electric push rod 31 is fixedly connected to the telescopic end of the telescopic frame column 11; specifically, by setting the adjusting electric push rod 31, when there is no roadbed on the outer side of the column and it is a curb or soil slope commonly seen on both sides of the road, the bottom ends of the two telescopic frame columns 11 away from the demolished vehicle body 2 will be stuck on one side of the curb or suspended on the top of the slope. At this time, the adjusting electric push rod 31 can drive the telescopic frame column 11 to extend and retract, so that the universal wheel 12 at the bottom end of the telescopic frame column 11 can be pressed on the curb or slope, thereby enhancing the stability of the removal frame assembly.

[0048] like Figure 5 As shown, a limiting multi-section telescopic tube 32 is fixedly installed at the bottom of the top frame 13, and the telescopic end of the limiting multi-section telescopic tube 32 is fixedly installed on the top of the clamp driver 16, and the bottom end of the pulling rope 15 is located inside the limiting multi-section telescopic tube 32; specifically, by setting the limiting multi-section telescopic tube 32, the limiting multi-section telescopic tube 32 is sleeved on the outside of the bottom end of the pulling rope 15, which can play a limiting and guiding role in the winding and releasing of the pulling rope 15, preventing external factors from interfering with the movement of the bottom end of the pulling rope 15, so that the clamp driver 16 always keeps moving up and down in the vertical direction without deviation and shaking, thereby increasing the stability of the clamp driver 16 docking with the column.

[0049] like Figure 2 As shown, two docking plates 33 are fixedly installed on the side of the dismantled vehicle body 2 facing the assembly frame column 10, as shown in FIG. Figure 1 As shown, the two assembly frame columns 10 are respectively located inside the two docking plates 33. Fig. 9 As shown, a plurality of assembly racks 34 evenly distributed from top to bottom are fixedly installed on one side of the docking plate 33, and an assembly screw sleeve 35 is fixedly installed on one end of the assembly rack 34, and a horizontally arranged assembly screw 36 is screwed inside the assembly screw sleeve 35, as shown in FIG. Figure 4As shown, one side of the assembly frame column 10 is provided with an assembly threaded hole 1001 adapted to the assembly screw 36, the assembly screw 36 located at the same place is screwed to each other, and the end of the assembly screw 36 away from the assembly frame column 10 is fixedly installed with a turning handle 37; specifically, by arranging the docking plate 33, the docking plate 33, the assembly screw 36 and the assembly threaded hole 1001 cooperate with each other to form a detachable structure, so that the extraction frame assembly and the dismantled body 2 can be quickly disassembled and assembled, which is convenient for the dismantled body 2 and the extraction frame assembly to be inspected and maintained separately, and avoids mutual obstruction between the two during the maintenance process. After the maintenance is completed, the extraction frame assembly can be pushed to one side of the dismantled body 2, so that the two assembly frame columns 10 are re-stuck in the docking plate 33, and then the multiple turning handles 37 are rotated in sequence to screw each assembly screw 36 into the assembly threaded hole 1001 to complete the assembly.

[0050] In summary: before extraction: the demolition machine first destroys the roadbed around the top of the column, and opens a bucket-shaped extraction pit around the top of the column. The on-site staff can buckle the short-range locator 18 on the top of the column and pull out the spring slide bar 19, so that the multiple spring slide bars 19 and the positioning claws 20 on the side of the short-range locator 18 are respectively clamped on the column under the elastic force of the reset spring, so that the short-range locator 18 can be fixed on the top of the column to play a short-range positioning role, which is convenient for the subsequent demolition of the body 2 to explore the position of the column, and realize the automatic positioning of the column by the demolition robot, and then the crawler chassis 1 carries the demolition body 2 and the extraction frame assembly to move toward the column, so that the extraction frame assembly is located at the top of the column and the extraction pit, and the electric main push rod 3 drives the lifting The lowering electric push rod 4 moves to the top of the column. The clamping claw driver 16 is roughly aligned with the column under the positioning action of the short-range positioner 18. The positioning electric push rod 24 drives the hanging frame 25 and the positioning pallet 26 to move to the position of the column, so that the positioning pallet 26 is close to the column. At the same time, the short-range positioner 18 located at the top of the column emits a laser upward through the laser emitter 28 at its top. Then the crawler chassis 1 drives the dismantling body 2 and the entire extraction frame assembly to move in a small range on the top of the column until the positioning pallet 26 passes the short-range positioner 18 and the laser signal receiver 27 receives the laser emitted by the laser emitter 28, so that the clamping claw driver 16 is accurately positioned with the column, and the positioning pallet 26 is located directly above the short-range positioner 18. At this time, the electromagnet 29 is powered on, the positioning electric slide rail 21 drives the electric slide table 22 to descend, and then drives the positioning support plate 26 to descend to the top of the short-range positioner 18 and contact the short-range positioner 18 through the lifting plate 23, the positioning electric push rod 24 and the hanging rack 25. The short-range positioner 18 will be magnetically adsorbed by the electromagnet 29, so that the short-range positioner 18 is adsorbed on the bottom of the positioning support plate 26, and then the positioning electric slide rail 21 drives the positioning support plate 26 to lift upward, so that the short-range positioner 18 is separated from the top of the column, and the positioning electric push rod 24 drives the positioning support plate 26 to move to the top of the recycling box 30 through the hanging rack 25, and then the positioning electric slide rail 21 drives the electric slide table 22 to descend, so that the positioning support plate 26 and the short-range positioner 18 move to the inside of the recycling box 30. At this time, the electric The magnet 29 is powered off and loses its magnetic attraction, causing the short-range locator 18 to fall into the recovery box 30. Finally, the positioning support plate 26 is reset to the initial position, completing the recovery of the short-range locator 18. Then the lifting electric push rod 4 drives the steering mechanical arm 5 to descend to the top of the column. The steering mechanical arm 5 drives the drilling rig electric push rod 7 to move around the column in a circle by connecting the cantilever 6. At the same time, the drilling rig electric push rod 7 drives the slotting drill 8 to move toward the side wall of the column. The slotting drill 8 starts to drive the drill bit 9 to rotate. When the drill bit 9 contacts the column, a circle of shallow bucket-shaped grooves is drilled on the side of the column. Every time the slotting drill 8 goes around the column, the drilling rig electric push rod 7 drives the slotting drill 8 to move downward a short distance, so that the bucket-shaped groove on the side wall of the top of the column gradually deepens until it is fully formed.Then the main electric push rod 3, the lifting electric push rod 4 and the drilling rig electric push rod 7 are reset to complete the automatic processing of the bucket-shaped groove at the top of the column;

[0051] When removing: after the bucket-shaped slot of the column is opened, the winch 14 starts to unwind the pulling rope 15, so that the clamping claw driver 16 at the bottom of the pulling rope 15 descends to the top of the column, and the two column pulling claws 17 are kept at the same height as the bucket-shaped slot, and then the clamping claw driver 16 drives the two column pulling claws 17 to move toward the column and directly clamp them inside the bucket-shaped slot, completing the three-point clamping of the column. At this time, the winch 14 starts to reel in the pulling rope 15, driving the clamping claw driver 16 to lift upward, and directly pull the column out of the pre-buried hole underground, completing the automatic removal of the column;

[0052] After extraction: the clamp driver 16 drives the two column extraction clamps 17 to loosen the column, so that the column falls to the ground, and the demolition robot starts to move and prepares to extract the next column. After the demolition robot leaves, the on-site staff will recycle the extracted column, and the docking plate 33, the assembly screw 36, and the assembly threaded hole 1001 cooperate with each other to form a detachable structure, so that the extraction frame assembly and the demolished body 2 can be quickly disassembled and assembled, which is convenient for the demolished body 2 and the extraction frame assembly to be inspected and maintained separately. After the maintenance is completed, the extraction frame assembly can be pushed to one side of the demolished body 2, so that the two assembly frame columns 10 are re-stuck in the docking plate 33, and then the multiple handles 37 are rotated in sequence to screw each assembly screw 36 into the assembly threaded hole 1001 to complete the assembly.

[0053] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot for removing waste road fences for municipal engineering, characterized in that: The invention comprises a crawler chassis (1), wherein a dismantling body (2) is installed on the top of the crawler chassis (1), an electric main push rod (3) is fixedly installed on one side of the dismantling body (2), a vertically arranged lifting electric push rod (4) is fixedly installed on the telescopic end of the electric main push rod (3), a steering mechanical arm (5) is fixedly installed on the telescopic end of the lifting electric push rod (4) downwardly arranged, and a horizontally arranged connecting cantilever (6) is fixedly installed on the driving end of the steering mechanical arm (5), a drilling rig electric push rod (7) is fixedly installed on one end of the connecting cantilever (6), a slotting drill (8) is fixedly installed on the telescopic end of the drilling rig electric push rod (7) obliquely downwardly arranged, and a slotting drill (8) is fixedly installed, the slotting drill (8) is used to clean up gravel around the column and open a clamping groove on both sides of the column, and a drill bit (9) is driven and installed on the output end of the slotting drill (8), and a removal frame assembly is provided on one side of the dismantling body (2); The extraction frame assembly is used to cooperate with the clamping grooves on both sides of the column to pull the column out from the ground; The removal frame assembly comprises two assembly frame columns (10) arranged on one side of the dismantled vehicle body (2), one side of each assembly frame column (10) is provided with a telescopic frame column (11), both the assembly frame column (10) and the telescopic frame column (11) are arranged vertically, the bottom end of the assembly frame column (10) and the telescopic end of the telescopic frame column (11) are fixedly mounted with universal wheels (12), and the top ends of the two assembly frame columns (10) and the two telescopic frame columns (11) are fixedly mounted with the same A top frame (13), a winch (14) is fixedly installed on the top of the top frame (13), a pulling rope (15) is wound on the driving end of the winch (14), the bottom end of the pulling rope (15) extends to the bottom of the top frame (13) and is fixedly installed with a clamping claw driver (16), the position of the clamping claw driver (16) corresponds to the position of the slotting drill (8), and the bottom drive of the clamping claw driver (16) is installed with two symmetrically arranged column pulling claws (17).

2. The robot for removing waste road fences for municipal engineering according to claim 1, characterized in that: A short-range positioner (18) is arranged at the bottom of the clamping jaw driver (16), and a plurality of evenly distributed spring slide grooves are opened on the peripheral side of the short-range positioner (18), and spring slide rods (19) are slidably installed inside the spring slide grooves. A return spring is arranged inside the spring slide grooves, and the return spring is fixedly installed between the inner wall of the spring slide groove and the side wall of the spring slide rod (19). A positioning claw (20) is fixedly installed at the bottom of one end of the spring slide rod (19) located outside the short-range positioner (18).

3. The robot for removing waste road fences for municipal engineering according to claim 2, characterized in that: A positioning electric slide rail (21) is fixedly installed on one side of the telescopic frame column (11), and an electric slide table (22) is driven and installed on one side of the positioning electric slide rail (21). The same lifting plate (23) is fixedly installed on one side of the two electric slide tables (22), and a horizontally arranged positioning electric push rod (24) is fixedly installed on one side of the lifting plate (23). A vertically arranged hanging frame (25) is fixedly installed on the telescopic end of the positioning electric push rod (24), and a positioning support plate (26) is fixedly installed on the bottom end of the hanging frame (25). A laser signal receiver (27) is fixedly installed on the bottom of the positioning support plate (26), and a laser transmitter (28) compatible with the laser signal receiver (27) is fixedly installed on the top of the short-range locator (18). The laser signal receiver (27), the laser transmitter (28) and the clamping claw driver (16) are located on the same vertical plane.

4. The robot for removing waste road fences for municipal engineering according to claim 3, characterized in that: An electromagnet (29) is fixedly mounted on the top of the positioning support plate (26).

5. The robot for removing waste road fences for municipal engineering according to claim 4, characterized in that: A same recovery box (30) is fixedly mounted on one side of the two telescopic frame columns (11) facing the clamping claw driver (16), and the recovery box (30) corresponds to the position of the electromagnet (29).

6. The robot for removing waste road fences for municipal engineering according to claim 1, characterized in that: An adjusting electric push rod (31) is fixedly mounted on one side of the telescopic frame column (11), and the telescopic end of the adjusting electric push rod (31) is fixedly connected to the telescopic end of the telescopic frame column (11).

7. The robot for removing waste road fences for municipal engineering according to claim 1, characterized in that: A limiting multi-section telescopic tube (32) is fixedly installed at the bottom of the top frame (13), the telescopic end of the limiting multi-section telescopic tube (32) is fixedly installed on the top of the clamping claw driver (16), and the bottom end of the pulling rope (15) is located inside the limiting multi-section telescopic tube (32).

8. The robot for removing waste road fences for municipal engineering according to claim 1, characterized in that: Two docking plates (33) are fixedly installed on one side of the dismantled vehicle body (2) facing the assembly frame column (10), and the two assembly frame columns (10) are respectively located inside the two docking plates (33). A plurality of assembly frames (34) evenly distributed from top to bottom are fixedly installed on one side of the docking plates (33). An assembly screw sleeve (35) is fixedly installed on one end of the assembly frame (34), and a horizontally arranged assembly screw rod (36) is screwed inside the assembly screw sleeve (35). An assembly threaded hole (1001) matching the assembly screw rod (36) is opened on one side of the assembly frame column (10), and the assembly screw rod (36) located at the same position is screwed to each other, and a rotating handle (37) is fixedly installed on one end of the assembly screw rod (36) away from the assembly frame column (10).

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