Overhead multi-claw straddle type chimney dismantling robot and dismantling method

Abstract

The invention discloses an overhead multi-claw straddle type chimney dismantling robot and a dismantling method, and relates to the technical field of high-rise building dismantling. The robot comprises a carrying platform, a supporting mechanism, a clamping mechanism and a chimney dismantling mechanism. Rectangular holes are evenly distributed in the carrying platform, and the supporting mechanisms are installed in the rectangular holes. The supporting mechanism is used for fixing the whole robot to the top of a chimney, and the chimney dismantling mechanisms are symmetrically installed below the carrying platform and used for dismantling the chimney. The supporting mechanism comprises a supporting rod and a supporting sliding block mechanism. A supporting sliding block mechanism is installed in the rectangular hole of the carrying platform and used for carrying the supporting rod and controlling the supporting rod to achieve the radial displacement function. The chimney dismounting device has the reducing and angle adjusting functions and can adapt to dismounting of chimneys of different sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of high-rise building demolition, in particular to a top-mounted multi-claw straddling chimney demolition robot and a demolition method. Background Art

[0002] In the process of industrial facility renewal and renovation, old chimneys are no longer able to meet the demands of rapidly developing modern industries. Their presence not only wastes space resources but also degrades the aesthetic image of cities. Therefore, their removal has become a top priority. Traditional chimney demolition methods primarily include manual demolition, demolition by blasting, and mechanical demolition. Manual demolition relies on workers using handheld tools to dismantle the chimney piece by piece. This method is not only extremely inefficient but also requires workers to work at high altitudes in dangerous environments, exposing them to multiple safety risks such as falls, impacts, and dust pollution. While demolition by blasting is highly efficient, the massive vibrations and flying debris generated during blasting can cause unpredictable damage to surrounding buildings, infrastructure, and personnel. It also generates large amounts of dust, polluting the environment. Blasting demolition requires strict approval procedures and complex safety precautions, making it costly. Mechanical demolition typically relies on large machinery. However, for chimneys located in complex terrain or with restricted surroundings, large machinery is difficult to access. Furthermore, improper operation of the machinery can lead to uncontrolled collapse of the chimney, potentially causing safety accidents. Although the existing chimney demolition devices have improved the traditional demolition methods to a certain extent, they still have many defects. The fixing method of some devices is not stable enough, and they are prone to shaking or even falling off during the demolition process, affecting the safety and stability of the demolition operation; the demolition structure design of some devices is unreasonable and cannot adapt to chimneys of different sizes and materials, resulting in low demolition efficiency and easy damage to the equipment; some devices lack effective dust collection and noise reduction measures during the demolition process, which has an adverse impact on the working environment and the lives of surrounding residents. Therefore, the development of a new demolition device that can safely, efficiently and stably demolish chimneys and has good environmental adaptability and environmental protection performance has become a technical problem that needs to be urgently solved in the current field of industrial facility demolition. Summary of the Invention

[0003] The present invention overcomes the shortcomings of the prior art and proposes a top-mounted multi-claw straddling chimney demolition robot and demolition method. The present invention is achieved through the following technical solutions: A top-mounted multi-claw straddling chimney demolition robot comprises a carrying platform, a supporting mechanism, a clamping mechanism, and a chimney demolition mechanism; the robot is mounted on the top of the chimney as a whole and is connected to the chimney through the clamping mechanism; rectangular holes are evenly distributed on the carrying platform, and the supporting mechanisms are used to install the supporting mechanisms; the supporting mechanism is used to fix the robot as a whole on the top of the chimney, and the chimney demolition mechanisms are symmetrically installed below the carrying platform, and the chimney demolition mechanisms are used to perform chimney demolition work; the supporting mechanism comprises a supporting rod and a supporting slider mechanism; a supporting slider mechanism is installed in the rectangular hole of the carrying platform, and the supporting slider mechanism is used to carry the supporting rod and And the support rod is controlled to realize the radial displacement function; the support rod includes electric push rod 1, electric push rod 2, support rod housing, support rod dynamic core, angle adjustment push rod, and electric push rod 3; the carrying platform is hinged to the fixed end of electric push rod 1; the telescopic end of electric push rod 1 is hinged to the support rod housing, and the support rod dynamic core is slidably connected to the inside of the support rod housing, the bottom of the support rod dynamic core is a conical structure, and the bottom of the support rod dynamic core extends from the support rod housing; the support rod dynamic core and the top surface of the support rod housing are connected by three phases of electric push rods, the conical structure is rotatably connected to the clamping mechanism, and an angle adjustment push rod is hinged between the conical structure and the clamping mechanism.

[0004] Furthermore, the support slider mechanism includes a support rod slider, a roller and a sliding bearing; the support rod slider is a U-shaped frame structure, one end of the U-shaped frame structure is an open structure and the other end is a closed structure; the roller is rotatably connected to the outside of the support rod slider; rectangular through grooves are provided on both sides of the rectangular hole of the carrying platform, and the roller is slidably connected in the rectangular through grooves; sliding bearings are symmetrically installed on the inner side wall of the support rod slider, and the support rod is installed through the sliding bearings; The rollers include roller one and roller two; openings are symmetrically provided on the side walls on both sides of the open structure of the support rod slider, and roller one is rotatably connected to the opening through a fastening flange; the back side of one end of the closed structure of the support rod slider is fixedly connected to a plate-shaped roller fixing part one and roller fixing part two; roller fixing part one and roller fixing part two are respectively connected to a rotating shaft, and roller two are rotatably connected to both ends of the rotating shaft.

[0005] Furthermore, the sliding bearing is installed on the inner side of the side wall of the support rod slider through two upper and lower bearing fixing parts; a hanging ear is installed on the back of the support rod slider, the telescopic end of the electric push rod 2 is hinged to the hanging ear, and the fixed end of the electric push rod 2 is hinged to the inner wall of the rear side of the rectangular hole of the mounting platform.

[0006] Furthermore, the clamping mechanism includes a clamping mechanism base, a clamping moving block, a clamping mechanism connecting rod, a clamping mechanism slide, a clamping mechanism connecting plate, a clamping mechanism slider, and a support plate; The four corners of the bottom of the clamping mechanism base are provided with connecting columns, and two sliding columns are symmetrically provided on the front and back of the top of the clamping mechanism base. The two sides of the clamping moving block are sleeved on the corresponding sliding columns. Slide rails are provided on the front and back of the top of the clamping mechanism base, and a slider is provided at the bottom of the clamping mechanism slide. The left and right sides of the clamping mechanism base are respectively slidably connected to the clamping mechanism slides through the cooperation of the slide rails and the sliders; the four corners of the clamping moving block are respectively hinged to the clamping mechanism slide through the clamping mechanism connecting rod; one side of the bottom of the clamping mechanism slide is hinged to the top of the clamping mechanism connecting plate, and the bottom of the clamping mechanism connecting plate is hinged to the support plate, and a clamping mechanism slider is provided in the middle of the clamping mechanism connecting plate, and the clamping mechanism slider is hinged to the connecting column corresponding to the bottom of the clamping mechanism base; the conical structure at the bottom of the support rod dynamic core is hinged to the clamping moving block.

[0007] Furthermore, the chimney demolition mechanism includes a track mechanism, a support base and a demolition actuator; the track mechanism is arranged under the carrying platform, the support base is connected to the track mechanism, and the support base moves circumferentially on the track mechanism; the demolition actuator is connected to the support base.

[0008] Furthermore, the track mechanism includes an inner annular slide rail, an annular rack rail, an outer annular slide rail, an inner annular slide rail slider, and an outer annular slide rail slider; the annular rack rail is located between the inner annular slide rail and the outer annular slide rail; the inner annular slide rail and the outer annular slide rail are used to mount the support base, and the annular rack rail is used to cooperate with the gear structure in the support base to drive the support base to move circumferentially under the drive of the motor.

[0009] Furthermore, the support base includes a first base shell, a second base shell, a rack motor, a motor gear, a ring rack gear, and a third base shell; The first shell of the base is symmetrically provided with T-slots, the second shell of the base is slidably connected to the first shell of the base via the T-slots, and the third shell of the base is mounted on the bottom of the first and second shells of the base; the interior below the carrying platform is a circular cylindrical structure, and a circle of toothed structures is provided on the inner wall of the circular cylindrical structure. The side wall of the second shell of the base close to the carrying platform is also a toothed structure; the toothed structure on the side wall of the second shell of the base intermittently meshes with the toothed structure on the inner wall of the circular cylindrical structure below the carrying platform; A rack motor is installed on the first shell of the base, a motor gear is installed on the shaft end of the rack motor, the motor gear is meshed with the annular rack gear, and the annular rack gear is meshed with the annular rack.

[0010] Furthermore, the support base is connected to a quick-lock mechanism; the quick-lock mechanism includes a lock head, a spring, a quick-lock constraint block, a quick-lock constraint rod, a quick-lock mechanism housing, a limit screw, a quick-lock connecting rod, a quick-lock moving block and a micro-push rod; The second shell of the base is provided with a rectangular groove, in which a quick-clamp moving block is installed. The quick-clamp moving block has a small range of displacement space along the T-slot direction of the first shell of the base. The quick-clamp moving block is connected to the first shell of the base via two micro-push rods, which are installed in two circular holes formed when the second shell of the base is connected to the third shell of the base. A quick card mechanism shell is slidably connected in each tooth groove of the tooth structure on the side wall of the second shell of the base, and the external shape of the quick card mechanism shell is consistent with the tooth groove shape of the tooth structure of the second shell of the base; the quick card mechanism shell and the quick card moving block are hinged through a quick card connecting rod; a rectangular groove is opened on the side of the quick card mechanism shell, and the quick card mechanism shell is slidably connected to the inner wall of the tooth groove through the rectangular groove on its side, and the quick card mechanism shell is opened with a connecting hole that passes through the top and bottom, and a quick card constraint rod is installed in the connecting hole. The quick card constraint rod is a tubular structure, and the bottom of the quick card constraint rod is connected to the second outer shell of the base through a thread. The shell is connected, and the top of the quick card constraint rod is connected to the quick card constraint block; the quick card constraint rod and the quick card constraint block are provided with connecting holes; the lock head is a right-angled trapezoidal structure, and a circular hole is opened on the corresponding surface on one side of the right-angled side of the lock head, and a cylindrical rod extends out of the circular hole, and the cylindrical rod is inserted into the hole connecting the quick card constraint rod and the quick card constraint block. A spring is installed on the outer wall of the cylindrical rod, one end of the spring is connected to the quick card constraint block, and the other end of the spring is connected to the right-angled trapezoidal structure; a rectangular groove is opened on one side of the long side of the lock head, and the rectangular groove of the lock head cooperates with the limit screw installed on the shell of the quick card mechanism to realize the limiting function of the lock head.

[0011] Furthermore, the dismantling actuator includes a robotic arm mechanism and an impact drill bit; the robotic arm mechanism includes a robotic arm gear plate, a robotic arm gear, a first rotating motor, a robotic arm turntable, a first electric push rod, a first connecting rod, a second electric push rod, a second connecting rod, a third electric push rod, a connecting frame, a third connecting rod, and a second rotating motor; The mechanical arm gear disk is connected to the lower part of the third shell of the base by bolts, and teeth are provided on the circumference of the inner wall of the mechanical arm gear disk, and the mechanical arm rotates on the mechanical arm gear disk, and a rotating motor 1 is provided on the mechanical arm rotates. The driving end of the rotating motor 1 extends between the mechanical arm rotates and the mechanical arm gear disk and is fixedly connected to the mechanical arm gear, and the mechanical arm gear is meshed with the teeth on the inner wall of the mechanical arm gear disk; one end of the first connecting rod is hinged to the mechanical arm rotates, and the other end of the first connecting rod is hinged to the middle of the second connecting rod; one end of the first electric push rod is hinged to the mechanical arm rotates, and the other end of the first electric push rod is hinged to one end of the second electric push rod, and the other end of the second electric push rod is hinged to one end of the second connecting rod; the other end of the second connecting rod is hinged to the connecting frame, and the connecting frame is hinged to the side wall of the third connecting rod, one end of the third electric push rod is hinged to the second connecting rod, and the other end of the third electric push rod is hinged to the third connecting rod, and the end of the third connecting rod is equipped with a rotating motor 2, and the rotating motor 2 is connected to the impact drill bit.

[0012] A method for dismantling a top-mounted multi-claw straddling chimney adopts the above-mentioned top-mounted multi-claw straddling chimney dismantling robot and comprises the following steps: S1. Divide the top wall of the chimney into n equal parts, and set two opposite walls as a group; S2. Lift the support mechanisms corresponding to the first group of two walls to separate them from the corresponding walls; then, use the chimney removal mechanisms corresponding to the first group of two walls to punch and remove the first group of two walls; S3. After the dismantling is completed, the support mechanisms corresponding to the two walls of the first group are adjusted in angle and length, so that the support mechanisms are lowered to the position where the dismantling is completed and fixed by the clamping mechanism; S4. Complete the demolition of the remaining groups of walls in sequence according to S2 and S3. When the demolition of all walls of the current layer is completed, the robot descends as a whole and then proceeds to demolish the next layer of walls.

[0013] The beneficial effects of the present invention compared to the prior art are: 1. Compared with the traditional manual demolition method, the present invention can save more manpower and material costs and reduce the risk of demolition. Compared with the traditional mechanical demolition method, the present invention has a fully automatic demolition function, has higher efficiency, and is in line with the development trend of automation.

[0014] 2. Compared with other mounting methods, the top-mounted installation method used in the present invention can avoid the influence of obstacles such as scaffolding on the chimney, and is suitable for the demolition of chimney structures with complex shapes.

[0015] 3. Compared with other diameter-changing methods, the support rod diameter-changing method used in the present invention can achieve a larger diameter diameter-changing function by adjusting the support rod angle and the support rod length, thereby reducing the overall volume of the robot.

[0016] 4. The mounting base used in the circumferential motion mechanism of the present invention is distributed in a tooth shape close to the outer shell of the mounting platform, and can engage with the tooth structure on the mounting platform to ensure the stability of the removal actuator during operation.

[0017] 5. The mounting base used in the circumferential motion mechanism used in the present invention has a quick locking function, which can realize the rapid locking and separation function of the base and the mounting platform, making it convenient for the robot to switch between the demolition mode and the motion mode.

[0018] 6. The carrying platform used in the present invention has a hexagonal structure. The support mechanism is installed on the line connecting the vertices to the center of the hexagon, which can achieve a larger variable diameter size while reducing the volume of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall installation structure of the robot of the present invention; Figure 2 This is a bottom-up perspective view of the robot of the present invention; Figure 3 Schematic diagram of the structure of the support mechanism of the present invention; Figure 4 This is a schematic structural diagram of the supporting slider mechanism of the present invention; Figure 5 This is a cross-sectional view of the structure of the support rod of the present invention; Figure 6 It is a structural schematic diagram of the support rod and the clamping mechanism of the present invention; Figure 7 It is a structural schematic diagram of the clamping mechanism of the present invention; Figure 8 Schematic diagram of the diameter-changing process of the support rod according to the present invention; Figure 9 Schematic diagram of the structure of the robotic arm mechanism of the present invention; Figure 10 This is a structural diagram of the dismantling actuator of the present invention; Figure 11 for Figure 10 Enlarged view of point A in the middle; Figure 12 It is a side sectional view of the quick latch mechanism of the present invention; Figure 13 for Figure 12 Enlarged view of point B in the middle; Figure 14 This is the installation diagram of the quick card mechanism; Figure 15 This is a schematic diagram of the grouping of the first layer of chimney wall; Figure 16 This is a schematic diagram of the first set of path planning for the chimney wall demolition work; Figure 17 This is a schematic diagram of the support mechanism's position during the demolition process; Figure 18 This is a schematic diagram of the clamping mechanism descending to position 2 after the first set of chimney walls are removed; Figure 19 Workflow diagram for chimney demolition.

[0020] As shown in the figure: 1-Carrying platform; 2-Support rod; 2001-Electric push rod 1; 2002-Electric push rod 2; 2003-Support rod housing; 2004-Support rod inner core; 2005-Angle adjustment push rod; 2006-Electric push rod 3; 3-Support slider mechanism; 3001-Roller 1; 3002-Fastening flange; 3003-Support rod slider; 3004-Roller 2; 3005-Bearing fixing piece; 3006-Sliding bearing; 3007-Roller fixing piece 1; 3008-Roller fixing piece 2; 4-clamping mechanism; 4001-clamping mechanism base; 4002-clamping moving block; 4003-clamping mechanism connecting rod; 4004-clamping mechanism slide; 4005-clamping mechanism connecting plate; 4006-clamping mechanism slider; 4007-support plate; 5-track mechanism; 5001-inner annular slide rail; 5002-annular rack rail; 5003-outer annular slide rail; 5004-inner annular slide rail slider; 5005-outer annular slide rail slider; 6-support base; 6001-base first shell; 6002-base second shell; 6003-rack motor; 6004-motor gear; 6005-ring rack gear; 6006-base third shell; 7-Quick lock mechanism; 7001-Lock head; 7002-Spring; 7003-Quick lock restraint block; 7004-Quick lock restraint rod; 7005-Quick lock mechanism housing; 7006-Limit screw; 7007-Quick lock connecting rod; 7008-Quick lock moving block; 7009-Micro push rod; 8 - Robotic arm mechanism; 8001 - Robotic arm gear; 8002 - Robotic arm gear; 8003 - Rotating motor 1; 8004 - Robotic arm turntable; 8005 - First electric push rod; 8006 - First connecting rod; 8007 - Second electric push rod; 8008 - Second connecting rod; 8009 - Third electric push rod; 8010 - Connecting frame; 8011 - Third connecting rod; 8012 - Rotating motor 2; 8013 - Impact drill bit; 9-Chimney. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail with reference to the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. The technical solutions of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0022] See also Figures 1 to 14 This embodiment proposes a top-mounted multi-claw straddling chimney demolition robot, including a carrying platform 1, a supporting mechanism, a clamping mechanism 4, and a chimney demolition mechanism; the robot is installed on the top of the chimney 9 and realizes the connection function with the chimney 9 through the clamping mechanism 4.

[0023] The platform 1 is a hexagonal structure with a circular hole at its center and six rectangular holes evenly spaced across the hexagonal structure. These holes extend from the vertices to the center of the hexagonal structure, and the supporting mechanisms are installed within these holes. This supporting mechanism secures the robot to the top of the chimney 9, facilitating demolition. The lower portion of the platform 1 is a circular cylindrical structure with a ring of teeth on its inner wall. These teeth facilitate the positioning and restraint of the chimney demolition mechanism, which is symmetrically mounted below the platform 1 and is used to demolish the chimney 9.

[0024] Before describing the robot in detail, some of the nouns are defined first.

[0025] Definition 1: For the definition of the inside and outside of a mechanism that is not a closed structure and is distributed radially along the mounting platform 1, the center of the mounting platform 1 is taken as the reference point, the side close to the center is the inside, and the side away from the center is the outside.

[0026] Definition 2: Radial movement: Taking the circular cylindrical structure below the carrying platform 1 as a reference, the movement along the radius of the carrying platform 1 is radial movement.

[0027] Definition 3: Circumferential movement. The movement around the central axis of the circular cylindrical structure below the carrying platform 1 is referred to as circumferential movement.

[0028] Specifically, the support mechanism includes a support rod 2 and a support slider mechanism 3; the support slider mechanism 3 is installed in the rectangular hole of the carrying platform 1, and the support slider mechanism 3 is used to carry the support rod 2 and control it to achieve radial displacement function.

[0029] Among them, the support rod 2 includes an electric push rod 1 2001, an electric push rod 2 2002, a support rod housing 2003, a support rod dynamic core 2004, an angle adjustment push rod 2005, and an electric push rod 3 2006.

[0030] The supporting slider mechanism 3 includes roller 1 3001 , a fastening flange 3002 , a supporting rod slider 3003 , roller 2 3004 , a bearing fixing part 3005 , a sliding bearing 3006 , roller fixing part 1 3007 , and roller fixing part 2 3008 .

[0031] The support rod slider 3003 is a U-shaped frame structure with one end open and the other closed. Two symmetrical openings are formed on the sidewalls of the open end of the support rod slider 3003, with roller 1 3001 rotatably connected to the openings via fastening flanges 3002. A plate-shaped roller fixing member 1 3007 and a plate-shaped roller fixing member 2 3008 are fixedly connected to the back of the closed end of the support rod slider 3003. Roller fixing member 1 3007 and roller fixing member 2 3008 are each connected to a rotating shaft, with roller 2 3004 rotatably connected to each end of each shaft. Roller 1 3001 and roller 2 3004 are both located outside the support rod slider 3003. Rectangular through-slots are provided on both sides of the rectangular hole in the carrying platform 1, and roller 1 3001 and roller 2 3004 are slidably connected within the rectangular through-slots. Sliding bearings 3006 are symmetrically arranged on the inner wall of the support rod slider 3003, and the sliding bearings 3006 are installed on the inner side of the side wall of the support rod slider 3003 through two upper and lower bearing fixings 3005; the sliding bearings 3006 are used to install the support rod 2; among them, the two upper and lower bearing fixings 3005 are one pre-installation part and the other is a post-installation part. The bearing fixing 3005 of the pre-installation part and the support rod slider 3003 are integrated into a design. After the support rod 2 is installed, the bearing fixing 3005 of the post-installation part is installed.

[0032] A hanging ear is installed on the back of the support rod slider 3003, the telescopic end of the electric push rod 2002 is hinged to the hanging ear, and the fixed end of the electric push rod 2002 is hinged to the inner wall of the rear side of the rectangular hole of the carrying platform 1; the radial movement of the support rod slider 3003 is controlled by the electric push rod 2002; the fixed end of the electric push rod 1 2001 is hinged to the connecting ear arranged above the carrying platform 1 and at the rear side of the rectangular through groove, the telescopic end of the electric push rod 1 2001 is hinged to the support rod housing 2003, and the electric push rod 1 2001 is used to control The support rod housing 2003 is slidably connected to a support rod dynamic core 2004. The bottom of the support rod dynamic core 2004 is a tapered structure that extends from the support rod housing 2003. The support rod dynamic core 2004 is connected to the top surface of the support rod housing 2003 via an electric push rod 3 2006. This push rod 3 can push the support rod dynamic core 2004 out of the support rod housing 2003, enabling a wide range of diameter adjustment for the support rod 2. The tapered structure is rotatably connected to the clamping mechanism 4, and an angle adjustment push rod 2005 is hingedly connected between the tapered structure and the clamping mechanism 4. The angle between the clamping mechanism 4 and the support rod dynamic core 2004 can be adjusted by pushing the angle adjustment push rod 2005, facilitating the clamping mechanism 4 and the chimney wall.

[0033] The clamping mechanism 4 includes a clamping mechanism base 4001 , a clamping moving block 4002 , a clamping mechanism connecting rod 4003 , a clamping mechanism slide 4004 , a clamping mechanism connecting plate 4005 , a clamping mechanism slider 4006 , and a support plate 4007 .

[0034] The four corners of the bottom of the clamping mechanism base 4001 are provided with connecting columns, and two sliding columns are symmetrically provided on the front and back of the top of the clamping mechanism base 4001. The two sides of the clamping moving block 4002 are sleeved on the corresponding sliding columns, and the clamping moving block 4002 can move up and down along the two sliding columns. Slide rails are provided on the front and back sides of the top of the clamping mechanism base 4001, and a slider is provided at the bottom of the clamping mechanism slide 4004. The left and right sides of the clamping mechanism base 4001 are respectively slidably connected to the clamping mechanism slide 4004 through the cooperation of the slide rails and the sliders; the four corners of the clamping moving block 4002 are respectively hinged to the clamping mechanism slide 4004 through the clamping mechanism connecting rod 4003; one side of the bottom of the clamping mechanism slide 4004 is connected to the clamping mechanism connecting plate The top of 4005 is hinged, the bottom of the clamping mechanism connecting plate 4005 is hinged to the support plate 4007, and a clamping mechanism slider 4006 is provided in the middle of the clamping mechanism connecting plate 4005, and the clamping mechanism slider 4006 is hinged to the connecting column corresponding to the bottom of the clamping mechanism base 4001; the conical structure at the bottom of the support rod dynamic core 2004 is hinged to the clamping moving block 4002; when the clamping moving block 4002 is subjected to the pressure drop from the support rod 2, the clamping mechanism connecting rod 4003 will push the clamping mechanism slide 4004 to the end away from the clamping mechanism base 4001, and under the action of the lever principle, the support plates 4007 on both sides will approach the center to realize the clamping work, thereby ensuring the stability of the overall mounting of the robot.

[0035] The chimney demolition mechanism is provided in two groups and is symmetrically distributed. The chimney demolition mechanism includes a track mechanism 5, a support base 6, a quick-clamp mechanism 7 and a demolition execution mechanism.

[0036] The track mechanism 5 is installed under the mounting platform 1, and the track mechanism 5 includes an inner annular slide rail 5001, an annular rack rail 5002, an outer annular slide rail 5003, an inner annular slide rail slider 5004, and an outer annular slide rail slider 5005; the annular rack rail 5002 is located between the inner annular slide rail 5001 and the outer annular slide rail 5003; the inner annular slide rail 5001 and the outer annular slide rail 5003 are used to mount the support base 6, and the annular rack rail 5002 is used to cooperate with the gear structure in the support base 6 to realize the circumferential movement of the support base 6 under the drive of the motor.

[0037] The supporting base 6 includes a first base shell 6001 , a second base shell 6002 , a rack motor 6003 , a motor gear 6004 , a ring rack gear 6005 , and a third base shell 6006 .

[0038] The quick-lock mechanism 7 includes a lock head 7001 , a spring 7002 , a quick-lock constraint block 7003 , a quick-lock constraint rod 7004 , a quick-lock mechanism housing 7005 , a limit screw 7006 , a quick-lock connecting rod 7007 , a quick-lock moving block 7008 and a micro-motion push rod 7009 .

[0039] The bottom of the first shell 6001 of the base is connected with an inner annular slide slider 5004 and an outer annular slide slider 5005, the inner annular slide slider 5004 is slidably connected to the inner annular slide 5001, and the outer annular slide slider 5005 is slidably connected to the outer annular slide 5003; a rack motor 6003 is installed on the first shell 6001 of the base, and a motor gear 6004 is installed on the shaft end of the rack motor 6003, the motor gear 6004 is meshed with the annular rack gear 6005, and the annular rack gear 6005 is meshed with the annular rack 5002, and the rotation of the rack motor 6003 drives the motor gear 6004 to rotate, thereby driving the annular rack gear 6005 to rotate, so that the first shell 6001 of the base moves circumferentially along the annular rack 5002.

[0040] The first housing 6001 of the base is symmetrically provided with T-slots. The second housing 6002 of the base is slidably connected to the first housing 6001 via the T-slots, allowing the second housing 6002 to move along the first housing 6001. The third housing 6006 of the base is attached to the bottom of the first and second housings 6001 and 6002. The sidewall of the second housing 6002, on the side closest to the mounting platform 1, has a tooth-like structure; these teeth engage with the teeth on the inner wall of the circular cylindrical structure below the mounting platform 1.

[0041] The second housing 6002 of the base has a rectangular slot, within which a quick-release block 7008 is mounted. This slot allows for small movements along the T-slot of the first housing 6001. The quick-release block 7008 is connected to the first housing 6001 via two micro-motion push rods 7009, which are mounted in two circular holes formed when the second housing 6002 and the third housing 6006 are connected. When the micro-motion push rods 7009 are pushed, the quick-release block 7008 first moves toward the edge of the mounting platform 1. Once it reaches the edge of the second housing 6002, the micro-motion push rods 7009 push the second housing 6002 further, causing the toothed structure on the sidewall of the second housing 6002 to engage with the toothed structure on the circular cylindrical structure below the mounting platform 1.

[0042] A quick card mechanism shell 7005 is slidably connected in each tooth groove of the tooth structure on the side wall of the second shell 6002 of the base, and the external shape of the quick card mechanism shell 7005 is consistent with the tooth groove shape of the tooth structure of the second shell 6002 of the base; the quick card mechanism shell 7005 and the quick card moving block 7008 are hinged by a quick card connecting rod 7007; a rectangular groove is provided on the side of the quick card mechanism shell 7005, and the quick card mechanism shell 7005 is slidably connected to the inner wall of the tooth groove through the rectangular groove on its side, and the quick card mechanism shell 7005 is provided with a connecting hole that passes through the top and bottom, and a quick card constraint rod 7004 is installed in the connecting hole. The quick card constraint rod 7004 is a tubular structure, and the bottom of the quick card constraint rod 7004 is connected to the second shell 6002 of the base by a thread, and the top of the quick card constraint rod 7004 is connected to the quick card constraint block 7003. The two cooperate with each other to limit the movement of the quick card mechanism shell 7005 and prevent it from falling off. The quick card constraint rod 7004 and the quick card constraint block 7003 are provided with connected holes; the lock head 7001 is a right-angled trapezoidal structure, and a circular hole is opened on the corresponding surface of one side of its right-angled side, and a cylindrical rod extends out of the circular hole. The cylindrical rod can be inserted into the hole connected to the quick card constraint rod 7004 and the quick card constraint block 7003. A spring 7002 is installed on the outer wall of the cylindrical rod, one end of the spring 7002 is connected to the quick card constraint block 7003, and the other end of the spring 7002 is connected to the right-angled trapezoidal structure; the spring 7002 can keep the lock head 7001 pushed out and can move to a certain extent. A rectangular groove is opened on one side of the long side of the lock head 7001. The rectangular groove of the lock head 7001 cooperates with the limit screw 7006 installed on the quick card mechanism housing 7005 to realize the limiting function of the lock head 7001.

[0043] When the micro push rod 7009 pushes the second shell 6002 of the base to engage with the carrying platform 1, the lock head 7001 will extend into the card slot at the bottom of the carrying platform 1 under the elastic force of the spring 7002, thereby realizing the rapid locking of the second shell 6002 of the base and the carrying platform 1.

[0044] When the micro-push rod 7009 is retracted inward, the quick-card moving block 7008 moves away from the edge of the carrying platform 1, and pulls the quick-card mechanism shell 7005 downward through the quick-card connecting rod 7007. Under the joint action of the rectangular groove on the lock head 7001 and the limit screw 7006, the lock head 7001 drops, and the quick-card mechanism 7 is disconnected from the carrying platform 1. When the quick-card moving block 7008 contacts the second shell 6002 of the base close to the center of the carrying platform 1, it will drive the second shell 6002 of the base to move toward the center of the robot, and the support base 6 will be disconnected from the carrying platform 1.

[0045] A threaded hole is provided at the bottom of the third housing 6006 of the base for mounting a dismantling actuator. The dismantling actuator comprises a mechanical arm mechanism 8 and a percussion drill 8013. The mechanical arm mechanism 8 is a five-degree-of-freedom mechanical arm structure and is used to carry the percussion drill 8013.

[0046] The robotic arm mechanism 8 includes a robotic arm gear wheel 8001, a robotic arm gear 8002, a rotating motor 1 8003, a robotic arm turntable 8004, a first electric push rod 8005, a first connecting rod 8006, a second electric push rod 8007, a second connecting rod 8008, a third electric push rod 8009, a connecting frame 8010, a third connecting rod 8011, and a rotating motor 2 8012.

[0047] The robot arm gear disc 8001 is connected to the lower part of the third shell 6006 of the base by bolts. The inner wall circumference of the robot arm gear disc 8001 is provided with teeth. The robot arm turntable 8004 is connected to the robot arm gear disc 8001. The robot arm turntable 8004 is provided with a rotating motor 8003. The driving end of the rotating motor 8003 extends between the robot arm turntable 8004 and the robot arm gear disc 8001 and is fixedly connected to the robot arm gear 8002. The robot arm gear 8002 is engaged with the teeth on the inner wall of the robot arm gear disc 8001; one end of the first connecting rod 8006 is hinged to the robot arm turntable 8004, and the other end of the first connecting rod 8006 is hinged to the middle part of the second connecting rod 8008. ; One end of the first electric push rod 8005 is hinged to the robotic arm turntable 8004, the other end of the first electric push rod 8005 is hinged to one end of the second electric push rod 8007, and the other end of the second electric push rod 8007 is hinged to one end of the second connecting rod 8008; the other end of the second connecting rod 8008 is hinged to the connecting frame 8010, the connecting frame 8010 is hinged to the side wall of the third connecting rod 8011, one end of the third electric push rod 8009 is hinged to the second connecting rod 8008, and the other end of the third electric push rod 8009 is hinged to the third connecting rod 8011, and a second rotating motor 8012 is installed at the end of the third connecting rod 8011, and the second rotating motor 8012 is connected to the impact drill bit 8013.

[0048] See also Figures 15 to 19 This embodiment also proposes a method for demolishing a top-mounted multi-claw straddling chimney, which is implemented using a top-mounted multi-claw straddling chimney demolition robot. In this embodiment, a six-claw straddling chimney demolition robot is specifically used, and a symmetrical demolition method is used as an example. Striding chimney demolition robots with other numbers of claws, as well as other asymmetric demolition methods, also fall within the scope of protection of this invention. In this embodiment, a grouped and layered demolition method is implemented, which specifically includes the following steps: like Figure 15As shown, the top wall of chimney 9 is first divided into six equal sections, numbered from A to F. During installation, the straddle-type chimney demolition robot uses a support mechanism to drive six clamping mechanisms 4 to clamp at the centers of the six walls of chimney 9. To ensure stability during demolition, a symmetrical demolition method is used. For example, when demolishing wall A, another set of demolition actuators is used to simultaneously demolish its symmetrical section, wall D. Therefore, the chimney walls are further divided into three groups: AD, BE, and CF.

[0049] like Figure 16 The figure shows the first set of planned routes for the chimney wall demolition work, including downward routes ① and ②, route ③ connecting routes ① and ②, and position ④ located in the middle of the area enclosed by the three routes. Figure 17 This is a schematic diagram of the fixed position of the support mechanism during the dismantling process. Line position ① of wall A is symmetrical with line position ① of wall D, and line position ① of wall A and line position ① of wall D are set as position Ⅰ; line position ② of wall A and line position ② of wall D are symmetrical with line position ② of wall A and line position ② of wall D are set as position Ⅱ; the middle of position Ⅰ and position Ⅱ is position Ⅲ.

[0050] In order to ensure the stability of the chimney 9 demolition work and the flatness of the cut surface, the two supporting mechanisms must first be moved to the Figure 17 The demolition work of line ① on the chimney wall is carried out at position Ⅰ on the left and position Ⅰ on the right. Since the demolition method of the embodiment adopts the impact drill, it is necessary to control the impact drill bit 8013 through the mechanical arm mechanism 8 to punch holes in line ① on the chimney wall in sequence to complete the demolition of line ①; then the two support mechanisms are moved to Figure 17 As shown, at position No. Ⅱ on the left and position No. Ⅱ on the right, the demolition work of line No. ② is carried out. After the demolition work of line No. ② is completed, the two supporting mechanisms are moved to position No. Ⅲ on the left and position No. Ⅲ on the right, and the demolition work of line No. ③ of the chimney wall is carried out from position No. Ⅱ to position No. Ⅰ. After the demolition work of line No. ③ is completed, push at position No. ④ to push the chimney wall into the chimney 9. This completes the demolition work of one set of walls.

[0051] like Figure 18 As shown, the position of the chimney 9 before demolition is defined as position 1, and the position of the chimney 9 after a group of walls are demolished is defined as position 2. When the demolition of a group of chimney walls is completed, the corresponding two supporting mechanisms are lowered to position 2 to complete the support and fixation at position 2, and then the demolition of the next group of chimney walls is carried out. Figure 19 As shown, the following is an introduction to the workflow based on the flowchart.

[0052] S1. Implementation of demolition function (taking the demolition of the AD group chimney wall as an example) S1.1. Preparation for demolition: Lift the support structures corresponding to the A and D walls to separate them from the chimney walls to facilitate demolition work.

[0053] S1.2. Move the demolition actuators corresponding to the A and D walls to position Ⅰ and perform the drilling work for line ① in sequence.

[0054] S1.3. Move the dismantling actuator to position Ⅱ and carry out the drilling work of line ② in sequence.

[0055] S1.4. Move the dismantled actuator to position III and proceed with the drilling work of line ③.

[0056] S1.5. Use the demolition actuator to push position ④ on the chimney wall and push the chimney wall into chimney 9. The demolition of the AD group is completed.

[0057] S2, descent function implementation After the demolition is completed, the angle and length of the support mechanism corresponding to the AD group chimney wall are adjusted to make it drop to position 2 after the demolition is completed, and it is clamped and fixed by the clamping mechanism 4.

[0058] S3. Complete the dismantling of the BE and CF groups in sequence according to S1 and S2.

[0059] When the demolition work of the three groups of chimney walls is completed and the supporting structures are all lowered to position 2, position 2 is redefined as position 1, and the demolition work of the next layer can be carried out.

[0060] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. It cannot be considered that the specific embodiments of the present invention are limited to this. For ordinary technicians in the technical field to which the present invention belongs, they can make several simple deductions or substitutions without departing from the present invention, which should be regarded as belonging to the scope of patent protection determined by the submitted claims of the present invention.

Claims

1. A top-mounted multi-claw straddling chimney demolition robot, characterized in that: The invention comprises a carrying platform (1), a supporting mechanism, a clamping mechanism (4), and a chimney demolition mechanism; the robot is installed as a whole on the top of the chimney (9) and is connected to the chimney (9) through the clamping mechanism (4); rectangular holes are evenly distributed on the carrying platform (1), and the supporting mechanism is used to install the rectangular holes; the supporting mechanism is used to fix the robot as a whole on the top of the chimney (9), and the chimney demolition mechanism is symmetrically installed below the carrying platform (1), and the chimney demolition mechanism is used to perform the demolition work of the chimney (9); the supporting mechanism comprises a supporting rod (2) and a supporting slider mechanism (3); the supporting slider mechanism (3) is installed in the rectangular hole of the carrying platform (1), and the supporting slider mechanism (3) is used to carry the supporting rod (2) and control the supporting rod (2) to realize the radial displacement function; the supporting rod (2) comprises an electric push rod 1 (2001), an electric push rod 2 (200 2), support rod housing (2003), support rod dynamic core (2004), angle adjustment push rod (2005), electric push rod three (2006); the carrying platform (1) is hinged to the fixed end of the electric push rod one (2001); the telescopic end of the electric push rod one (2001) is hinged to the support rod housing (2003), the support rod dynamic core (2004) is slidably connected inside the support rod housing (2003), the bottom of the support rod dynamic core (2004) is a conical structure, and the bottom of the support rod dynamic core (2004) extends from the support rod housing (2003); the support rod dynamic core (2004) and the top surface of the support rod housing (2003) are connected through the electric push rod three (2006), the conical structure is rotatably connected to the clamping mechanism (4), and the angle adjustment push rod (2005) is hinged between the conical structure and the clamping mechanism (4).

2. The top-mounted multi-claw straddling chimney demolition robot according to claim 1, characterized in that: The support slider mechanism (3) comprises a support rod slider (3003), a roller and a sliding bearing (3006); the support rod slider (3003) is a U-shaped frame structure, one end of the U-shaped frame structure is an open structure, and the other end is a closed structure; the roller is rotatably connected to the outside of the support rod slider (3003); rectangular through grooves are provided on both sides of the rectangular hole of the carrying platform (1), and the roller is slidably connected in the rectangular through grooves; sliding bearings (3006) are symmetrically installed on the inner side wall of the support rod slider (3003), and the sliding bearings (3006) are used to install the support rod (2); The rollers include roller 1 (3001) and roller 2 (3004); openings are symmetrically provided on the side walls on both sides of the open structure of the support rod slider (3003), and roller 1 (3001) is rotatably connected to the openings through a fastening flange (3002); a plate-shaped roller fixing part 1 (3007) and a roller fixing part 2 (3008) are fixedly connected to the back of one end of the closed structure of the support rod slider (3003); the roller fixing part 1 (3007) and the roller fixing part 2 (3008) are respectively connected to a rotating shaft, and the two ends of the rotating shaft are respectively rotatably connected to roller 2 (3004).

3. The top-mounted multi-claw straddling chimney demolition robot according to claim 2, characterized in that: The sliding bearing (3006) is mounted on the inner side of the side wall of the support rod slider (3003) through two upper and lower bearing fixing members (3005); a hanging ear is mounted on the back of the support rod slider (3003), the telescopic end of the electric push rod 2 (2002) is hinged to the hanging ear, and the fixed end of the electric push rod 2 (2002) is hinged to the inner wall of the rear side of the rectangular hole of the carrying platform (1).

4. The top-mounted multi-claw straddling chimney demolition robot according to claim 1, characterized in that: The clamping mechanism (4) comprises a clamping mechanism base (4001), a clamping moving block (4002), a clamping mechanism connecting rod (4003), a clamping mechanism slide plate (4004), a clamping mechanism connecting plate (4005), a clamping mechanism slider (4006), and a support plate (4007); The four corners of the bottom of the clamping mechanism base (4001) are provided with connecting columns, and two sliding columns are symmetrically provided on the front and back of the top of the clamping mechanism base (4001). The two sides of the clamping moving block (4002) are sleeved on the corresponding sliding columns. The top and back sides of the clamping mechanism base (4001) are provided with slide rails. The bottom of the clamping mechanism slide plate (4004) is provided with a slider. The left and right sides of the clamping mechanism base (4001) are respectively slidably connected to the clamping mechanism slide plate (4004) through the cooperation of the slide rails and the sliders; the four corners of the clamping moving block (4002) are respectively connected by the clamping mechanism The connecting rod (4003) is hinged to the clamping mechanism slide (4004); one side of the bottom of the clamping mechanism slide (4004) is hinged to the top of the clamping mechanism connecting plate (4005), the bottom of the clamping mechanism connecting plate (4005) is hinged to the support plate (4007), and a clamping mechanism slider (4006) is provided in the middle of the clamping mechanism connecting plate (4005), and the clamping mechanism slider (4006) is hinged to the connecting column corresponding to the bottom of the clamping mechanism base (4001); the conical structure at the bottom of the support rod dynamic core (2004) is hinged to the clamping moving block (4002).

5. The top-mounted multi-claw straddling chimney demolition robot according to claim 1, characterized in that: The chimney demolition mechanism comprises a track mechanism (5), a support base (6) and a demolition actuator; the track mechanism (5) is arranged below the carrying platform (1), the support base (6) is connected to the track mechanism (5), and the support base (6) moves circumferentially on the track mechanism (5); and the demolition actuator is connected to the support base (6).

6. The top-mounted multi-claw straddling chimney demolition robot according to claim 5, characterized in that: The track mechanism (5) comprises an inner annular slide rail (5001), an annular rack rail (5002), an outer annular slide rail (5003), an inner annular slide rail slider (5004), and an outer annular slide rail slider (5005); the annular rack rail (5002) is located between the inner annular slide rail (5001) and the outer annular slide rail (5003); the inner annular slide rail (5001) and the outer annular slide rail (5003) are used to mount the support base (6); the annular rack rail (5002) is used to cooperate with the gear structure in the support base (6) to drive the support base (6) to move circumferentially under the drive of the motor.

7. The top-mounted multi-claw straddling chimney demolition robot according to claim 6, characterized in that: The supporting base (6) comprises a first base shell (6001), a second base shell (6002), a rack motor (6003), a motor gear (6004), a ring rack gear (6005), and a third base shell (6006); The first shell (6001) of the base is symmetrically provided with T-slots, the second shell (6002) of the base is slidably connected to the first shell (6001) of the base via the T-slots, and the third shell (6006) of the base is installed at the bottom of the first shell (6001) and the second shell (6002) of the base; the interior below the carrying platform (1) is a circular cylindrical structure, a circle of tooth-shaped structures is provided on the inner wall of the circular cylindrical structure, and the side wall of the second shell (6002) of the base close to the carrying platform (1) is a tooth-shaped structure; the tooth-shaped structure on the side wall of the second shell (6002) of the base is intermittently meshed with the tooth-shaped structure on the inner wall of the circular cylindrical structure below the carrying platform (1); A rack motor (6003) is mounted on the first housing (6001) of the base. A motor gear (6004) is mounted on the shaft end of the rack motor (6003). The motor gear (6004) is meshed with an annular rack gear (6005), and the annular rack gear (6005) is meshed with an annular rack (5002).

8. The top-mounted multi-claw straddling chimney demolition robot according to claim 7, characterized in that: The support base (6) is connected to a quick-clamp mechanism (7); the quick-clamp mechanism (7) comprises a lock head (7001), a spring (7002), a quick-clamp constraint block (7003), a quick-clamp constraint rod (7004), a quick-clamp mechanism housing (7005), a limit screw (7006), a quick-clamp connecting rod (7007), a quick-clamp moving block (7008) and a micro-motion push rod (7009); The second shell (6002) of the base is provided with a rectangular groove, and a quick card moving block (7008) is installed in the rectangular groove of the second shell (6002) of the base. The quick card moving block (7008) has a small range of displacement space along the T-slot direction of the first shell (6001) of the base. The quick card moving block (7008) is connected to the first shell (6001) of the base through two micro-motion push rods (7009). The micro-motion push rods (7009) are installed in two circular holes formed when the second shell (6002) of the base is connected to the third shell (6006) of the base. A quick-clamp mechanism housing (7005) is slidably connected in each tooth groove of the tooth structure of the side wall of the second shell (6002) of the base, and the external shape of the quick-clamp mechanism housing (7005) is consistent with the tooth groove shape of the tooth structure of the second shell (6002) of the base; the quick-clamp mechanism housing (7005) and the quick-clamp moving block (7008) are hingedly connected via a quick-clamp connecting rod (7007); a rectangular groove is provided on the side of the quick-clamp mechanism housing (7005), and the quick-clamp mechanism housing (7005) is slidably connected to the inner wall of the tooth groove through the rectangular groove on its side; the quick-clamp mechanism housing (7005) is provided with a connecting hole that passes through from top to bottom, and a quick-clamp restraint rod (7004) is installed in the connecting hole; the quick-clamp restraint rod (7004) is a tubular structure, and the bottom of the quick-clamp restraint rod (7004) is connected to the second shell (6002) of the base via a thread, and the quick-clamp restraint rod The top of (7004) is connected to the quick card constraint block (7003); the quick card constraint rod (7004) and the quick card constraint block (7003) are provided with a connecting hole; the lock head (7001) is a right-angled trapezoidal structure, and a circular hole is opened on the corresponding surface of one side of the right-angled side of the lock head (7001), and a cylindrical rod extends out of the circular hole, and the cylindrical rod is inserted into the hole connecting the quick card constraint rod (7004) and the quick card constraint block (7003). A spring (7002) is installed on the outer wall of the cylindrical rod, one end of the spring (7002) is connected to the quick card constraint block (7003), and the other end of the spring (7002) is connected to the right-angled trapezoidal structure; a rectangular groove is opened on one side of the long side of the lock head (7001), and the rectangular groove of the lock head (7001) cooperates with a limit screw (7006) installed on the quick card mechanism housing (7005) to realize the limiting function of the lock head (7001).

9. The top-mounted multi-claw straddling chimney demolition robot according to claim 8, characterized in that: The dismantling actuator includes a robotic arm mechanism (8) and an impact drill bit (8013); the robotic arm mechanism (8) includes a robotic arm gear plate (8001), a robotic arm gear (8002), a rotating motor 1 (8003), a robotic arm turntable (8004), a first electric push rod (8005), a first connecting rod (8006), a second electric push rod (8007), a second connecting rod (8008), a third electric push rod (8009), a connecting frame (8010), a third connecting rod (8011), and a rotating motor 2 (8012); The robot arm gear disc (8001) is connected to the lower part of the third housing (6006) of the base by bolts, the inner wall circumference of the robot arm gear disc (8001) is provided with teeth, the robot arm turntable (8004) is connected to the robot arm gear disc (8001), and the robot arm turntable (8004) is provided with a rotating motor (8003), the driving end of the rotating motor (8003) extends between the robot arm turntable (8004) and the robot arm gear disc (8001) and is fixedly connected to the robot arm gear (8002), and the robot arm gear (8002) is meshed with the teeth on the inner wall of the robot arm gear disc (8001); one end of the first connecting rod (8006) is hinged to the robot arm turntable (8004), and the other end of the first connecting rod (8006) is hinged to the middle part of the second connecting rod (8008); One end of the first electric push rod (8005) is hinged to the mechanical arm turntable (8004), the other end of the first electric push rod (8005) is hinged to one end of the second electric push rod (8007), and the other end of the second electric push rod (8007) is hinged to one end of the second connecting rod (8008); the other end of the second connecting rod (8008) is hinged to the connecting frame (8010), and the connecting frame (8010) is hinged to the side wall of the third connecting rod (8011); one end of the third electric push rod (8009) is hinged to the second connecting rod (8008), and the other end of the third electric push rod (8009) is hinged to the third connecting rod (8011); a second rotating motor (8012) is installed at the end of the third connecting rod (8011), and the second rotating motor (8012) is connected to the impact drill bit (8013).

10. A method for dismantling a top-mounted multi-claw straddling chimney, characterized in that: A top-mounted multi-claw straddling chimney demolition robot according to any one of claims 1 to 9 is used, and the robot comprises the following steps: S1. Divide the top wall of the chimney (9) into n equal parts, and set two opposite walls as a group; S2. Lift the support mechanisms corresponding to the first group of two walls to separate them from the corresponding walls; then, use the chimney removal mechanisms corresponding to the first group of two walls to punch and remove the first group of two walls; S3, after the dismantling is completed, the angle and length of the support mechanism corresponding to the two walls of the first group are adjusted so that the support mechanism is lowered to the position after the dismantling is completed and is clamped and fixed by the clamping mechanism (4); S4. Complete the demolition of the remaining groups of walls in sequence according to S2 and S3. When the demolition of all walls of the current layer is completed, the robot descends as a whole and then proceeds to demolish the next layer of walls.

Images