A water breaking robot
By combining the demolition frame, moving device, equidistant device and swing component, the composite motion of the water demolition robot is realized, which solves the problems of low breaking effect and low efficiency in traditional water demolition equipment, improves demolition efficiency and expands the application scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGXI RES INST OF MECHANICAL IND
- Filing Date
- 2025-06-04
- Publication Date
- 2026-07-03
Smart Images
Figure CN120367429B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of demolition equipment technology, and in particular to a water-powered demolition robot. Background Technology
[0002] To improve the environmental friendliness of concrete demolition, high-pressure water jet demolition is currently commonly used. High-pressure water jet demolition removes old and damaged concrete using high-pressure water jet equipment. Compared to traditional concrete demolition methods, high-pressure water jet demolition offers higher safety, greater applicability, higher precision, better environmental performance, and lower economic costs. However, existing technologies, such as the utility model patent with publication number CN221143692U, describe a concrete demolition swing mechanism, including a base with lifting mechanisms at its four lower corners, a moving device on the base, a crank-rocker structure on the moving device, a high-pressure water demolition device mounted on the crank-rocker structure, and a nozzle on the high-pressure water demolition device. This invention enables the control of the nozzle to reciprocate from left to right during high-pressure water jet demolition of concrete. When reaching the left or right position, the nozzle simultaneously switches at a 45-degree angle. Furthermore, during this switching, the nozzle does not come into contact with dry ground, allowing it to dig downwards at a 45-degree angle to break up the concrete, effectively improving demolition efficiency. However, in the aforementioned traditional solutions, the high-pressure water jet nozzle moves linearly relative to the workpiece, resulting in linear crushing. This leads to lower crushing effect and efficiency, which needs improvement. Summary of the Invention
[0003] The purpose of this invention is to address the aforementioned problems by providing a water-based demolition robot that solves the technical problem that traditional water-based demolition equipment, which involves linear demolition of parts with linear motion, has low demolition effect and efficiency, and needs to be improved.
[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0005] A water-based demolition robot includes a demolition frame, a moving device, an equidistant device, a swing assembly, and a high-pressure jet assembly. The demolition frame has a connecting portion; the moving device is movably mounted on the demolition frame; the equidistant device is mounted on the moving device; the swing assembly is mounted on the equidistant device; and the high-pressure jet assembly is mounted on the swing assembly. The swing assembly drives the high-pressure jet assembly to swing, and a high-pressure nozzle is provided at the lower end of the high-pressure jet assembly.
[0006] Furthermore, the moving device includes a base plate, a pulley, a first driving device, a gear, and a rack. The pulley is mounted on the base plate, and a sliding rod is provided on the demolition frame. The pulley is slidably locked onto the sliding rod. The first driving device is mounted on the base plate, and the output end of the first driving device is provided with the gear. The rack is mounted on the base plate, and the gear and the rack mesh.
[0007] Furthermore, the slide bar includes an upper slide bar and a lower slide bar, and the pulley includes an upper pulley and a lower pulley. Both the upper pulley and the lower pulley are provided with annular grooves on their outer circumferences. The upper pulley is engaged with the upper end of the upper slide bar through the annular grooves, and the lower pulley is engaged with the lower end of the lower slide bar through the annular grooves.
[0008] Furthermore, the equidistant device includes a second drive device, a crank, a rocker arm, and a guide rod. The crank, rocker arm, and guide rod are mounted on the moving device to form a crank-rocker arm mechanism. The second drive device drives the crank to rotate. The oscillating assembly is mounted on the guide rod.
[0009] Furthermore, the equidistant device also includes a first bearing seat, which is installed at the lower part of the moving device, and a rotating shaft is provided at one end of the rocker block, which is rotatably mounted on the first bearing seat.
[0010] Furthermore, the rocker block is provided with a dovetail groove, the rocker block is arranged in the shape of the dovetail groove, and the rocker block can slide through the dovetail groove.
[0011] Furthermore, the swing assembly includes a U-shaped seat, a swing mounting base, a connector, and a third driving device. The U-shaped seat is mounted on the equidistant device. The middle part of the swing mounting base is rotatably connected to both ends of the U-shaped seat. One end of the connector is rotatably connected to the end of the U-shaped seat, and the other end is rotatably connected to the output end of the third driving device. The output end of the third driving device is an eccentric rotation output end.
[0012] Furthermore, the swing mounting base has a through mounting hole in the middle, a clamping block is installed in the mounting hole, and several fastening bolts are screwed onto the swing mounting base, one end of which can abut against the clamping block.
[0013] Furthermore, the third drive device includes a motor, a second bearing housing, and a crankshaft. The second bearing housing is mounted on both ends of the U-shaped seat. One end of the crankshaft is a rotating end and is rotatably mounted on the second bearing housing. The output end of the motor drives the rotating end of the crankshaft to rotate coaxially. The other end of the crankshaft is an eccentric end, which rotates eccentrically. The eccentric end is rotatably connected to the connecting member.
[0014] Furthermore, a protective frame is provided at the lower part of the demolition frame, and the lower end of the high-pressure punch assembly swings within the protective frame.
[0015] By adopting the above technical solution, the present invention has the following beneficial effects:
[0016] 1. In use, this invention can be connected to an excavator via a connecting part. The excavator is then moved to the demolition point, and the mechanical arm and its end angle are adjusted to align the nozzle with the demolition point. For demolition points at different locations and angles (e.g., the horizontal plane of bridge pavement, the side of bridge concrete railing, and the top surface of bridge box girder / T-beam), multi-degree-of-freedom rotation is used to adjust the demolition angle and the height of the punch, ensuring the nozzle distance to the object being demolished is at the optimal target distance. In actual operation, the moving device can move back and forth in a straight line. The equidistant device ensures that the nozzle remains at the same distance from the breaking surface during the reversing and swinging breaking process. Through the action of the swing component, the nozzle can reciprocate along the direction perpendicular to the moving device. Based on the combined action of the moving device, the equidistant device, and the swing component, the nozzle forms a composite motion that is at a fixed distance from the breaking surface and moves along a sinusoidal curve. In this way, during one linear motion of the moving device, the nozzle can break a certain area of the breaking surface. Compared with traditional water breaking equipment, where the moving device only breaks the breaking surface once per linear motion, the efficiency is much higher. This solves the technical problem of the linear breaking of the broken part in traditional water breaking equipment, which has low breaking effect and efficiency due to linear movement, and needs to be improved.
[0017] 2. The mobile device of the present invention, by being equipped with detachable pulleys, allows the structure mounted on the mobile device and its components to be removed, enabling it to be mounted on an AGV for fully automated demolition operations, thus expanding the device's usage and applicable scenarios. The swing device, by incorporating a crankshaft and connecting components, converts the rotation output from the third drive device into the motion of the swing mounting base, which in turn generates the swing motion of the high-pressure punch assembly. This design is simple and reliable, improving the device's overall reliability.
[0018] 3. The demolition frame of the present invention is equipped with a protective frame, which can prevent personnel from getting too close and provide protection, while also allowing the operator to easily view the corresponding demolition area, thus improving the convenience of operation. Attached Figure Description
[0019] Figure 1 This is a diagram showing the state of the invention when used with an excavator.
[0020] Figure 2 This is a three-dimensional structural diagram of the present invention.
[0021] Figure 3 This is a three-dimensional structural diagram of the present invention (the dismantling frame is not shown).
[0022] Figure 4 This is a partial cross-sectional three-dimensional structural diagram of the swing assembly and high-pressure punch assembly of the present invention.
[0023] Figure 5 This is a schematic diagram of the movement trajectory of the nozzle of the present invention.
[0024] In the attached diagram, 100-water demolition robot, 200-excavator, 1-demolition frame, 2-moving device, 3-equidistant device, 4-swing assembly, 5-high-pressure jet assembly, 11-connecting part, 12-upper slide rod, 13-lower slide rod, 14-protective frame, 21-seat plate, 22-pulley, 23-first drive device, 24-gear, 25-rack, 26-limit switch assembly, 31-second drive device, 32-crank, 33-rocker block, 34-guide rod, 35-first bearing seat, 41-U-shaped seat, 42-swing mounting seat, 43-connecting piece, 44-third drive device, 45-clamping block, 46-fastening bolt, 47-motor, 48-second bearing seat, 49-crankshaft, 51-high-pressure nozzle. Detailed Implementation
[0025] The specific implementation of the invention will be further described below with reference to the accompanying drawings.
[0026] In the description of this invention, it should be understood that the terms "center", "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0027] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0029] Please see Figures 1 to 5 A water-powered demolition robot 100 includes a demolition frame 1, a moving device 2, an equidistant device 3, a swing assembly 4, and a high-pressure jet assembly 5. The demolition frame 1 is equipped with a connecting part 11. The moving device 2 is mounted on the demolition frame 1. The equidistant device 3 is mounted on the moving device 2. The swing assembly 4 is mounted on the equidistant device 3. The high-pressure jet assembly 5 is mounted on the swing assembly 4. The swing assembly 4 drives the high-pressure jet assembly 5 to swing. A high-pressure nozzle 51 is provided at the lower end of the high-pressure jet assembly 5. In use, it can be connected to an excavator 200 through the connecting part 11. By operating the excavator 200 to move to the demolition point, the robot arm and the angle of its end are adjusted to align the nozzle with the demolition point. For demolition points at different locations and angles (e.g., the horizontal plane of bridge pavement, the side of bridge concrete railing, and the top surface of bridge box girder / T-beam), the excavator 200's multi-degree-of-freedom rotation of the robot arm corresponds to the demolition angle, and the height of the jet is adjusted to ensure the nozzle distance to the object being demolished is at the optimal target distance. The moving device 2 moves in the X-axis direction, and the swinging component 4 drives the nozzle to swing in the Y-axis direction.
[0030] In this embodiment, the moving device 2 includes a base plate 21, a pulley 22, a first driving device 23, a gear 24, and a rack 25. The pulley 22 is mounted on the base plate 21, and a sliding rod is provided on the demolition frame 1. The pulley 22 is slidably locked onto the sliding rod. The first driving device 23 is mounted on the base plate 21, and a gear 24 is provided at the output end of the first driving device 23. The rack 25 is mounted on the base plate 21, and the gear 24 and rack 25 mesh. Specifically, the sliding rod includes an upper sliding rod 12 and a lower sliding rod 13, and the pulley 22 includes an upper pulley 22 and a lower sliding pulley 22. Both the upper pulley 22 and the lower sliding pulley 22 have annular grooves on their outer circumferences. The upper pulley 22 is locked onto the upper end of the upper sliding rod 12 through the annular grooves, and the lower sliding pulley 22 is locked onto the lower end of the lower sliding rod 13 through the annular grooves. The annular grooves effectively prevent the upper pulley 22 and the lower sliding pulley 22 from slipping off. In addition, the mobile device 2 also includes a limit switch assembly 26, which is mounted on the demolition frame 1. When the base plate 21 moves to a specific position, the limit switch on the limit switch assembly 26 can be triggered, thereby causing the mobile device 2 to perform the next cycle of movement. The mobile device 2 is equipped with detachable pulleys 22, which can be removed to detach the structures mounted on the mobile device 2 and on it for installation on an AGV for fully automated demolition operations, thus expanding the device's usage and increasing its applicable scenarios.
[0031] In this embodiment, the equidistant device 3 includes a second driving device 31, a crank 32, a rocker block 33, and a guide rod 34. The crank 32, rocker block 33, and guide rod 34 are mounted on the moving device 2 to form a crank 32-rocker block 33 mechanism. The second driving device 31 drives the crank 32 to rotate. The swing assembly 4 is mounted on the guide rod 34. Specifically, the equidistant device 3 also includes a first bearing seat 35, which is mounted on the lower part of the moving device 2. One end of the rocker block 33 is provided with a rotating shaft, which is rotatably mounted on the first bearing seat 35. In addition, the rocker block 33 is provided with a dovetail groove, which is shaped to fit the dovetail groove and can slide through it. When the second drive device 31 drives the crank 32 to rotate to the upper part, the guide rod 34 moves upward with the crank 32, and the rocker block 33 can rotate with the guide rod 34 and limit the lateral displacement of the guide rod 34, thereby realizing the height position adjustment of the guide rod 34 and the swing assembly 4 and the high-pressure punch assembly 5 on it.
[0032] In this embodiment, the swing assembly 4 includes a U-shaped base 41, a swing mounting base 42, a connector 43, and a third driving device 44. The U-shaped base 41 is mounted on the equidistant device 3. The middle part of the swing mounting base 42 is rotatably connected to both ends of the U-shaped base 41. One end of the connector 43 is rotatably connected to the end of the U-shaped base 41, and the other end is rotatably connected to the output end of the third driving device 44. The output end of the third driving device 44 is an eccentric rotation output end. A through mounting hole is provided in the middle of the swing mounting base 42. A clamping block 45 is provided in the mounting hole. Several fastening bolts 46 are screwed onto the swing mounting base 42. One end of the fastening bolt 46 can abut against the clamping block 45. Specifically, the third drive unit 44 includes a motor 47, a second bearing housing 48, and a crankshaft 49. The second bearing housing 48 is mounted on both ends of the U-shaped seat 41. One end of the crankshaft 49 is a rotating end and is rotatably mounted on the second bearing housing 48. The output end of the motor 47 drives the rotating end of the crankshaft 49 to rotate coaxially. The other end of the crankshaft 49 is an eccentric end, which rotates eccentrically and is rotatably connected to the connecting member 43. The swing device, by setting up the crankshaft 49 and the connecting member 43, converts the rotation output of the third drive unit 44 into the movement of the swing mounting base 42, and then into the swing action of the high-pressure punch assembly 5. The structure is simple and reliable, improving the reliability of the device.
[0033] In this embodiment, a protective frame 14 is provided at the lower part of the demolition frame 1, and the lower end of the high-pressure punch assembly 5 swings within the protective frame 14. The protective frame 14 can prevent personnel from approaching and provides protection, while also allowing the operator to easily view the corresponding demolition area, thus improving the convenience of operation.
[0034] In use, the high-pressure jet assembly 5 and the high-pressure pump station are connected via a high-pressure water pipe. The high-pressure pump station can adjust the water jet pressure according to the strength of the object being demolished, and it also has a remote start / stop function, which can be remotely started and stopped at any time during bridge demolition, eliminating the need for operators to walk to the high-pressure pump station. The water source can be selected from the attached river basin or water truck supply. Before entering the high-pressure pump station, the water source first passes through an external four-stage water filtration device (first-stage bag filter, second-stage backwash, third-stage and fourth-stage bag filter). At the same time, a second-stage filter (both bag filters) is built into the high-pressure pump station to ensure the cleanliness of the water to the greatest extent and to prevent damage to the high-pressure components.
[0035] In this embodiment, the above description is a detailed description of a preferred embodiment of the present invention. However, the embodiment is not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit of the present invention should fall within the patent scope covered by the present invention.
Claims
1. A water breaking demolition robot, characterized by: The device includes a demolition frame, a moving device, an equidistant device, a swing assembly, and a high-pressure jet assembly. The demolition frame has a connecting part; the moving device is movably mounted on the demolition frame; the equidistant device is mounted on the moving device; the swing assembly is mounted on the equidistant device; and the high-pressure jet assembly is mounted on the swing assembly. The swing assembly drives the high-pressure jet assembly to swing, and a high-pressure nozzle is provided at the lower end of the high-pressure jet assembly. The equidistant device includes a second drive device, a crank, a rocker block, and a guide rod. The crank, rocker block, and guide rod are mounted on the moving device and form a crank-rocker block mechanism. The second drive device drives the crank to rotate. The swing assembly is mounted on the guide rod. The equidistant device also includes a first bearing seat, which is mounted at the lower part of the moving device. One end of the rocker block has a rotating shaft, which is rotatably mounted on the first bearing seat. The swing assembly includes a U-shaped seat, a swing mounting base, a connecting piece, and a third drive device. The U-shaped seat is mounted on the equidistant device. The swing mounting base is rotatably connected to both ends of the U-shaped base in the middle. One end of the connector is rotatably connected to the end of the U-shaped base, and the other end is rotatably connected to the output end of the third driving device. The output end of the third driving device is an eccentric rotating output end. A through mounting hole is provided in the middle of the swing mounting base, and a clamping block is provided in the mounting hole. Several fastening bolts are screwed onto the swing mounting base, and one end of the fastening bolts can abut against the clamping block. The third driving device includes a motor, a second bearing housing, and a crankshaft. The second bearing housing is mounted on both ends of the U-shaped base. One end of the crankshaft is a rotating end and is rotatably mounted on the second bearing housing. The output end of the motor drives the rotating end of the crankshaft to rotate coaxially. The other end of the crankshaft is an eccentric end, which rotates eccentrically and is rotatably connected to the connector. Based on the combined action of the moving device, the equidistant device, and the swing assembly, the high-pressure nozzle forms a composite motion that moves at a fixed distance from the demolition surface along a sinusoidal curve.
2. The water break machine of claim 1, wherein: The moving device includes a base plate, pulleys, a first driving device, gears, and a rack. The pulleys are detachably mounted on the base plate. A sliding rod is provided on the demolition frame, and the pulleys are slidably locked onto the sliding rod. The first driving device is mounted on the base plate, and the output end of the first driving device is provided with the gear. The rack is mounted on the demolition frame, and the gear and the rack mesh.
3. A water breaking machine according to claim 2, characterized in that: The slide bar includes an upper slide bar and a lower slide bar, and the pulley includes an upper pulley and a lower pulley. Both the upper pulley and the lower pulley are provided with annular grooves on their outer circumferences. The upper pulley is engaged with the upper end of the upper slide bar through the annular grooves, and the lower pulley is engaged with the lower end of the lower slide bar through the annular grooves.
4. The water breach robot of claim 1, wherein: The guide rod is provided with a dovetail groove, and the rocker block is set in the shape of the dovetail groove and can slide through the dovetail groove.
5. The water breach robot of claim 1, wherein: The lower part of the demolition frame is equipped with a protective frame, and the lower end of the high-pressure punch assembly swings within the protective frame.