A steel bar cutting device for water conservancy and hydropower construction

Abstract

The present invention belongs to the technical field of steel bar cutting, and specifically provides a steel bar cutting device for water conservancy and hydropower construction, which is composed of a wall climbing vehicle and a cutting manipulator. The cutting manipulator includes a beam, an adaptive clamping member, a cutting assembly and a power box. The beam is rotatably connected to the upper wall of the wall climbing vehicle, the adaptive clamping member is slidably arranged on the beam, the cutting assembly is arranged on the adaptive clamping member, the power box is arranged on the lower wall of the beam, and the power box and the adaptive clamping member are hydraulically transmitted. The present invention creatively designs the cutting manipulator, and utilizes an ingenious two-way hydraulic circuit design to enable two groups of adaptive clamping members to perform asymmetric movement, and can reliably and adaptively clamp the water-stop screw steel bars in any area covered by the beam, and also utilizes the hydraulic changes generated by the clamping action to realize automatic cutting of the water-stop screw steel bars, which significantly improves the cutting efficiency and avoids the risk of falling objects from high altitudes through reliable clamping.

Description

Technical Field

[0001] The invention belongs to the technical field of steel bar cutting, and in particular relates to a steel bar cutting device for water conservancy and hydropower construction. Background Art

[0002] During the construction of water conservancy and hydropower projects, steel bar cutting is often involved, especially for dam bodies. Due to the high waterproof level, water-stop screw steel bars are usually used to fix the formwork during dam construction. After the dam structure solidifies, the heads of the water-stop screw steel bars extending out of the side walls of the dam body need to be cut off. Existing technologies mostly use manual labor with hanging baskets and springboards to perform operations, which poses many technical problems.

[0003] The existing steel bar cutting devices for water conservancy and hydropower construction are mostly for the steel bar processing stage and suitable for steel bar processing sheds, but cannot be used for cutting pre-buried water-stop screw steel bars on the outer wall of the dam body.

[0004] Since the embedded water-stop screw reinforcement has position deviation, and the clamping and cutting equipment usually needs to align the embedded water-stop screw reinforcement, it is difficult to clamp and cut it using an automatic clamping device;

[0005] Manual removal of the embedded water-stop screw reinforcement heads is not only inefficient but also very dangerous. This is because the dam body is usually quite tall and requires manual high-altitude work. In addition, the water-stop screw reinforcement heads are very dense. When manually removing them, walking and cutting are both difficult and inefficient.

[0006] At the same time, the manually cut water-stop screw steel bar heads can easily fall directly to the bottom of the dam, and there is also a risk of falling objects from high altitudes. Summary of the Invention

[0007] In response to the above technical problems, the present invention provides a steel bar cutting device for water conservancy and hydropower construction, creatively designs a cutting robot, and utilizes an ingenious two-way hydraulic circuit design to enable two sets of adaptive clamping parts to perform asymmetric movement. Only by relying on the touch and pressing action of the crossbeam and the waterstop screw steel bars, the waterstop screw steel bars in any area covered by the crossbeam can be reliably and adaptively clamped. The hydraulic changes generated by the clamping action are also utilized to realize automatic cutting of the waterstop screw steel bars, which significantly improves the cutting efficiency. Before and after cutting, the waterstop screw steel bars can be reliably clamped and safely recovered, avoiding the risk of falling objects from high altitudes.

[0008] The technical solution adopted by the present invention is as follows: This solution provides a steel bar cutting device for water conservancy and hydropower construction, which consists of a wall climbing vehicle and a cutting manipulator. The cutting manipulator is rotatably connected to the upper end of the wall climbing vehicle. The upper wall of the wall climbing vehicle is fixedly connected to a steering motor. The output shaft of the steering motor is fixedly connected to a steering gear. The cutting manipulator includes a crossbeam, an adaptive clamping member, a cutting assembly and a power box. The lower wall of the crossbeam is fixedly connected to a steering shaft. The crossbeam is rotatably connected to the upper wall of the wall climbing vehicle through the steering shaft. The adaptive clamping member is slidably arranged on the crossbeam. The adaptive clamping member is arranged There are two groups. The cutting assembly is arranged on one of the adaptive clamping parts. The power box is arranged on the lower wall of the beam. A hydraulic transmission is arranged between the power box and the adaptive clamping part. A transmission is arranged between the cutting assembly and the adaptive clamping part. A driven gear is coaxially fixedly connected to the steering shaft. The driven gear is engaged with the steering gear. The beam and the wall-climbing vehicle are transmitted through the engagement of the driven gear and the steering gear. The side walls of the wall-climbing vehicle are symmetrically provided with climbing power wheels. A climbing belt is wound between the climbing power wheels on the same side. A material receiving hopper is fixedly connected to the outer wall of the wall-climbing vehicle.

[0009] In this solution, a touch beam is provided for sliding on the upper wall of the beam, and a rack is provided on the upper wall of the beam. The adaptive clamping part includes a clamping block, an impeller cavity and a clamping gear. The clamping block is horizontally slidably clamped on the side wall of the beam, and the impeller cavity is fixedly provided on the side wall of the clamping block. A bidirectional impeller is provided for rotation on the inner wall of the impeller cavity, and a clamping gear is rotatably provided on the outer wall of the impeller cavity. The clamping gear is coaxially fixedly connected to the bidirectional impeller, and the clamping gear is meshed with the rack. The bidirectional impeller is transmitted to the beam through the meshing of the clamping gear and the rack through the impeller cavity. The bidirectional impeller drives the clamping gear to rotate, thereby causing the clamping block to slide along the side wall of the beam. Liquid flow tube 1 and liquid flow tube 2 are penetrated through the circumferential outer wall of the impeller cavity, and liquid flow tube 1 and liquid flow tube 2 penetrate the clamping block.

[0010] As a further preference of this solution, a bidirectional gear pump is fixedly provided on the inner wall of the power box, a hose is connected between the bottom wall of the power box and the bottom wall of the clamping block, liquid flow tube 1 and liquid flow tube 2 are laid along the inner wall of the hose, and the ends of liquid flow tube 1 in the two adaptive clamping parts away from the impeller cavity both pass through the bottom wall of the power box and are connected to one end of the bidirectional gear pump, and the ends of liquid flow tube 2 in the two adaptive clamping parts away from the impeller cavity both pass through the bottom wall of the power box and are connected to the other end of the bidirectional gear pump.

[0011] In this solution, the cutting assembly includes a telescopic rod, a push piece and a cutting motor. The base of the telescopic rod is fixedly arranged on the side wall of the clamping block, the push piece is fixedly connected to the push rod end of the telescopic rod, and the cutting motor is laterally slidably arranged on the upper wall of the clamping block. A pressure pipe is provided between the base end of the telescopic rod and the middle part of the liquid flow tube. The push piece and the cutting motor are tilted for transmission, and a cutting blade is connected to the output shaft of the cutting motor.

[0012] Furthermore, adsorption plates are symmetrically distributed and fixed on both side walls of the wall-climbing vehicle, adsorption strips are fixed on the side walls of the adsorption plates, the adsorption strips are set at an opening on one side away from the receiving hopper, the adsorption strips and the opening side are slidably fitted with the inner wall of the wall-climbing belt, and an adsorption air pump is fixed on the side walls of the wall-climbing vehicle, the suction end of the adsorption air pump is connected to the inside of the adsorption strip, and the exhaust end of the adsorption air pump is facing the outside of the receiving hopper.

[0013] As a further optimization of this solution, adsorption holes are distributed in an array on the wall-climbing belt along the winding direction of the wall-climbing belt. The adsorption holes are arranged corresponding to the adsorption strips. The adsorption holes that move to the adsorption strips are connected with the adsorption air pump. Anti-slip teeth are provided in the middle of the inner wall of the wall-climbing belt along the winding direction of the wall-climbing belt. Anti-slip grooves are provided in a circular array on the outer wall of the wall-climbing power wheel. When the wall-climbing power wheel is running, the anti-slip teeth cooperate with the anti-slip grooves, and the anti-slip teeth are stuck in the anti-slip grooves to prevent slipping between the wall-climbing belt and the wall-climbing power wheel.

[0014] The beneficial effects achieved by the present invention are as follows:

[0015] (1) The present invention creatively designs a cutting manipulator, and utilizes an ingenious bidirectional hydraulic circuit design to enable two sets of adaptive clamping members to perform asymmetrical movements. One set of adaptive clamping members automatically stops running when it contacts the waterstop screw reinforcement, and the other set of adaptive clamping members can continue to run to the waterstop screw reinforcement, thereby reliably and adaptively clamping the waterstop screw reinforcement in any area covered by the beam. This clamping method does not require the waterstop screw reinforcement to be centered, which also adapts to the position error of the waterstop screw reinforcement at the construction site and has higher applicability. At the same time, the hydraulic changes generated by the clamping action are utilized to realize automatic cutting of the waterstop screw reinforcement, which significantly improves cutting efficiency and safety.

[0016] (2) The cutting manipulator and the wall-climbing vehicle are automatically controlled through pressure sensors, squeeze switches, and reversing switches. After the cutting is completed, the cutting manipulator can automatically place the water-stop screw steel bars into the receiving hopper. The automated control mode of adaptive clamping, automatic cutting, automatic recovery, and automatic release ensures safe and efficient cutting and avoids the risk of steel bars falling.

[0017] (3) When the wall climbing vehicle moves upward along the vertical surface of the dam body, the adsorption strips will move relative to the wall climbing belt. The adsorption holes that enter the adsorption strip area will adsorb the vertical surface of the dam body, and the adsorption holes that leave the adsorption strip area will no longer produce adsorption. Therefore, the wall climbing vehicle achieves the effect of dynamic adsorption movement with the help of the dynamic correspondence between the adsorption holes and the adsorption strips. At the same time, the gas discharged by the adsorption air pump toward the outside of the dam body vertical surface can also produce a compacting effect on the wall climbing vehicle, further preventing the wall climbing vehicle from falling off;

[0018] (4) A simple and ingenious hydraulic pipeline is set between the adaptive clamping part and the power box, which realizes the automatic clamping of the water-stop screw and steel bar through hydraulic drive, and the adaptive clamping part can adapt to the position of the water-stop screw and steel bar;

[0019] (5) The cutting robot utilizes the squeezing effect of the wall climbing vehicle and the water-stop screw steel bars during movement to achieve automatic clamping and cutting of the water-stop screw steel bars. It does not require a complex identification system and control devices, which significantly reduces the equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a steel bar cutting device for water conservancy and hydropower construction proposed by the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the structure of a steel bar cutting device for water conservancy and hydropower construction proposed by the present invention. Figure 2 ;

[0022] Figure 3 for Figure 1 A partial enlarged view of part A in FIG;

[0023] Figure 4 This is a schematic diagram of the structure of the cutting robot proposed in the present invention;

[0024] Figure 5 for Figure 4 A partial enlarged view of part C in FIG;

[0025] Figure 6 Schematic diagram of the structure of the adaptive clamping member (the adaptive clamping member where the non-cutting component is located) in the present invention;

[0026] Figure 7 A schematic cross-sectional view of the connection between the adaptive clamping member and the power box of the present invention;

[0027] Figure 8 for Figure 7 A partial enlarged view of part D in FIG;

[0028] Figure 9 for Figure 7 A partial enlarged view of part E in FIG;

[0029] Figure 10 Schematic diagram of the structure of the adaptive clamping member (the adaptive clamping member where the cutting assembly is located) and the cutting assembly in the present invention;

[0030] Figure 11 for Figure 2 A partial enlarged view of part B in FIG.

[0031] Among them, 1. Wall climbing vehicle, 11. Steering motor, 111. Steering gear, 12. Wall climbing power wheel, 121. Anti-skid groove, 13. Wall climbing belt, 131. Raised belt, 132. Adsorption hole, 133. Anti-skid tooth, 14. Receiving hopper, 15. Adsorption plate, 151. Adsorption bar, 16. Adsorption air pump, 17. Reversing switch, 2. Cutting robot, 21. Beam, 211. Steering shaft, 212. Driven gear, 213. Touch beam, 214. Rack, 215. Pressure sensor, 22 , adaptive clamping parts, 221, clamping block, 222, impeller chamber, 223, clamping gear, 224, guide plate, 225, rubber clamp, 226, bidirectional impeller, 227, liquid flow tube one, 228, liquid flow tube two, 229, squeeze switch, 23, cutting assembly, 231, telescopic rod, 232, push piece, 233, cutting motor, 234, pressure tube, 235, inclined groove, 236, dial button, 237, cutting blade, 24, power box, 241, bidirectional gear pump, 242, hose.

[0032] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0033] Example 1: Please refer to Figures 1-11 The present embodiment provides a steel bar cutting device for water conservancy and hydropower construction, which consists of a wall climbing vehicle 1 and a cutting manipulator 2. The cutting manipulator 2 is rotatably connected to the upper end of the wall climbing vehicle 1. The upper wall of the wall climbing vehicle 1 is fixedly connected to a steering motor 11. The output shaft of the steering motor 11 is fixedly connected to a steering gear 111. The cutting manipulator 2 includes a crossbeam 21, an adaptive clamping member 22, a cutting assembly 23 and a power box 24. The lower wall of the crossbeam 21 is fixedly connected to a steering shaft 211. The crossbeam 21 is rotatably connected to the upper wall of the wall climbing vehicle 1 through the steering shaft 211. The adaptive clamping member 22 is slidably arranged on the crossbeam 21. The adaptive clamping member 22 is provided with two groups. The cutting assembly 23 is provided with a On one of the sets of adaptive clamping members 22, the power box 24 is arranged on the lower wall of the beam 21, a hydraulic transmission is arranged between the power box 24 and the adaptive clamping member 22, a transmission is arranged between the cutting assembly 23 and the adaptive clamping member 22, a driven gear 212 is coaxially fixedly connected to the steering shaft 211, the driven gear 212 is engaged with the steering gear 111, and a transmission is arranged between the beam 21 and the wall-climbing vehicle 1 through the engagement of the driven gear 212 with the steering gear 111. Climbing power wheels 12 are symmetrically provided on both side walls of the wall-climbing vehicle 1, a climbing belt 13 is wound between the climbing power wheels 12 on the same side, and a material receiving hopper 14 is fixedly connected to the outer wall of the wall-climbing vehicle 1.

[0034] A touch beam 213 is provided on the upper wall of the crossbeam 21 for sliding, and a sliding rod is fixedly connected to the lower wall of the touch beam 213. The sliding rod slides into the upper wall of the crossbeam 21, and the touch beam 213 is slidably connected to the upper wall of the crossbeam 21 through the sliding rod. A rack 214 is provided on the upper wall of the crossbeam 21, and an array of pressure sensors 215 are provided on the upper wall of the crossbeam 21. The pressure sensors 215 are evenly distributed below the lower wall of the touch beam 213. The adaptive clamping member 22 includes a clamping block 221, an impeller cavity 222 and a clamping gear 223. The clamping block 221 slides horizontally and is clamped on the side wall of the crossbeam 21. A guide plate 224 is fixed on the upper wall of the clamping block 221. The opposite side walls of the clamping blocks 221 in the two adaptive clamping members 22 are respectively fixed with rubber clamping strips 225, the impeller chamber 222 is fixedly provided on the side wall of the clamping block 221, and a bidirectional impeller 226 is rotatably provided on the inner wall of the impeller chamber 222, and a clamping gear 223 is rotatably provided on the outer wall of the impeller chamber 222, and the clamping gear 223 is coaxially fixedly connected with the bidirectional impeller 226, and the clamping gear 223 is meshed with the rack 214. The bidirectional impeller 226 realizes transmission with the crossbeam 21 through the meshing of the clamping gear 223 and the rack 214, and the bidirectional impeller 226 drives the clamping gear 223 to rotate, thereby causing the clamping block 221 to slide along the side wall of the crossbeam 21, and a liquid flow tube 1 227 and a liquid flow tube 2 228 are penetrated through the circumferential outer wall of the impeller chamber 222, and the liquid flow tube 1 227 and the liquid flow tube 2 228 penetrate the clamping block 221.

[0035] A bidirectional gear pump 241 is fixedly provided on the inner wall of the power box 24. The bidirectional gear pump 241 and the wall-climbing power wheel 12 are electrically connected to the pressure sensor 215 respectively. When the pressure sensor 215 is squeezed, the bidirectional gear pump 241 starts to run and the wall-climbing power wheel 12 stops running. A hose 242 is connected between the bottom wall of the power box 24 and the bottom wall of the clamping block 221. Liquid flow tube 1 227 and liquid flow tube 2 228 are laid along the inner wall of the hose 242. The ends of the liquid flow tube 1 227 in the two adaptive clamping parts 22 away from the impeller chamber 222 both pass through the bottom wall of the power box 24 and are connected to one end of the bidirectional gear pump 241. The ends of the liquid flow tube 2 228 in the two adaptive clamping parts 22 away from the impeller chamber 222 both pass through the bottom wall of the power box 24 and are connected to the other end of the bidirectional gear pump 241.

[0036] The cutting assembly 23 includes a telescopic rod 231, a push piece 232 and a cutting motor 233. The base of the telescopic rod 231 is fixedly arranged on the side wall of the clamping block 221, and the push piece 232 is fixedly connected to the end of the push rod portion of the telescopic rod 231. A tension spring is provided inside the telescopic rod 231, and the two ends of the tension spring are respectively connected to the base portion and the push rod portion of the telescopic rod 231. The setting of the tension spring makes it necessary to have a large hydraulic force to realize the extension process of the telescopic rod 231. The cutting motor 233 is laterally slidably arranged on the upper wall of the clamping block 221. A pressure pipe 234 is provided between the base end of the telescopic rod 231 and the middle part of the liquid flow pipe 227. The push piece 232 and the cutting motor 233 are tilted for transmission. Specifically, an inclined slot 235 is provided on the push piece 232, and the side of the cutting motor 233 is connected to the hydraulic pressure pipe 227. A dial button 236 is fixed to the wall, and the dial button 236 is movably embedded in the inclined groove 235. A cutting blade 237 is connected to the output shaft of the cutting motor 233. A squeezing switch 229 is provided on the clamping block 221. The squeezing switch 229 is located on the movement path of the cutting motor 233. The squeezing switch 229 is electrically connected to the steering motor 11. When the telescopic rod 231 is extended by the hydraulic push, it can push the push piece 232 to move. The guiding effect of the inclined groove 235 enables the dial button 236 to drive the cutting motor 233 to slide, so that the cutting blade 237 moves to the position of the water-stop screw steel bar and cuts. When the cutting motor 233 squeezes the squeezing switch 229, the cutting blade 237 has completed cutting the water-stop screw steel bar, and the steering motor 11 is powered on.

[0037] The communicating spaces among the impeller chamber 222 , the first liquid flow pipe 227 , the second liquid flow pipe 228 , the bidirectional gear pump 241 and the pressure pipe 234 are filled with hydraulic oil.

[0038] Adsorption plates 15 are symmetrically distributed and fixed on both side walls of the wall-climbing vehicle 1. Adsorption strips 151 are fixed on the side walls of the adsorption plates 15. The adsorption strips 151 are opened on the side away from the receiving hopper 14. The side of the adsorption strips 151 away from the receiving hopper 14 slides and fits with the inner wall of the wall-climbing belt 13. An adsorption air pump 16 is fixed on the side wall of the wall-climbing vehicle 1. The exhaust end of the adsorption air pump 16 is connected to the inside of the adsorption strip 151, and the exhaust end of the adsorption air pump 16 is facing the outside of the receiving hopper 14.

[0039] The inner wall of the climbing belt 13 is provided with a raised belt 131, and the adsorption strip 151 is provided corresponding to the raised belt 131. The climbing belt 13 is provided with adsorption holes 132 distributed in an array along the winding direction of the climbing belt 13. The adsorption holes 132 are located in the raised belt 131. The adsorption holes 132 are provided corresponding to the adsorption strip 151. The adsorption holes 132 moving to the adsorption strip 151 are connected to the adsorption air pump 16. The middle part of the inner wall of the climbing belt 13 is provided with anti-slip teeth 133 along the winding direction of the climbing belt 13. An annular array of anti-skid grooves 121 is provided on the circumferential outer wall of the wall-climbing power wheel 12. When the wall-climbing power wheel 12 is running, the anti-skid teeth 133 cooperate with the anti-skid grooves 121, and the anti-skid teeth 133 are stuck in the anti-skid grooves 121 to prevent sliding between the wall-climbing belt 13 and the wall-climbing power wheel 12. Lubricant is applied between the raised belt 131 and the adsorption strip 151, which can not only ensure the sealing effect of the contact surface between the raised belt 131 and the adsorption strip 151, but also reduce the movement resistance of the wall-climbing belt 13 relative to the adsorption strip 151.

[0040] A reversing switch 17 is provided at the upper end of the wall-climbing vehicle 1. The reversing switch 17 is located on the side of the steering shaft 211 of the beam 21. The bidirectional gear pump 241 and the steering motor 11 are electrically connected to the reversing switch 17 respectively. When the extrusion switch 229 controls the steering motor 11 to run and makes the cutting robot 2 turn as a whole, the cutting robot 2 will bring the cut water-stop screw steel bars into the receiving hopper 14. When the beam 21 touches the reversing switch 17, the steering motor 11 runs in reverse to reset, and the bidirectional gear pump 241 runs in reverse to release the cut water-stop screw steel bars.

[0041] The specific usage process of this embodiment is as follows:

[0042] There are a lot of exposed water-stop screw steel bars on the facade of the dam body. First, the wall climbing vehicle 1 in this scheme is placed close to the facade at the bottom of the dam body and ready for cutting. In the initial state, the relative position relationship between the cutting manipulator 2 and the wall climbing vehicle 1 is as follows: Figure 1-Figure 3 As shown, that is, in the initial state, the cutting robot 2 is also close to the dam body facade, the two adaptive clamping members 22 are away from each other, and the state of the cutting assembly 23 is as shown in FIG. Figure 5 and Figure 10As shown, the telescopic rod 231 is in a retracted state, and the adsorption air pump 16 is running to extract the gas in the adsorption bar 151, so that negative pressure is generated in the adsorption bar 151, and the adsorption holes 132 at the adsorption bar 151 are connected to the adsorption air pump 16. Therefore, the adsorption bar 151 can perform negative pressure adsorption on the dam body facade through this part of the adsorption holes 132, so that the wall-climbing vehicle 1 is adsorbed on the dam body facade, and the wall-climbing power wheel 12 is running, driving the wall-climbing vehicle 1 to move upward along the dam body facade. In this process, the adsorption bar 151 will move relative to the wall-climbing belt 13, and the adsorption holes 132 entering the adsorption bar 151 area will adsorb the dam body facade, and the adsorption holes 132 leaving the adsorption bar 151 area will no longer have an adsorption effect. Therefore, the wall-climbing vehicle 1 achieves the effect of dynamic adsorption walking with the help of the dynamic correspondence between the adsorption holes 132 and the adsorption bar 151. At the same time, the gas discharged by the adsorption air pump 16 toward the outside of the dam body facade can also produce a compacting effect on the wall-climbing vehicle 1, further preventing the wall-climbing vehicle 1 from falling off.

[0043] The wall-climbing vehicle 1 drives the cutting manipulator 2 to move upward. When encountering the exposed water-stop screw steel bar, the water-stop screw steel bar will press the touch beam 213 due to the upward movement of the cutting manipulator 2 (if the water-stop screw steel bar is not directly aligned with the touch beam 213, but is aligned with the guide plate 224, the inclined guiding effect of the guide plate 224 can cause the adaptive clamping piece 22 corresponding to the guide plate 224 to slide, and the water-stop screw steel bar enters between the two adaptive clamping pieces 22 and presses against the touch beam 213). The touch beam 213 will squeeze the pressure sensor 215, the wall-climbing power wheel 12 stops running, the wall-climbing vehicle 1 is stabilized on the vertical surface of the dam body, and the bidirectional gear pump 241 starts running. Please refer to Figure 9 In this process, the pumping direction of the bidirectional gear pump 241 is downward, that is, in the power box 24, the hydraulic oil will enter the liquid flow pipe 1 227 from the liquid flow pipe 2 28, and then the hydraulic oil will reach the impeller chamber 222 along the liquid flow pipe 1 227 and enter the liquid flow pipe 2 228 again. This process will drive the bidirectional impeller 226 to rotate, so as to Figure 7 For example, at this time, the bidirectional impeller 226 in the adaptive clamping part 22 on the left rotates clockwise, and the bidirectional impeller 226 in the adaptive clamping part 22 on the right rotates counterclockwise, thereby driving the clamping gear 223 to rotate, so that the two clamping blocks 221 slide along the side wall of the beam 21 and approach each other. When one of the clamping blocks 221 contacts the side wall of the water-stop screw steel bar, the clamping block 221 is blocked and cannot continue to move, then the bidirectional impeller 226 corresponding to the clamping block 221 cannot continue to rotate. At this time, the hydraulic oil can only flow in the other set of liquid flow tube 1 227 and liquid flow tube 2 228, so that the bidirectional impeller 226 corresponding to the other clamping block 221 continues to rotate, and the other clamping block 221 is close to the other side wall of the water-stop screw steel bar.

[0044] The above-mentioned clamping method has significant advantages. By using a clever hydraulic circuit design, the two sets of adaptive clamping parts 22 can perform asymmetric movement. One set of adaptive clamping parts 22 will automatically stop running after contacting the waterstop screw steel bars, and the other set of adaptive clamping parts 22 can continue to run to the waterstop screw steel bars, thereby being able to reliably clamp the waterstop screw steel bars in any area covered by the beam 21. This clamping method does not require the waterstop screw steel bars to be centered, which also adapts to the position error of the waterstop screw steel bars at the construction site and has higher applicability.

[0045] When the rubber clamping strips 225 on the two clamping blocks 221 are both close to the water-stop screw steel bar, a clamping effect is achieved, and the two bidirectional impellers 226 cannot rotate. The passage of hydraulic oil is blocked, and the hydraulic pressure in the liquid flow pipe 1 227 will increase significantly. The hydraulic pressure inside the pressure pipe 234 increases, and the hydraulic oil enters the telescopic rod 231 through the pressure pipe 234, causing the push piece 232 to move. The guiding effect of the inclined groove 235 causes the dial button 236 to drive the cutting motor 233 to slide, thereby causing the cutting blade 237 to move to the water-stop screw steel bar position and cut the water-stop screw steel bar. When the cutting motor 233 squeezes the squeezing switch 229, the cutting blade 237 has completed cutting the steel bar, and the steering motor 11 is energized and drives the steering gear 111 to rotate. The driven gear 212 drives the steering shaft 211 to rotate, thereby causing the entire beam 21 to rotate. The water-stop screw steel bar clamped by the adaptive clamping member 22 gradually rotates into the receiving hopper 14. When the beam 21 touches the reversing switch 17, the steering motor 11 runs in reverse to drive the beam 21 to reset, the bidirectional gear pump 241 runs in reverse, and the bidirectional impeller 226 runs in reverse. The two sets of adaptive clamping members 22 move away from each other, the water-stop screw steel bar falls off and falls into the receiving hopper 14, the hydraulic pressure in the liquid flow tube 227 decreases, the cutting assembly 23 resets, and the extrusion force of the pressure sensor 215 returns to its initial state. The wall-climbing power wheel 12 continues to run, driving the wall-climbing vehicle 1 to move upward, and adaptively clamps and cuts and collects the next water-stop screw steel bar.

[0046] Embodiment 2: This embodiment is based on embodiment 1. In this embodiment, in order to ensure the stability of the wall-climbing vehicle 1 during the wall-climbing process, an array of rubber suction cups is provided on the outer wall of the wall-climbing belt 13. The rubber suction cups are connected to the adsorption holes 132 in a one-to-one correspondence. The rubber suction cups expand the adsorption area of ​​the adsorption holes 132 and improve the adsorption reliability.

[0047] Example 3: This example is based on Example 1. In this example, in order to ensure the stability of the wall-climbing vehicle 1 during the wall-climbing process, ear plates are symmetrically provided on both side walls of the receiving hopper 14, and a steel wire rope is passed through the ear plates. The upper end of the steel wire rope is placed on the upper part of the dam body, the upper end of the steel wire rope is locked, and the steel wire rope is dragged upward by a winch to provide safety insurance for the wall-climbing vehicle 1 and prevent the wall-climbing vehicle 1 from falling off.

[0048] The present invention and its embodiments are described above. Such description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto.

Claims

1. A steel bar cutting device for water conservancy and hydropower construction, characterized by: The steel bar cutting device is composed of a wall climbing vehicle (1) and a cutting manipulator (2) rotatably connected to the upper end of the wall climbing vehicle (1), the cutting manipulator (2) comprising a crossbeam (21), an adaptive clamping member (22), a cutting assembly (23) and a power box (24), the crossbeam (21) being rotatably connected to the upper wall of the wall climbing vehicle (1), the adaptive clamping member (22) being slidably arranged on the crossbeam (21), the adaptive clamping member (22) being provided with two groups, and the cutting assembly (23) being provided on one of the adaptive clamping members. The power box (24) is provided on the lower wall of the beam (21), a hydraulic transmission is provided between the power box (24) and the adaptive clamping member (22), a transmission is provided between the cutting assembly (23) and the adaptive clamping member (22), a touch beam (213) is provided on the upper wall of the beam (21) for sliding, a pressure sensor (215) is provided on the upper wall of the beam (21), the pressure sensor (215) is located below the lower wall of the touch beam (213), and a rack (214) is provided on the upper wall of the beam (21); The adaptive clamping member (22) includes a clamping block (221), an impeller cavity (222) and a clamping gear (223), wherein the clamping block (221) is horizontally slidably clamped on the crossbeam (21), a guide plate (224) is fixedly provided on the upper wall of the clamping block (221), the impeller cavity (222) is fixedly provided on the side wall of the clamping block (221), a bidirectional impeller (226) is rotatably provided on the inner wall of the impeller cavity (222), the clamping gear (223) is rotatably provided on the outer wall of the impeller cavity (222), the clamping gear (223) and the bidirectional impeller (226) are coaxially fixedly connected, and the bidirectional impeller (226) and the upper wall of the crossbeam (21) are meshed and driven by the clamping gear (223) and the rack (214); A liquid flow tube 1 (227) and a liquid flow tube 2 (228) are provided through the circumferential outer wall of the impeller chamber (222); a bidirectional gear pump (241) is fixedly provided on the inner wall of the power box (24); the bidirectional gear pump (241) is electrically connected to the pressure sensor (215); the ends of the liquid flow tube 1 (227) in the two adaptive clamping members (22) away from the impeller chamber (222) are both communicated with one end of the bidirectional gear pump (241); and the ends of the liquid flow tube 2 (228) in the two adaptive clamping members (22) away from the impeller chamber (222) are both communicated with the other end of the bidirectional gear pump (241).

2. A steel bar cutting device for water conservancy and hydropower construction according to claim 1, characterized in that: The cutting assembly (23) comprises a telescopic rod (231), a push piece (232) and a cutting motor (233); the base portion of the telescopic rod (231) is fixedly arranged on the side wall of the clamping block (221); the push piece (232) is fixedly connected to the push rod end of the telescopic rod (231); the cutting motor (233) is laterally slidably arranged on the upper wall of the clamping block (221); and the push piece (232) and the cutting motor (233) are tilted and driven.

3. A steel bar cutting device for water conservancy and hydropower construction according to claim 2, characterized in that: The end of the base portion of the telescopic rod (231) is connected to the middle portion of the liquid flow tube (227).

4. A steel bar cutting device for water conservancy and hydropower construction according to claim 1, characterized in that: Wall climbing belts (13) are provided on both sides of the wall climbing vehicle (1), and adsorption strips (151) are fixedly provided on both side walls of the wall climbing vehicle (1), and the adsorption strips (151) are slidably fitted with the inner walls of the wall climbing belts (13).

5. A steel bar cutting device for water conservancy and hydropower construction according to claim 4, characterized in that: Adsorption holes (132) are provided on the wall-climbing belt (13), and the adsorption holes (132) are arranged corresponding to the adsorption strips (151).

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