Controllable unmanned angle steel tower dismounting construction method and tower dismounting equipment thereof

Abstract

The invention relates to a controllable unmanned angle steel tower dismantling construction method. The method comprises the following steps that S1, a traction system is preset; s2, tower footing controlled forcible entry is carried out; and S3, directional dumping control is carried out. The invention further relates to controllable unmanned angle steel tower disassembling equipment. The tower disassembling equipment comprises the cutting equipment adopting remote control in the tower disassembling construction method and the hanging point equipment adopting unmanned aerial vehicle hoisting. The unmanned aerial vehicle is used for hoisting the hanging point equipment to the tower top, and manual climbing operation is completely replaced. The main guide leg and the driven leg are cut in a differentiated mode; the cutting equipment is remotely controlled to carry out forcible entry, and operators do not need to enter a tower footing danger area. Due to the design of the weak buckling area, the tower body is gradually damaged in the toppling process, instant instability caused by traditional overall blasting or cutting is avoided, and the risk that a crane is overloaded or unstable in supporting is reduced; the remote cutting technology reduces short-distance contact between a mechanical operator and the tower footing, and reduces the possibility of mechanical injury.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric angle steel towers, and in particular relates to a controllable unmanned angle steel tower dismantling method and dismantling equipment. Background Art

[0002] With the optimization of the grid structure, the scale of new grid construction remains relatively large. With the relocation and relocation of old lines, more and more lines are being demolished, with the largest proportion of these being angle steel towers.

[0003] The demolition risk level of the angle steel tower of the transmission line is high, which is a level 2 risk. It is mainly manifested in the following three aspects.

[0004] (1) Unqualified or improper use of climbing tools may lead to falling accidents;

[0005] (2) The safety distance from live equipment is not enough, or there are live lines in the working area, which may cause electric shock accidents;

[0006] (3) Unstable crane support and overload may cause mechanical injury accidents.

[0007] With the increasing mechanization of power transmission and transformation, various types of equipment suitable for mechanized construction are gradually being applied on-site. Currently, intelligent tower erection cranes and bolt tightening robots, which have undergone extensive research, have been tested and deployed in engineering prototypes, achieving positive results. Controllable, unmanned angle steel tower dismantling operations and the application of related new construction methods will also become important future development directions, complementing the mechanized operation of power transmission lines.

[0008] The controllable unmanned angle steel tower dismantling method is of great significance to the in-depth mechanization construction of transmission lines. It plays a very important role in reducing the secondary risks of tower dismantling construction, improving construction conditions, and improving dismantling efficiency. At the same time, it will also strongly promote the progress of my country's engineering construction technology and play a positive role in this industry.

[0009] In summary, it is necessary to develop the research and application of controllable unmanned angle steel tower dismantling methods and equipment. Summary of the Invention

[0010] In view of the shortcomings of the existing technology, the present invention provides a controllable unmanned angle steel tower dismantling method and tower dismantling equipment. The specific technical solution is as follows:

[0011] The present invention provides a controllable unmanned angle steel tower dismantling method, which comprises the following steps:

[0012] Step S1. Prefabrication of the traction system: Fix a winch outside the safe operation area in the preset tipping direction of the angle steel tower, and fixedly connect the end of the winch wire rope with the hanging point device; use a drone to hoist the hanging point device to the predetermined position on the angle steel cross arm at the top of the angle steel tower to complete the connection, forming a controllable traction connection structure;

[0013] Step S2. Controlled demolition of the tower base: According to the preset tipping trajectory, select two of the four groups of tower legs of the angle steel tower that are opposite to the tipping direction as the main legs, and use remotely controlled cutting equipment to completely cut off the roots of the main legs; partially cut the roots of the two driven legs along the tipping direction to form a buckling failure weak area with a predetermined bearing threshold. At this time, the angle steel tower still maintains static balance through the remaining cross section;

[0014] Step S3. Directional tipping control: Start the winch to apply continuous traction force to the wire rope. When the traction torque reaches the critical buckling load of the weak area of the driven leg, plastic deformation occurs at the root of the driven leg, triggering progressive buckling failure; by adjusting the winch traction rate and angle, control the angle steel tower to complete directional tipping along the preset tipping path, and synchronously disassemble the tower body structure.

[0015] The present invention also provides a controllable unmanned angle steel tower demolition device, which includes the remotely controlled cutting equipment used in the above-mentioned tower demolition construction method;

[0016] The cutting equipment includes a remotely controllable crawler mobile chassis. In the middle of the top surface of the mobile chassis, a six-axis robotic arm is provided. At the end of the six-axis robotic arm, a gun rack is provided. A flame cutting torch is mounted on the gun rack. The tail end of the flame cutting torch is connected to three air pipes respectively used for transporting preheating oxygen, gas, and cutting oxygen. The three air pipes are respectively connected to the corresponding gas cylinders in the mobile chassis through hoses adapted to them; three air valves are respectively radially provided on the three air pipes near the flame cutting torch and are distributed in a "pin" shape.

[0017] As a preferred technical solution of the present invention, a pair of crawler swing arms are symmetrically arranged on the crawlers on both sides of the mobile chassis.

[0018] As a preferred technical solution of the present invention, a peeling component for removing the anti-corrosion coating in the flame cutting area at the root of the tower leg is also mounted on the gun rack;

[0019] The peeling component includes a gantry frame mounted on the gun rack and perpendicular to the flame cutting torch. An inclined upward grinding machine is penetrated through the top of the gantry frame. On both sides of the grinding machine, an infrared lamp and a dust suction pipe are respectively penetrated side by side and have the same inclination angle as the grinding machine. The dust suction pipe is connected to the air inlet of the dust purifier in the mobile chassis through a hose adapted to it; the top end of the gantry frame is integrally connected with a support plate I perpendicular to the grinding machine in space. On one side of the front end face of the support plate I, a camera is provided for monitoring the removal of the anti-corrosion coating.

[0020] As a preferred technical solution of the present invention, a fresh air pipe with an inverted L-shaped structure penetrates through the other side of the front end face of the first support plate. The fresh air pipe is connected to the air outlet of the dust purifier in the mobile chassis through a hose adapted thereto, and the pipe orifice of the fresh air pipe is suspended directly above the pipe orifice of the dust suction pipe.

[0021] As a preferred technical solution of the present invention, a rotary valve assembly for independently controlling three air valves is further provided on the portal frame;

[0022] The rotary valve assembly includes a second support plate vertically connected to the lower part of the rear vertical face of the portal frame. Three servo motors are distributed in a "pin" shape on the top surface of the second support plate. The power output end of each servo motor is axially传动连接 with a rotary rod. The bottom end of each rotary rod is axially fixedly connected with a block in the shape of a hexagonal nut. The three blocks are respectively in clearance plug-in配合 with the拨槽 axially fixedly connected to the top surface of the corresponding air valve; A camera for monitoring the flame sprayed by the flame cutting torch is further provided on the lower part of the front vertical face of the portal frame.

[0023] The present invention further provides a controllable unmanned angle steel tower dismantling device, and the dismantling device further includes a hanging point device hoisted by a drone in the above-mentioned tower dismantling method;

[0024] The hanging point device includes a hanging frame with an inverted U-shaped structure. On the top parts of the two side faces of the hanging frame, bolt ears for connecting to the end of the winch steel wire rope are symmetrically fixedly connected respectively. A lifting ring for hanging with the hanging point of the drone is fixedly provided in the middle of the top surface thereof. The two bottom ends of the hanging frame are symmetrically fixedly connected with outwardly inclined guiding arms respectively; Elastic bolt lock assemblies are respectively transversely penetrated through the end parts of the hanging frame, and a top clamping component for restricting the elastic transverse movement of the two bolt lock assemblies is arranged inside thereof;

[0025] The hanging point device is divided into an open state and a closed state. When in the open state, the top clamping component is not pressed by the angle steel cross arm, and the two bolt lock assemblies cannot elastically move towards each other, and the opening of the hanging frame is open; When in the closed state, the top clamping component is pressed by the angle steel cross arm, causing the two bolt lock assemblies to elastically move towards each other and dock to close the opening of the hanging frame.

[0026] As a preferred technical solution of the present invention, the top clamping component includes a top plate longitudinally sliding and adhering to the inner side wall of the hanging frame. Guide rods are vertically and symmetrically connected to the end parts of the top surface of the top plate respectively. The top parts of the guide rods penetrate into the cavity of the hanging frame with a gap. A卡架 with an inverted U-shaped structure is arranged in the cavity of the hanging frame. The inner top surface of the卡架 is vertically connected to the top ends of the two guide rods, and the two bottom ends of the卡架 are respectively inserted into the corresponding bolt lock assemblies; A second spring is axially sleeved on the guide rod. The top end of the second spring is connected to the inner top surface of the hanging frame, and the bottom end of the second spring is connected to the top surface of the top plate.

[0027] As a preferred technical solution of the present invention, the latch assembly includes a bolt rod with a lateral gap passing through the corresponding end of the hanger, the outer end of the bolt rod passing through a limit box vertically fixed to the outer side of the hanger end, a spring fixed between the inner end wall of the limit box and the corresponding end face of the bolt rod; the top surface of the bolt rod is respectively provided with a positioning hole along its centerline at both ends;

[0028] The two bottom ends of the bracket are elastically plugged into the corresponding inner positioning holes of the bolt rod, and the opening of the hanger is open; the top plate is pressurized to push the two bottom ends of the bracket to separate from the corresponding inner positioning holes of the bolt rod, and the two bolt rods elastically move horizontally to dock, the opening of the hanger is closed, and the outer positioning holes of the two bolt rods are respectively moved to just below the corresponding bottom end of the bracket; after the hanging point device is pulled upside down by the winch wire rope, the top plate loses pressure, and the two bottom ends of the bracket are elastically plugged into the outer positioning holes of the corresponding bolt rod.

[0029] As a preferred technical solution of the present invention, the lifting ring is a half-open structure, and the lifting ring is connected to the top surface of the hanging bracket through a clamping assembly at the bottom thereof;

[0030] The clamping assembly includes a connecting rod vertically connected to the middle of the top surface of the bracket, the top end of the connecting rod passes through the outside of the top surface of the hanger and is axially fixed with a top cone head, and limiting grooves are respectively installed on both sides of the top cone head in a horizontal symmetrical manner, and the two limiting grooves are respectively laterally slidingly clamped with a clamping block with an inverted L-shaped structure, and a spring three is fixed between the inner end surface of the limiting groove and the side surface of the vertical part of the corresponding clamping block, and the end surface of the horizontal part of the clamping block is provided with an inclined surface that fits with the top cone head; the bottom end of the lifting ring is respectively vertically fixed to the top surface of the horizontal part of the corresponding clamping block.

[0031] The beneficial effects of the present invention are:

[0032] 1. The tower dismantling method of this invention uses a drone to hoist the attachment point equipment to the tower top, completely replacing manual climbing work. Traditional methods require personnel to climb the angle steel tower to install the traction equipment, which poses a risk of falling. However, remote operation by drones eliminates the need for personnel to touch the tower, making it particularly suitable for working near live lines, avoiding the risk of electric shock caused by insufficient safety distance from live equipment. The traction system's pre-installed unmanned attachment structure eliminates high-altitude work scenarios, fundamentally avoiding falls caused by unqualified climbing tools or operator errors, while also reducing the risk of exposure to live electrical environments.

[0033] 2. This tower dismantling method utilizes differentiated cutting of the leading and trailing legs: the leading leg is completely severed, while the trailing leg's base is partially cut to create a buckling zone. Demolition is carried out using remotely controlled cutting equipment, eliminating the need for operators to enter the dangerous area at the tower base. This buckling zone design ensures progressive tower collapse during the toppling process, avoiding the instantaneous instability associated with traditional overall blasting or cutting, and minimizing the risk of crane overload or unstable supports. Remote cutting technology reduces close contact between machine operators and the tower base, minimizing the potential for mechanical injury.

[0034] 3. This tower dismantling method leverages the synergy between winch traction and the mechanical properties of weak areas to dynamically adjust the traction rate and angle, combined with the static equilibrium of the remaining tower sections to achieve a controllable toppling path. A critical buckling load triggering mechanism ensures the tower topples along a predetermined trajectory, avoiding the uneven force distribution and resulting disintegration splashing associated with traditional methods. Synchronous structural dismantling reduces secondary crushing steps, shortens overall dismantling time, and significantly improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The figure shows a schematic diagram of cutting an angle steel tower in the tower dismantling method of the present invention (the black part in the figure is the cutting part);

[0036] Figure 2 Shows a schematic diagram of the overall structure of the cutting device in the present invention;

[0037] Figure 3 A schematic diagram of the partial structure of the cutting device in the present invention is shown;

[0038] Figure 4 Shown Figure 3 A magnified view of the structure of part A in the middle;

[0039] Figure 5 A working demonstration diagram of the cutting device of the present invention when removing the anti-corrosion coating of a tower leg is shown;

[0040] Figure 6 It shows a schematic structural diagram of the hanging point device in the present invention;

[0041] Figure 7 A schematic diagram showing the internal structure of the hanging point device in the present invention is shown;

[0042] Figure 8 It shows a structural diagram of the angle steel cross arm before being clamped into the hanging point device in the present invention;

[0043] Figure 9 It shows a schematic structural diagram of the angle steel cross arm after being clamped into the hanging point device in the present invention;

[0044] Figure 10 It shows a schematic structural diagram of the hanging point device after being pulled and inverted in the present invention.

[0045] As shown in the figure: 1. Mobile chassis; 11. Swing arm; 2. Six-axis robot arm; 3. Gun rack; 4. Flame cutting gun; 41. Air pipe; 411. Air valve; 5. Stripping assembly; 51. Door frame; 511. Support plate 1; 512. Support plate 2; 52. Sand grinder; 53. Infrared lamp; 54. Dust pipe; 55. Fresh air pipe; 56. Camera; 6. Rotary valve assembly; 61. Servo motor; 62. Rotary rod; 63. Shift block; 64. Shift slot; 7. Tower leg; 8. Hanging point equipment; 81. Hanging rack; 8 11. Bolt ear; 812. Guide arm; 82. Bolt locking assembly; 821. Limit box; 822. Bolt rod; 8221. Positioning hole; 8222. Protrusion; 8223. Groove; 823. Spring one; 83. Top clamp assembly; 831. Top plate; 832. Guide rod; 833. Clamping bracket; 834. Spring two; 84. Lifting ring; 85. Clamping assembly; 851. Limit groove; 852. Clamping block; 853. Top cone head; 8531. Connecting rod; 854. Spring three; 9. Angle steel crossarm. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] Example 1

[0048] In order to solve the technical problems in the background technology, a controllable unmanned angle steel tower dismantling method and its dismantling equipment are provided as follows:

[0049] Combine Figures 1 to 10 As shown, a controllable unmanned angle steel tower dismantling method includes the following steps:

[0050] Step S1, pre-setting the traction system: a winch is fixed outside the safe operation area of the angle steel tower in the preset tilting direction, and the end of the winch wire rope is fixedly connected to the hanging point device 8; a drone is used to hoist the hanging point device 8 to the predetermined position of the angle steel cross arm 9 at the top of the angle steel tower to complete the hanging, forming a controllable traction connection structure;

[0051] Step S2, controlled demolition of the tower base: According to the preset toppling trajectory, two of the four groups of tower legs 7 of the angle steel tower facing away from the toppling direction are selected as the leading legs. The roots of the leading legs are completely cut off using a remotely controlled cutting device. The roots of the two groups of driven legs along the toppling direction are partially cut off to form a weak area of buckling failure with a predetermined load threshold. At this time, the angle steel tower still maintains static equilibrium through the remaining cross-section.

[0052] Step S3, directional dumping control: Start the winch to apply continuous traction to the wire rope. When the traction torque reaches the critical buckling load of the weak area of the driven leg, the root of the driven leg undergoes plastic deformation and induces progressive buckling failure. By adjusting the winch traction rate and angle, the angle steel tower is controlled to complete directional dumping along the preset dumping path, and the tower structure is disintegrated simultaneously.

[0053] By adopting this technical solution, step S1 of this tower dismantling method uses a drone to hoist the attachment point equipment to the tower top, completely replacing manual climbing work. Traditional methods require personnel to climb the angle steel tower to install the traction equipment, which poses a fall risk. However, remote operation with a drone eliminates the need for human contact with the tower, making it particularly suitable for work near live lines, avoiding the risk of electric shock caused by insufficient safety distance from live equipment. The pre-installed unmanned attachment structure of the attachment point eliminates the need for high-altitude work, fundamentally avoiding falls caused by unqualified climbing tools or operator errors, while also reducing the risk of exposure to live electrical environments.

[0054] In this tower dismantling method, step S2 utilizes differentiated cutting of the leading and trailing legs: the leading leg is completely severed (providing the initial moment of toppling), while the trailing leg is partially cut at its base (preferably retaining 10%-50% of the cross-sectional connection) to create a buckling-fractured weak zone (controlling the rate of toppling). Demolition is carried out using remotely controlled cutting equipment, eliminating the need for workers to enter the dangerous area at the tower base. This buckling-fractured weak zone design allows for gradual tower collapse during toppling, avoiding the instantaneous instability associated with traditional overall blasting or cutting, and reducing the risk of crane overload or unstable supports. Remote cutting technology reduces close contact between machine operators and the tower base, minimizing the potential for mechanical injury.

[0055] In this tower dismantling method, step S3 dynamically adjusts the traction rate and angle by leveraging the synergistic effects of winch traction and the mechanical properties of the weak area. This, combined with the static equilibrium state of the remaining tower sections, allows for a controlled toppling path. A critical buckling load trigger mechanism ensures the tower falls along a predetermined trajectory, avoiding the uneven force distribution and resulting splashing associated with traditional methods. Synchronous structural disassembly (e.g., automatic separation upon contact with the ground) reduces secondary crushing steps, shortens overall demolition time, and significantly improves efficiency.

[0056] Example 2

[0057] Combine Figure 2 、 Figure 3 and Figure 5 As shown, based on the above embodiment, this embodiment further provides the following content:

[0058] In this embodiment, if Figure 2 and Figure 3 As shown, a controllable unmanned angle steel tower dismantling equipment includes a cutting device that is remotely controlled in the tower dismantling method described above;

[0059] The cutting device includes a remotely controllable crawler mobile chassis 1. In the middle of the top surface of the mobile chassis 1, there is a six-axis robotic arm 2. At the end of the six-axis robotic arm 2, there is a gun rack 3. On the gun rack 3, there is a flame cutting torch 4. At the tail end of the flame cutting torch 4, there are three air pipes 41 respectively used for transporting preheating oxygen, gas and cutting oxygen. The three air pipes 41 are respectively connected to the corresponding gas cylinders in the mobile chassis 1 through hoses adapted to them; near the flame cutting torch 4 on the three air pipes 41, there are air valves 411 radially arranged in a "pin" shape distribution.

[0060] As Figure 2 and Figure 5 shown, on the crawlers on both sides of the mobile chassis 1, there are a pair of crawler swing arms 11 symmetrically arranged respectively.

[0061] By adopting the above technical solution, the six-axis robotic arm 2 has high degrees of freedom, and the flame cutting torch 4 is carried at the end. Through remote control, three-dimensional space precise positioning can be achieved, especially suitable for complex cutting paths at the root of the angle steel tower leg. The crawler swing arms on both sides of the mobile chassis 1 can independently adjust the angle, enhancing the adaptive climbing and stable supporting ability of the equipment on uneven terrain (such as gravel, slope) around the tower base, and ensuring the stability of the robotic arm during cutting operations.

[0062] The main configurations of this cutting device include a straight line type with the front and rear swing arms 11 laid flat, a yuanbao type with the front and rear swing arms 11 upturned, an S type with the front upturned and the rear pressed, a reverse S type with the front pressed and the rear upturned, and a reverse U type with the front and rear pressed down, etc.

[0063] The flexibility of the six-axis robotic arm 2 combined with the high-temperature cutting ability of the flame cutting torch 4 can quickly complete the precise cutting of the full section or partial section at the root of the tower leg, avoiding the cutting deviation caused by limited angles in traditional manual cutting.

[0064] The whole cutting device (mobile chassis, robotic arm, flame cutting torch) supports remote wireless control. The operator can complete all cutting actions in a safe area (such as far away from the charged line or the range where the tower body may fall); completely replacing manual operation near the tower, avoiding mechanical injuries and electric shock risks caused by sudden instability of the tower body, flying metal debris or charged environment during tower base cutting.

[0065] After the mobile chassis 1 is coupled with a six-degree-of-freedom collaborative robotic arm, a composite mobile cutting device is formed. The six-axis robotic arm 2 on it can rotate 360° around the robotic arm base, and the movement range can reach the maximum arm span of the robotic arm. During the movement of this cutting device, the six-axis robotic arm 2 with a weight of 20 kg can effectively adjust the overall center of gravity of the cutting device through rotational movement and the deployed position, improving the smoothness and passability of the movement of the cutting device.

[0066] The cutting equipment adopts a redundant topology communication network, communication data numbering, two-way communication and other communication mechanisms, as well as a dual-channel data transmission form based on wireless data transmission radio and board card WIFI, to achieve stable and reliable remote control of the cutting equipment.

[0067] like Figure 3 and Figure 5 As shown, the gun frame 3 is also provided with a stripping assembly 5 for removing the anti-corrosion coating of the flame-cut area at the root of the tower leg 7;

[0068] The stripping assembly 5 includes a gantry 51 mounted on the gun frame 3 and perpendicular to the flame cutting gun 4. A sand grinder 52 tilted upward is provided on the top of the gantry 51. Infrared lamps 53 and dust suction pipes 54 with the same tilt angle as the sand grinder 52 are respectively provided side by side on both sides of the sand grinder 52. The dust suction pipe 54 is connected to the air inlet of the smoke purifier in the mobile chassis 1 through a hose adapted thereto. A support plate 511 is integrally connected to the top of the gantry 51 and is spatially perpendicular to the sand grinder 52. A camera 56 for monitoring the removal of the anti-corrosion coating is provided on one side of the front end face of the support plate 511.

[0069] By adopting the above technical solution, the sander 52 is used to mechanically grind and remove the anti-corrosion coating, while the infrared lamp 53 can locally heat the cutting area at the base of the tower leg to soften the stubborn coating (such as epoxy resin) and reduce the resistance of sanding; the two are tilted at the same angle to ensure that the heating area coincides with the grinding area. The stripping component 5 and the flame cutting gun 4 are in a vertical relationship in space to avoid interference in operations and achieve a seamless connection between the "removal-cutting" process. By combining heating and mechanical grinding, the anti-corrosion layer is thoroughly removed, avoiding the generation of toxic gases (such as zinc-containing fumes) or uneven cuts due to the combustion of the coating during flame cutting (coating residues leading to uneven metal oxidation); the integrated design reduces the equipment transportation time for removing the anti-corrosion coating separately in the traditional process, and the overall operation efficiency is effectively improved.

[0070] A dust collection duct 54, located adjacent to the sand grinder 52 and infrared lamp 53, uses negative pressure to absorb dust generated during grinding (such as rust and coating debris). The dust is then filtered by a dust purifier within the mobile chassis 1 before being discharged, forming a closed-loop dust removal system. A camera 56 captures the grinding area in real time, uses image recognition technology to determine the degree of coating removal, and provides feedback to the remote control terminal to avoid over-grinding or omissions. Centralized dust treatment reduces dust pollution on the job site, meeting environmental protection construction requirements. Visual monitoring replaces manual near-site inspections, minimizing the risk of dust inhalation while ensuring that coating removal quality meets standards, providing a clean base surface for subsequent flame cutting.

[0071] The stripping assembly 5 and the flame cutting torch 4 are integrated into the same gun frame 3, ensuring that the base surface is cleaned before cutting. This prevents the flame cutting torch 4 from directly burning the coating, which could lead to nozzle clogging and increased gas consumption. The infrared lamp 53 simultaneously preheats the metal substrate while removing the coating, reducing preheating oxygen consumption during the flame cutting torch 4 and extending the life of the gas cylinder. This reduces abnormal wear and tear of the flame cutting torch 4 (such as effectively reducing the frequency of carbon deposits on the nozzle), lowering maintenance costs. Preheating also reduces cutting oxygen demand, requiring fewer gas cylinder changes per operation, making it suitable for long-distance, multi-tower continuous demolition.

[0072] like Figure 3 As shown, a fresh air duct 55 with an inverted L-shaped structure is provided on the other side of the front end surface of the support plate 511. The fresh air duct 55 is connected to the air outlet of the smoke purifier in the mobile chassis 1 through a corresponding hose, and the pipe mouth of the fresh air duct 55 is suspended directly above the pipe mouth of the dust suction pipe 54.

[0073] By adopting the above technical solution, the mouth of the fresh air duct 55 is located directly above the mouth of the dust collection duct 54 and is connected to the air outlet of the smoke purifier, blowing the purified air downward in the form of a directional airflow, forming a synergistic effect of "blowing up and sucking down" with the negative pressure adsorption of the dust collection duct. After the purified air is blown out through the fresh air duct, it flows along the surface of the base of the tower leg, carrying residual dust into the range of action of the dust collection duct, forming a "sweeping-collecting" closed-loop airflow. The inverted L-shaped mouth covers the area above the dust collection duct, making up for the insufficient adsorption force at the top of the dust collection duct 54 due to the attenuation of negative pressure, especially for light dust (such as epoxy coating debris), and the collection efficiency is effectively improved.

[0074] The airflow from the outlet of fresh air duct 55 forms an air curtain wall in the area monitored by camera 56, preventing suspended dust generated by grinding and cutting from spreading toward the lens of camera 56. Fresh air duct 55 and camera 56 are located on either side of support plate 1 511, with the airflow directed away from the lens to prevent airflow disturbances from affecting imaging stability. The air curtain wall reduces dust adhesion to the lens, ensuring image recognition accuracy (e.g., effectively reducing errors in determining the coating removal area). It also reduces the cleaning frequency of camera 56 to accommodate continuous operation scenarios (e.g., the continuous dismantling of multiple angle steel towers).

[0075] Example 3

[0076] Combine Figure 3 and Figure 4 As shown, based on the above embodiment, this embodiment further provides the following content:

[0077] In this embodiment, the portal frame 51 is further provided with a rotary valve assembly 6 for independently regulating the three gas valves 411;

[0078] The rotary valve assembly 6 includes a second support plate 512 vertically connected to the lower part of the rear facade of the portal frame 51. Three servo motors 61 are distributed in a "pin" shape on the top surface of the second support plate 512. The power output end of each servo motor 61 is axially传动连接 with a rotary rod 62. A hexagonal nut-shaped dialing block 63 is axially fixed to the bottom end of each rotary rod 62. The three dialing blocks 63 are respectively in clearance plug-in fit with the dialing grooves 64 axially fixed to the top surface of the corresponding gas valve 411. A camera 56 for monitoring the flame ejected by the flame cutting torch 4 is also provided at the lower part of the front facade of the portal frame 51.

[0079] By adopting the above technical solution, the three servo motors 61 are respectively connected to the dialing grooves 64 of the corresponding gas valves 411 through the rotary rods 62 and the dialing blocks 63, realizing the independent opening control of the three-way gases of preheating oxygen, fuel gas, and cutting oxygen. Compared with the traditional manual near-field manual adjustment of the gas valve 411, through the high-precision angle control of the servo motor 61, the gas flow ratio (such as oxygen / fuel gas ratio) is adjusted in real time, so that the flame temperature and cutting ability of the flame cutting torch 4 are dynamically adapted to different working conditions (such as steel thickness, cutting speed).

[0080] The camera 56 on the front facade of the portal frame 51 captures the flame morphology (such as the length and color of the flame core) in real time, judges the gas mixing state through an image analysis algorithm (such as RGB color recognition), and feeds back to the servo motor to adjust the valve opening, forming a "monitoring - feedback - adjustment" closed-loop control chain; instant correction of abnormal flames: for example, when it is detected that the flame is red (lack of oxygen), the opening of the cutting oxygen valve is automatically increased to avoid cutting interruption or thickening of the metal oxide layer. The servo motor 61 is内置 with a wireless communication module, receives instructions from the remote control terminal, and realizes the full-automatic gas ratio adjustment in the unmanned scenario; completely avoiding the explosion and scalding risks of manual near-field adjustment of the gas valve, meeting the requirements of the secondary risk pressure drop.

[0081] Embodiment Four

[0082] Combined with Figures 6 to 10 As shown, on the basis of the above embodiment, the following content is further given in this embodiment:

[0083] In this embodiment, as Figure 6 shown, a controllable unmanned angle steel tower dismantling device, the dismantling device further includes a hanging point device 8 hoisted by a drone in the above-mentioned dismantling construction method;

[0084] It should be noted that there may be some inaccuracies in the translation of "传动连接" as the specific mechanical connection term is not very clear. It could be more accurately translated as a proper mechanical connection term like "transmission connection" depending on the actual situation. Also, "内置" is translated as "内置", which might be better as "built-in" in more standard English.The hanging point device 8 includes an inverted U-shaped hanging bracket 81. Bolt ears 811 for connecting to the ends of the winch wire rope are symmetrically fixed to the top of the two side surfaces of the hanging bracket 81. A lifting ring 84 for hanging the drone hanging point is fixed to the middle of the top surface. Outward-inclined guide arms 812 are symmetrically fixed to the two bottom ends. Elastic latch assemblies 82 are respectively passed through the ends of the hanging bracket 81 in a transverse direction. A top clamp assembly 83 is provided on the inner side of the hanging bracket 81 to limit the elastic lateral movement of the two latch assemblies 82.

[0085] The hanging point device 8 is divided into an open state and a closed state. When in the open state, the top card assembly 83 is not pressed by the angle steel cross arm 9, and the two latch assemblies 82 cannot elastically move toward each other, and the opening of the hanger 81 is open; when in the closed state, the top card assembly 83 is pressed by the angle steel cross arm 9, causing the two latch assemblies 82 to elastically move toward each other and dock to close the opening of the hanger 81.

[0086] like Figures 7 to 10 As shown, the top card assembly 83 includes a top plate 831 that is longitudinally slidably attached to the inner side wall of the hanger 81, and the top ends of the top plate 831 are vertically and symmetrically connected to the guide rods 832. The top gap of the guide rods 832 passes into the cavity of the hanger 81, and an inverted U-shaped card frame 833 is provided in the cavity of the hanger 81. The inner top surface of the card frame 833 is vertically connected to the top ends of the two guide rods 832, and its two bottom ends are respectively inserted into the corresponding latch assemblies 82; a spring 2 834 is axially sleeved on the guide rod 832, and the top end of the spring 2 834 is connected to the inner top surface of the hanger 81, and the bottom end is connected to the top surface of the top plate 831.

[0087] like Figures 7 to 10 As shown, the latch assembly 82 includes a bolt rod 822 that passes through the corresponding end of the hanger 81 through a lateral gap. The outer end of the bolt rod 822 passes through a limit box 821 that is vertically fixed to the outer side of the end of the hanger 81. A spring 823 is fixed between the inner end wall of the limit box 821 and the corresponding end surface of the bolt rod 822. Positioning holes 8221 are respectively formed on both ends of the top surface of the bolt rod 822 along its midline.

[0088] The two bottom ends of the bracket 833 are elastically plugged into the inner positioning holes 8221 of the corresponding bolt rod 822, and the opening of the hanger 81 is open; the top plate 831 is pressurized to push the two bottom ends of the bracket 833 to separate from the inner positioning holes 8221 of the corresponding bolt rod 822, and the two bolt rods 822 elastically move horizontally to dock, the opening of the hanger 81 is closed, and the outer positioning holes 8221 of the two bolt rods 822 are respectively moved to just below the corresponding bottom ends of the bracket 833; after the hanging point device 8 is pulled upside down by the winch wire rope, the top plate 831 loses pressure, and the two bottom ends of the bracket 833 are elastically plugged into the outer positioning holes 8221 of the corresponding bolt rod 822.

[0089] like Figure 6 and Figure 7As shown, preferably, a groove 8223 is formed at the inner end of one of the bolt rods 822 , and a protrusion 8222 that can be laterally plugged into the groove 8223 is integrally connected to the inner end of the other bolt rod 822 .

[0090] By adopting this technical solution, the outward-inclined guide arms 812 at the bottom ends of the inverted U-shaped hanger 81 form a V-shaped guide structure. During the drone's hoisting and lowering process, the guide arms 812 automatically correct positional deviations when they come into contact with the angle steel crossarm 9, ensuring that the center of the hanger 81 is aligned with the angle steel crossarm 9. The guide arms 812 reduce the time required for manual remote control fine-tuning, effectively shortening the installation process.

[0091] When the bracket 81 falls to the angle steel crossbeam 9, the top plate 831 of the top clamping assembly 83 is under pressure, pushing the clamping bracket 833 out of the inner positioning hole 8221 of the bolt rod 822, and the spring 1 823 drives the two bolt rods 822 to move laterally toward each other to close the opening, completing instantaneous mechanical locking and realizing automatic hanging; the tensile strength after hanging is greater than the design load; the design of the protrusion 8222 and the groove 8223 can further increase the tensile strength of the two bolt rods 8222 after docking.

[0092] When the winch pulls and inverts the attachment point 8, the top plate 831 loses pressure, and the second spring 834 pushes the bracket 833 downward. Its bottom end inserts into the positioning hole 8221 outside the bolt rod 822, forming a secondary mechanical lock. This double locking prevents violent shaking during the angle steel tower toppling (such as sudden changes in wind speed), and the risk of unhooking is close to zero.

[0093] Spring 1 823 provides the closing force for bolt rod 822, while spring 2 834 ensures that bracket 833 automatically resets and locks when unloaded, forming a closed-loop safety mechanism. If either spring fails, the other spring maintains the locked state, ensuring a level of safety redundancy that meets electrical power construction standards.

[0094] The lifting ring 84 and the drone's lifting point can be connected using an electrically controlled unhooking device, eliminating the need for manual hooking. While traditional hooking requires personnel to climb up and install the traction rope, this device is deployed by the drone and automatically locks, eliminating the risk of falling and electric shock (meeting the Level 2 risk reduction target).

[0095] Once bracket 81 contacts angle steel crossarm 9, gravity alone triggers compression of top plate 831, eliminating the need for remote control signals or electrical drive, reducing equipment complexity. This electronically independent design allows for reliable operation in environments with strong electromagnetic interference (such as those near ultra-high voltage lines) or low temperatures.

[0096] The inner and outer positioning holes 8221 of bolt rod 822 correspond to the open and closed states of hanger 81, respectively, dispersing stress concentration points and preventing fatigue cracking in a single hole. Hanging point device 8 can be reused numerous times without plastic deformation, and its lifespan exceeds that of traditional welded hanging points. When the two bottom ends of bracket 833 are inserted into positioning holes 8221, a three-point support structure is formed, evenly transmitting the pulling force to the main body of hanger 81 and reducing local deformation. By optimizing the force transmission path, the single-point ultimate load is greatly increased, meeting the requirements for dismantling ultra-high voltage angle steel towers.

[0097] like Figures 7 to 10 As shown, the hanging ring 84 is a half-open structure, and the hanging ring 84 is connected to the top surface of the hanging bracket 81 through the clamping assembly 85 at the bottom thereof;

[0098] The clamping assembly 85 includes a connecting rod 8531 vertically connected to the middle of the top surface of the bracket 833. The top end of the connecting rod 8531 passes through the outside of the top surface of the hanger 81 and is axially fixed with a top cone head 853. The limiting grooves 851 are respectively installed on both sides of the top cone head 853 in a horizontally symmetrical manner. The two limiting grooves 851 are respectively laterally slidingly clamped with an inverted L-shaped clamping block 852. A spring three 854 is fixed between the inner end surface of the limiting groove 851 and the side surface of the vertical part of the corresponding clamping block 852. The horizontal end surface of the clamping block 852 is provided with an inclined surface that fits with the top cone head 853; the bottom end of the hanging ring 84 is vertically fixed to the top surface of the horizontal part of the corresponding clamping block 852.

[0099] By adopting the above technical solution, a trigger-type automatic uncoupling mechanism is used to achieve unmanned and precise separation of the drone and the hanging point device 8; when the top plate 831 is under pressure, the bracket 833 is pushed upward, and then the top cone head 853 is driven upward through the connecting rod 8531; the conical surface of the top cone head 853 contacts the inclined surface of the horizontal part of the clamping block 852, generating a lateral component of force, forcing the two clamping blocks 852 to slide outward to overcome the thrust of spring three 854, opening the lifting ring 84, and achieving instantaneous mechanical uncoupling from the drone hanging point; the uncoupling action is automatically triggered by the inversion of the hanging point device, without the need for manual remote control unlocking. The mechanical linkage design effectively improves the efficiency of traditional electric uncoupling devices (relying on signal transmission) and is suitable for emergency evacuation scenarios (such as sudden strong winds).

[0100] When winch wire rope pulling attachment point 8 is inverted, top plate 831 loses pressure, spring 2 834 rebounds, pushing top plate 831 upward. This, in turn, resets top cone 853 via connecting rod 8531. The rebound force of spring 3 854 pushes clamping block 852 to slide back along limit slot 851, closing lifting ring 84 and eliminating manual intervention. This purely mechanical design is immune to electromagnetic interference and is suitable for complex electromagnetic environments, such as those near ultra-high voltage transmission lines.

[0101] The working principle and use process of the present invention:

[0102] 1. Traction system presetting (step S1)

[0103] A winch is set up outside the safe area of the preset tilting direction of the angle steel tower, and the end of the winch wire rope is fixed to the bolt ear 811 of the hanging point device 8.

[0104] The drone is hoisted with the hanging point equipment 8 to the angle steel cross arm 9 at the top of the angle steel tower via the lifting ring 84: when the guide arm 812 contacts the cross arm, the guide bracket 81 is accurately positioned;

[0105] When the hanger 81 falls, the top plate 831 of the top clamp assembly 83 is pressed by the angle steel cross arm 9, pushing the clamp 833 out of the inner positioning hole 8221 of the bolt rod 822, and the spring 1 823 drives the two bolt rods 822 to move toward each other and close the opening, completing the locking.

[0106] 2. Controlled demolition of the tower base (step S2)

[0107] The cutting equipment is remotely controlled to the base of the tower leg 7: the crawler swing arm 11 adjusts the posture of the mobile chassis 1 to adapt to complex terrain;

[0108] The stripping component 5 takes the first action: the sand grinder 52 grinds the anti-corrosion layer, the infrared lamp 53 heats and softens the residual coating, the dust suction pipe 54 collects dust, and the camera 56 monitors the cleaning effect; the flame cutting gun 4 is positioned by the six-axis robot arm 2, and the air valve 411 is remotely adjusted (the opening is controlled by the servo motor 61 of the rotary valve component 6 driving the shift block 63), the root of the leading leg is completely cut off, and the root of the driven leg is partially cut to form a weak area.

[0109] 3. Directional dumping control (step S3)

[0110] Start the winch to apply traction: when the traction torque reaches the critical buckling load of the driven leg, progressive damage occurs in the weak area; adjust the winch traction rate and angle to control the tower body to tilt along the preset path and disintegrate the structure synchronously.

[0111] The hanging point device 8 is unhooked: after the tower body falls, the winch pulls the hanging point device 8 upside down, the top plate 831 loses pressure, and the second spring 834 pushes the bracket 833 to insert into the positioning hole 8221 outside the bolt rod 822;

[0112] The clamping assembly 85 is linked: when the top plate 831 is under pressure, the top cone head 853 moves upward, and its cone surface pushes the clamping block 852 to slide outward to open the lifting ring 84, and automatically separate from the drone lifting point.

[0113] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A controllable unmanned angle steel tower dismantling method, characterized in that: This tower demolition method includes the following steps: Step S1, presetting the traction system: Fix a winch outside the safe operation area in the preset tipping direction of the angle steel tower, and fixedly connect the end of the winch wire rope with the hanging point device (8); use a drone to hoist the hanging point device (8) to the predetermined position of the angle steel cross arm (9) at the top of the angle steel tower to complete the connection, forming a controllable traction connection structure; Step S2, controlled demolition of the tower base: According to the preset tipping trajectory, select two groups of the four groups of tower legs (7) of the angle steel tower that are opposite to the tipping direction as the main legs, and use remotely controlled cutting equipment to completely cut off the roots of the main legs; partially cut the roots of the two groups of follower legs along the tipping direction to form a buckling failure weak area with a predetermined bearing threshold. At this time, the angle steel tower still maintains static balance through the remaining cross section; Step S3, directional tipping control: Start the winch to apply continuous traction force to the wire rope. When the traction torque reaches the critical buckling load of the weak area of the follower leg, plastic deformation occurs at the root of the follower leg and progressive buckling failure is triggered; by adjusting the traction rate and angle of the winch, control the angle steel tower to complete directional tipping along the preset tipping path, and synchronously disassemble the tower body structure.

2. A controllable unmanned angle steel tower dismantling device, characterized by: This tower demolition equipment includes the remotely controlled cutting equipment used in the tower demolition method described in Claim 1; The cutting equipment includes a remotely controllable crawler mobile chassis (1). In the middle of the top surface of the mobile chassis (1), a six-axis robotic arm (2) is provided. At the end of the six-axis robotic arm (2), a gun rack (3) is provided. A flame cutting torch (4) is mounted on the gun rack (3). The tail end of the flame cutting torch (4) is connected to three air pipes (41) respectively for输送 preheating oxygen, gas, and cutting oxygen. The three air pipes (41) are respectively connected to the corresponding gas cylinders in the mobile chassis (1) through hoses adapted to them; three air valves (411) distributed in a "pin" shape are respectively radially provided on the three air pipes (41) near the flame cutting torch (4).

3. The controllable unmanned angle steel tower dismantling equipment according to claim 2 is characterized in that: A pair of crawler swing arms (11) are symmetrically provided on the crawlers on both sides of the mobile chassis (1).

4. The controllable unmanned angle steel tower dismantling equipment according to claim 2 is characterized in that: A stripping component (5) for removing the anti-corrosion coating in the flame cutting area at the root of the tower leg (7) is also mounted on the gun rack (3); The stripping component (5) includes a gantry (51) mounted on the gun rack (3) and perpendicular to the flame cutting torch (4). An inclined upward sander (52) is penetrated through the top of the gantry (51). On both sides of the sander (52), an infrared lamp (53) and a dust suction pipe (54) are respectively penetrated side by side at the same inclined angle. The dust suction pipe (54) is connected to the air inlet of the dust purifier in the mobile chassis (1) through a hose adapted to it; the top end of the gantry (51) is integrally connected with a support plate one (511) perpendicular to the sander (52) in space. On one side of the front end face of the support plate one (511), a camera (56) for monitoring the removal of the anti-corrosion coating is provided.

5. The controllable unmanned angle steel tower dismantling equipment according to claim 4 is characterized in that: On the other side of the front end face of the first support plate (511), a fresh air duct (55) with an inverted L-shaped structure is penetrated. The fresh air duct (55) is connected to the air outlet of the dust collector in the mobile chassis (1) through a hose adapted thereto, and the pipe orifice of the fresh air duct (55) is suspended directly above the pipe orifice of the dust suction pipe (54).

6. The controllable unmanned angle steel tower dismantling equipment according to claim 4 is characterized in that: A rotary valve assembly (6) for independently regulating three air valves (411) is further provided on the portal frame (51); The rotary valve assembly (6) includes a second support plate (512) vertically connected to the lower part of the rear vertical face of the portal frame (51). On the top surface of the second support plate (512), three servo motors (61) are distributed in a "pin" shape. The power output end of each servo motor (61) is axially传动连接 with a rotary rod (62). At the bottom end of each rotary rod (62), a hexagonal nut-shaped dialing block (63) is axially fixed. The three dialing blocks (63) are respectively in clearance plug-in fit with the dialing grooves (64) axially fixed on the top surface of the corresponding air valve (411); A camera (56) for monitoring the flame ejected by the flame cutting torch (4) is further provided on the lower part of the front vertical face of the portal frame (51).

7. A controllable unmanned angle steel tower dismantling device, characterized by: The tower dismantling equipment further includes a hanging point device (8) hoisted by a drone in the tower dismantling method described in Claim 1; The hanging point device (8) includes a hanging frame (81) with an inverted U-shaped structure. On the top parts of the two side faces of the hanging frame (81), bolt ears (811) for connecting with the end of the winch steel wire rope are symmetrically fixed respectively. In the middle of its top surface, a hanging ring (84) for hanging with the hanging point of the drone is fixedly provided. At its two bottom ends, outwardly inclined guiding arms (812) are symmetrically fixed respectively; Elastic bolt lock assemblies (82) are respectively horizontally penetrated through the ends of the hanging frame (81), and a top clamping assembly (83) for restricting the elastic lateral movement of the two bolt lock assemblies (82) is arranged inside it; The hanging point device (8) is divided into an open state and a closed state. When in the open state, the top clamping assembly (83) is not pressed by the angle steel cross arm (9), and the two bolt lock assemblies (82) cannot elastically move towards each other, and the opening of the hanging frame (81) is open; When in the closed state, the top clamping assembly (83) is pressed by the angle steel cross arm (9), causing the two bolt lock assemblies (82) to elastically move towards each other and dock to close the opening of the hanging frame (81).

8. The controllable unmanned angle steel tower dismantling equipment according to claim 7, characterized in that: The top clamping assembly (83) includes a top plate (831) longitudinally sliding and abutting against the inner side wall of the hanging frame (81). At the end parts of the top surface of the top plate (831), guide rods (832) are vertically and symmetrically connected respectively. The top of the guide rod (832) is penetrated into the cavity of the hanging frame (81) with a gap. In the cavity of the hanging frame (81), a U-shaped clamping frame (833) is arranged. The inner top surface of the clamping frame (833) is vertically connected to the top ends of the two guide rods (832), and its two bottom ends are respectively inserted into the corresponding bolt lock assemblies (82); A second spring (834) is axially sleeved on the guide rod (832). The top end of the second spring (834) is connected to the inner top surface of the hanging frame (81), and its bottom end is connected to the top surface of the top plate (831).

9. The controllable unmanned angle steel tower dismantling equipment according to claim 8, characterized in that: The latch assembly (82) includes a bolt rod (822) that passes through the corresponding end of the hanger (81) with a transverse gap, and the outer end of the bolt rod (822) passes through a limit box (821) that is vertically fixed to the outer side of the end of the hanger (81), and a spring (823) is fixed between the inner end wall of the limit box (821) and the end face of the corresponding bolt rod (822); positioning holes (8221) are respectively opened on both ends of the top surface of the bolt rod (822) along the center line; The two bottom ends of the bracket (833) are elastically plugged into the inner positioning holes (8221) of the corresponding bolt rods (822), and the opening of the hanging bracket (81) is open; the top plate (831) is pressed to push the two bottom ends of the bracket (833) to separate from the inner positioning holes (8221) of the corresponding bolt rods (822), the two bolt rods (822) elastically move laterally to dock, the opening of the hanging bracket (81) is closed, and the outer positioning holes (8221) of the two bolt rods (822) are respectively moved to the position directly below the corresponding bottom end of the bracket (833); after the hanging point device (8) is pulled upside down by the winch wire rope, the top plate (831) loses pressure, and the two bottom ends of the bracket (833) are elastically plugged into the outer positioning holes (8221) of the corresponding bolt rods (822).

10. The controllable unmanned angle steel tower dismantling equipment according to claim 9, characterized in that: The hanging ring (84) is a half-open structure, and the hanging ring (84) is connected to the top surface of the hanging bracket (81) through the clamping assembly (85) at the bottom thereof; The clamping assembly (85) includes a connecting rod (8531) vertically connected to the middle of the top surface of the bracket (833), the top end of the connecting rod (8531) passes through the outer side of the top surface of the hanger (81) and is axially fixed with a top cone head (853), and limiting grooves (851) are respectively installed on both sides of the top cone head (853) in a horizontal symmetrical manner. A clamping block (852) with an inverted L-shaped structure is respectively slidably clamped in the two limiting grooves (851), and a spring three (854) is fixed between the inner end surface of the limiting groove (851) and the side surface of the vertical part of the corresponding clamping block (852), and the horizontal end surface of the clamping block (852) is provided with an inclined surface that fits with the top cone head (853); the bottom end of the hanging ring (84) is respectively vertically fixed with the top surface of the horizontal part of the corresponding clamping block (852).

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