Unmanned tower dismounting robot based on tower weak point dismounting and tower dismounting method

Abstract

The unmanned tower dismantling robot comprises a self-walking chassis, a multi-degree-of-freedom hydraulic operation arm is installed on the front side of the self-walking chassis, and a cutting execution mechanism is installed at the cantilever end of the multi-degree-of-freedom hydraulic operation arm; the cutting executing mechanism comprises a guiding and positioning module formed at the front end of the cutting executing mechanism and a grabbing module for conducting grabbing action, the cutting modules and the grabbing module are fixed, the cutting modules synchronously move along with the grabbing module, the number of the cutting modules is two, and the two cutting modules are symmetrically installed on the upper side and the lower side of the grabbing module. The cutting modules and the grabbing module form an integrated structure with synchronous action, specifically, when arc-shaped clamping pliers of the grabbing module close and lock an angle steel supporting column, the double cutting modules complete double-side synchronous cutting along a preset angle, the waiting time of equipment idle stroke and procedure connection is shortened, unmanned angle steel tower dismantling is achieved, and meanwhile the working efficiency is improved. And working steps are reduced.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned angle steel tower dismantling, specifically to an unmanned tower dismantling robot and method based on the dismantling of weak points in towers. Background Technology

[0002] Driven by the continuous optimization of power grid structure and the demand for new energy layout, the construction and renovation of power infrastructure projects continue to show a trend of large-scale development. In the relocation of old power lines, the removal of angle steel towers has increased significantly. These towers utilize a truss-type communication tower structure with angle steel components as the core load-bearing unit. Their quadrangular cross-section design achieves modular assembly through bolted connections, featuring lightweight individual components and strong terrain adaptability. Demolition operations typically follow a "top-down" process sequence, and currently, traditional manual pole-pulling demolition methods are still widely used.

[0003] The secondary risks and hazards associated with the dismantling of angle steel towers for power transmission lines mainly manifest in the following three aspects: Risk of falling from heights: Insufficient safety factor of climbing equipment or failure of operators to use fall protection devices properly can easily lead to accidents of falling from heights; Electrical safety risks: Insufficient safety distance between the work area and live equipment or the presence of unisolated wiring poses a risk of electric shock. Mechanical injury risk: Unstable crane support, overloaded use, or injury caused by winch operation may lead to mechanical injury accidents.

[0004] In response to the above situation, the present invention provides an unmanned tower dismantling robot and a tower dismantling method based on the removal of weak points of towers. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an unmanned tower dismantling robot based on the removal of weak points in towers. By constructing a closed-loop operation system that integrates "visual weak point positioning - mechanical fixing and locking - simultaneous cutting on both sides - directional weak point collection", the safety risks of manual operation are effectively eliminated, and unmanned dismantling of angle steel structures is achieved.

[0006] To achieve the above objectives, the present invention employs an unmanned tower demolition robot based on the removal of weak points in towers. This robot includes a self-propelled chassis that moves autonomously on the ground, and a multi-degree-of-freedom hydraulic working arm mounted on the front side of the self-propelled chassis. The combined design of the multi-degree-of-freedom hydraulic working arm and the ground-moving self-propelled chassis enables the system to autonomously climb and operate at multiple angles. The multi-degree-of-freedom hydraulic working arm includes multiple links with rotating hydraulic cylinders. This multi-link structure ensures the positional transformation of the multi-degree-of-freedom hydraulic working arm. A cutting execution mechanism is mounted on the cantilever end of the multi-degree-of-freedom hydraulic working arm. The cutting execution mechanism includes a guide positioning module formed at its front end and a gripping module for performing gripping actions. The cutting module is fixed to the gripping module, and the cutting module moves synchronously with the gripping module. There are two gripping modules, symmetrically mounted on the upper and lower sides of the guide positioning module. The cutting module is mounted on the side of the gripping module opposite to the guide positioning module. The aforementioned cutting module and gripping module form an integrated structure that operates synchronously. Specifically, while the gripping module's arc-shaped clamps close and lock the angle steel support column, the cutting module's dual water jet assembly completes simultaneous cutting on both sides along a preset angle, reducing the equipment's idle travel and waiting time for process connections. This achieves unmanned angle steel tower dismantling while reducing work steps.

[0007] As a further optimization of the above solution, the guiding and positioning module includes two clamping clamps formed at the front end of the cutting actuator and arranged opposite to each other. The driving unit induces the two clamping clamps to open and close. Both clamping clamps are arc-shaped structures, with sponge connected to the inner surface of the clamping clamps. The driving unit includes a positioning drive motor, a drive gear connected to the positioning drive motor, a first driven gear meshing with the drive gear and formed on the clamping clamp, and a second driven gear meshing with the first driven gear. The second driven gear is fixedly connected to the other clamping clamp. The arc-shaped clamping clamp is lined with a sponge buffer layer, which absorbs the vibration energy of the component at the moment of clamping, preventing clamping failure caused by the cutting shock wave. At the same time, compared with rigid contact, the flexible contact of the sponge layer can better fix the weak point support of the angle steel tower after cutting.

[0008] As a further optimization of the above solution, the gripping module has telescopic guide arms formed symmetrically on both sides, and the telescopic guide arms can move linearly in a straight line. The front end of the telescopic guide arm is hinged with a self-locking hook body, and a torsion spring is coupled to the rotation axis of the self-locking hook body and the telescopic guide arm. In the cutting operation process, the angle steel tower support is mechanically guided into the limiting range of the telescopic guide arm. After the angle steel tower support is completely inside the fixed space, the self-locking mechanism returns to the locked state under the drive of the elastic reset device, realizing the synchronization of component cutting and separation with gripping guidance, eliminating the connection delay of the "cutting-transfer" process in the traditional process, and forming a continuous operation closed loop.

[0009] As a further optimization of the above solution, the cutting module is a waterjet cutting component. The waterjet cutting module relies on the kinetic energy of ultra-high pressure water jets to drive the material dissociation process, eliminating the need for an external heat source throughout the entire process. Compared to thermal processing methods such as laser cutting and plasma cutting, its dynamic cold cutting mechanism keeps the temperature of the processing area stably below the metal phase transformation threshold, completely eliminating the risks of lattice distortion, residual stress concentration, and microcrack propagation caused by heat conduction. In unmanned angle steel tower dismantling scenarios, this module achieves precise removal of weak points through non-contact material dissociation, effectively avoiding secondary damage to weak areas of the angle steel structure caused by thermal cutting processes, and ensuring the mechanical integrity of the remaining tower structure after dismantling.

[0010] As a further optimization of the above solution, the visual positioning module is formed at the front of the multi-degree-of-freedom hydraulic boom. The visual positioning module acquires images by taking pictures of the front and is wirelessly connected to an external controller. Through image capture, the angle steel structure is identified and positioned. Combined with laser scanning data and material stress distribution model, the weak point cutting path is accurately marked in the three-dimensional spatial coordinate system to ensure the successful cutting of weak points of the angle steel tower.

[0011] As a further optimization of the above solution, a linear toothed rail is formed on the side of the telescopic guide arm along its length. The guide drive motor is mounted on a motor mounting base on the side of the telescopic guide arm. The guide drive motor is equipped with a guide transmission gear that meshes with the linear toothed rail, thereby achieving stable telescopic extension and retraction of the telescopic guide arm through the linear toothed rail and gear transmission system.

[0012] As a further optimization of the above scheme, the inner spacing of the telescopic guide arm gradually decreases along the entry direction of the angle steel tower support. The gradually decreasing inner spacing forms a physical guide channel through geometric constraints, achieving adaptive centering during the entry of the angle steel tower support. This structure creates a wedge effect through the gradient change of the cross-sectional width. As the support extends deeper along the guide channel, its circumferential contact surface generates a non-linearly increasing contact constraint force with the sidewall of the gradually decreasing structure, ensuring the fixation effect of the angle steel tower support after it has been extended.

[0013] An unmanned tower dismantling method based on removing weak points of towers, wherein the unmanned angle steel tower dismantling method applies an unmanned tower dismantling robot based on removing weak points of towers as described in any of the above technical solutions.

[0014] The unmanned tower dismantling robot and method based on the removal of weak points in towers of the present invention have the following beneficial effects: 1. The unmanned tower dismantling robot of the present invention, based on the removal of weak points in towers, reduces manual intervention in the cutting process of weak points in angle steel towers by constructing a closed-loop operation system of "visual weak point positioning - mechanical fixing and locking - dual-sided synchronous cutting - directional weak point collection". Specifically, the arc-shaped claw of the gripping module and the sponge buffer layer absorb vibration energy when positioning the weak point support, ensuring cutting stability; the dual-sided water jet assembly cuts synchronously at a preset angle, avoiding component displacement caused by unilateral stress. 2. The unmanned tower dismantling robot of the present invention, based on the removal of weak points of towers, integrates the cutting and gripping processes into a single continuous action through the mechanical linkage design of the telescopic guide arm: during the extension of the telescopic guide arm, the gradually narrowing guide channel guides the angle steel column to be positioned, and the two cutting modules simultaneously complete the double-sided cutting; when the guide arm retracts, the self-locking hook automatically locks and grips the cut part under the drive of the torsion spring, realizing the time synchronization of "cutting completed and gripping in place", eliminating the process interval between cutting and transfer in the traditional process; 3. The unmanned tower dismantling robot of this invention, based on the removal of weak points in towers, utilizes a waterjet cutting module that leverages ultra-high pressure water jet kinetic energy to achieve material dissociation, with no external heat source involved in the entire process. Compared to thermal processing technologies such as laser cutting and plasma cutting, its dynamic cold cutting mechanism strictly maintains the temperature of the processing area below the critical threshold of metal phase transformation, completely avoiding the risks of lattice reconstruction, residual stress accumulation, and microcrack generation caused by heat conduction.

[0015] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope as a result, and the embodiments of the present invention include many changes, modifications and equivalents. Attached Figure Description

[0016] Figure 1 A schematic diagram of an unmanned tower dismantling robot designed to remove towers based on their weak points. Figure 2 This is a schematic diagram of the guiding and positioning module in this invention; Figure 3 This is a schematic diagram of the grasping module in this invention; Figure 4 This is a schematic diagram of the telescopic guide arm in this invention; Figure 5 This is a schematic diagram of the self-locking hook body in this invention; Figure 6 This is a schematic diagram of the cutting module in this invention; Figure 7 In this invention Figure 4 A magnified structural diagram of point A in the middle.

[0017] In the diagram: 1. Self-propelled chassis; 2. Multi-degree-of-freedom hydraulic boom; 3. Cutting actuator; 4. Guide and positioning module; 41. Gripper; 42. Positioning drive motor; 43. Drive gear; 44. First driven gear; 45. Second driven gear; 5. Gripping module; 51. Telescopic guide arm; 511. Linear gear; 512. Guide drive motor; 513. Guide transmission gear; 52. Self-locking hook; 53. Torsion spring; 6. Cutting module; 7. Vision positioning module. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0019] It should be noted that when an element is referred to as "set on" or "provided with" another element, it can be directly on the other element or there may be an intermediate element. When an element is referred to as "connected to" or "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. "Fixed connection" means fixed connection. There are many ways of fixed connection, which are not within the scope of protection of this document. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in the specification herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Please refer to the instruction manual appendix. Figure 1-7 This invention provides a first embodiment of an unmanned tower dismantling robot based on the removal of weak points in towers. In this embodiment, the unmanned angle steel tower dismantling system includes the following components: The self-propelled chassis 1 has the function of moving on the ground. Preferably, a track structure can be added to the self-propelled chassis 1 to facilitate adaptive walking and support adaptive movement of the self-propelled chassis 1 on complex chassis.

[0021] The multi-degree-of-freedom hydraulic working arm 2 includes multiple links with multiple hydraulic cylinders rotating. The multi-link structure ensures the position change of the multi-degree-of-freedom hydraulic working arm 2.

[0022] It should be noted that the multi-degree-of-freedom hydraulic working arm 2 in this invention adopts a multi-degree-of-freedom cooperative robotic arm. This multi-degree-of-freedom cooperative robotic arm can reach any point in the working space, enabling flexible movement of the tower dismantling prototype. In some examples, the six-degree-of-freedom cooperative robotic arm in this invention is selected as a segmented robotic arm.

[0023] Specifically, in this embodiment, the multi-degree-of-freedom hydraulic working arm 2 is fixedly installed at the center of the self-propelled chassis 1, providing a stable base for the multi-degree-of-freedom hydraulic working arm 2. The interface between the multi-degree-of-freedom hydraulic working arm 2 and the self-propelled chassis 1 includes both mechanical and electrical interfaces.

[0024] Mechanical interface: The two are fixedly connected by a flange, and the movable chassis provides local reinforcement to the flange interface to improve rigidity.

[0025] Electrical interface: The robotic arm cable is connected to the mobile chassis through a waterproof connector, and also passes through the top cover of the mobile chassis to connect the cable to the control system hardware inside the mobile chassis.

[0026] The cutting actuator 3 is integrated at the end of the multi-degree-of-freedom hydraulic working arm 2. Preferably, in some examples, the cutting actuator 3 is equipped with a guide positioning module 4 for clamping and positioning the weak point of the angle steel tower, a gripping module 5 for synchronous gripping and cutting actions, and a cutting module 6.

[0027] Preferably, steel cutting can be mainly divided into three categories: flame cutting, laser cutting, and waterjet cutting.

[0028] Flame cutting is a thermal cutting method that uses the high temperatures generated during the combustion of iron oxide to cut carbon steel. This cutting technology utilizes a flame torch design to provide ample oxygen for the combustion of iron oxide, ensuring good cutting results. Flame cutting equipment is relatively inexpensive and suitable for cutting metal materials with thicknesses from 1 mm to 1.2 mm, especially suitable for cutting thick metal plates.

[0029] Laser cutting works by focusing a laser beam onto the surface of a material. The laser energy is absorbed by the material and converted into heat, causing the material to melt, vaporize, or burn, thus achieving cutting. Different types of lasers have different characteristics and are suitable for different types of materials and thicknesses. Laser cutting technology is widely used in industrial manufacturing, especially in industries such as automotive, aerospace, electronics, medical equipment, and precision engineering.

[0030] Waterjet cutting works by using a high-pressure pump to generate a high-pressure water jet, which is then focused through a tiny nozzle (typically between 0.1 and 0.5 millimeters in diameter). Sometimes, abrasive particles (such as garnet or diamond) are added to the water jet to enhance cutting power. Waterjet cutting technology is widely used in industrial manufacturing, especially in applications requiring high precision and no heat-affected zones, such as aerospace, automotive, construction, and stone processing.

[0031] Considering the advantages and disadvantages of various cutting methods, this invention adopts a fireless, safe, environmentally friendly, and pollution-free water jet cutting method. The specific scheme of cutting module 6 is as follows: High-pressure water flow generation: The cutting module 6 uses a booster pump that can generate pressures of up to several thousand bar, which can boost ordinary water to extremely high pressures.

[0032] Water flow concentration: The cutting module 6 is equipped with a carbide nozzle with an orifice diameter controlled in the range of 0.1-0.5mm. Through the optimized flow channel design, the jet is concentrated into a high-speed, high-energy water flow. This concentration process enables the water flow speed to reach hundreds of meters per second.

[0033] Abrasive addition: In view of the need for cutting angle steel supports, the present invention introduces garnet / alumina composite abrasive into the jet mixing chamber of the cutting module 6. The internal structure, such as a Venturi structure, is used to achieve uniform mixing of water and abrasive two-phase flow. The abrasive particles are ejected together with the high-speed water flow, increasing the water flow cutting capability.

[0034] Cutting process: Relying on the kinetic energy of ultra-high pressure jet to cause brittle dissociation of the material, the temperature of the processing zone is always below the critical threshold of metal phase transformation. This cutting process avoids defects such as thermal lattice distortion and residual stress, and therefore does not affect the physical properties of the material.

[0035] Cutting precision control: Waterjet cutting can achieve high-precision cutting by precisely controlling the movement path of the cutting head through a computer numerical control (CNC) system.

[0036] In this embodiment, the remote control mechanism, an unmanned angle steel tower dismantling system, replaces manual laborers in approaching the angle steel tower to perform cutting operations. During the operation, the unmanned angle steel tower dismantling system is required to have strong obstacle-crossing ability, high load capacity, stability and reliability, and flexible and simple operation. A high level of maturity is required for the unmanned angle steel tower dismantling system.

[0037] Specifically, the remote control mechanism is developed based on the Linux architecture, supporting a multi-tasking, multi-threaded, and multi-CPU operating system. It not only boasts stable system performance but also abundant resources. Its core firewall components are highly efficient and easy to configure, ensuring system security. Specifically, in this embodiment, the remote control mechanism includes the following components: The embedded control module serves as the information hub between the tower dismantling prototype and the host computer. It is responsible for all sensor data acquisition, processing, and actuator driving, and implements some simple control algorithms.

[0038] The embedded control module uses a CPU unit as the core processor, which is responsible for task coordination and management, motion planning, etc.; A / D and I / O are responsible for the acquisition and conversion of tilt sensor and potentiometer signals; RS232 is responsible for communication between the tower dismantling prototype controller and the remote control console; the controller generates motion control signals, which are sent to the servo amplifier via CAN bus and drive the motor to move.

[0039] Communication Module: This communication module is responsible for communication between the tower demolition prototype and the host computer. This invention combines the energy supply capacity of the unmanned angle steel tower demolition system, and comprehensively considers factors such as single-point transmission distance, network scalability, energy consumption and the number of network nodes allowed, and determines ZigBee technology as the wireless communication means for the self-organizing network of the unmanned angle steel tower demolition system. The communication module includes a wireless transceiver board and a relay node.

[0040] Drive module: This drive module is responsible for executing the instructions of the control module and driving the motor.

[0041] The visual positioning module 7 is formed at the front of the multi-degree-of-freedom hydraulic working arm 2. The visual positioning module 7 acquires images by capturing images of the front and is wirelessly connected to an external controller. Specifically, the visual positioning module 7 includes detection elements such as photoelectric encoders. When the unmanned angle steel tower demolition system is operating, it transmits video signals to the host computer via wireless communication to achieve human-machine interaction. Through image capture, it realizes the identification and positioning of the angle steel structure. Combined with laser scanning data and material stress distribution model, it accurately marks the cutting path of weak points in the three-dimensional spatial coordinate system to ensure the successful cutting of weak points of the angle steel tower.

[0042] Power module: The main function of this module is to provide appropriate voltage to other functional modules of the electrical system and to isolate certain functional modules from power supply to prevent them from being interfered with by high-power units such as motors. Host computer module: This host computer module provides the operator with a human-machine interface and human-machine interactive control interface, enabling the operator to intuitively and conveniently operate the tower dismantling prototype system for on-site cutting operations.

[0043] The unmanned tower dismantling robot based on the removal of weak points in towers provided in this embodiment works as follows: S1. Autonomous navigation and remote control system drives the self-propelled chassis 1 to start the operation process. The self-propelled chassis 1 performs spatial displacement based on the pre-planned navigation path until it reaches the area to be cut. S2. Weak point identification and location: The visual positioning module 7 captures and collects the surface morphology features of the angle steel structure, and simultaneously uses LiDAR to scan and construct a point cloud model. The visual image and the three-dimensional model are fused in a spatial coordinate system, and the material stress distribution field is simulated and calculated to generate the weak point cutting trajectory in the global coordinate system. S3. The position and posture adjustment of the multi-degree-of-freedom hydraulic working arm 2 is carried out according to the preset cutting trajectory to make the cutting actuator 3 gradually approach the target cutting point; S4. Positioning, cutting and clamping: The arc-shaped clamping clamp 41 achieves opening and closing motion through a gear and rack transmission system. When the clamp is closed, the arc-shaped curved surface completes the fixed positioning of the weak point support of the angle steel tower. Then, the symmetrically distributed cutting module 6 is activated, and the water jet cutting structure generates double-sided cutting paths for the axial symmetrical plane of the weak point support. S5. Cutting part grabbing and transfer: After the cutting process is completed, the grabbing module 5 guides the angle steel residue into the axial direction. When the angle steel residue is completely entered into the grabbing module 5, the grabbing module 5 and the guide positioning module 4 work together to fix the angle steel residue. The remote control system drives the self-propelled chassis 1 to start the operation process and controls the unmanned angle steel tower dismantling system to transfer the residue to the designated area along the optimal path.

[0044] Please refer to the instruction manual appendix. Figure 1-7 This invention provides a second embodiment of an unmanned tower dismantling robot based on the removal of weak points in towers. In this embodiment, the unmanned angle steel tower dismantling system includes a self-propelled chassis 1, a multi-degree-of-freedom hydraulic working arm 2, and a cutting actuator 3. Specifically: The self-propelled chassis 1 has the ability to overcome obstacles in complex terrain and autonomous positioning, providing a stable foundation for the system's movement. The platform is equipped with a tracked walking device and integrates a multi-degree-of-freedom hydraulic robotic arm in the front working area. The cantilever end of the multi-degree-of-freedom hydraulic robotic arm 2 is integrated with a cutting actuator 3.

[0045] The cutting actuator 3 adopts a three-function integrated design of positioning, clamping, and cutting. The front end is equipped with a guide positioning module 4 and a gripping module 5. There are two gripping modules 5, which are symmetrically installed on the upper and lower sides of the guide positioning module 4. The cutting module 6 is installed on the side of the gripping module 5 away from the guide positioning module 4. In the operation process, while the gripping module 5 closes and locks the angle steel support through gear transmission, the cutting modules 6 on both sides perform synchronous symmetrical cutting along a preset trajectory. The timing coupling of clamping and cutting processes is realized through mechanical linkage logic, eliminating the step-by-step operation interval of clamping and cutting in the traditional process, integrating the two-process operation into a single continuous action, significantly improving the operation efficiency and reducing the idle energy consumption of the equipment.

[0046] Furthermore, in this embodiment, the cutting module 6 is a waterjet cutting component. The cutting module 6 relies on the kinetic energy of ultra-high pressure water jet to drive the material dissociation process, and no external heat source needs to be introduced throughout the process.

[0047] The front end of the guide positioning module 4 is configured with symmetrically distributed double arc-shaped clamps 41. The drive unit induces the two clamps 41 to open and close. The drive unit includes a positioning drive motor 42, a drive gear 43 connected to the positioning drive motor 42, a first driven gear 44 meshing with the drive gear 43 and formed on the clamps 41, and a second driven gear 45 meshing with the first driven gear 44. The second driven gear is fixedly connected to the other clamp 41.

[0048] The positioning drive motor 42 is connected to the drive gear 43 through the output shaft of the reducer. The drive gear 43 drives the sector-shaped first driven gear 44, which is fixed to the clamping clamp 41, to rotate, thereby realizing the controllable opening and closing movement of the clamping mechanism. The clamping clamp 41 is lined with a sponge buffer layer, which absorbs the cutting impact energy and enhances the clamping stability. It is more suitable for the surface morphology of the angle steel column than traditional rigid clamps.

[0049] The gripping module 5 is equipped with telescopic guide arms 51 symmetrically distributed on both sides. The guide space formed by the two telescopic guide arms 51 forms a constraint channel for the angle steel tower support through its linear displacement path, eliminating the risk of displacement during component movement. Each telescopic guide arm 51 has a self-locking hook 52 hinged at its front end, and a torsion spring 53 is coupled to the rotation axis of the self-locking hook 52 and the telescopic guide arm 51. During operation, the angle steel tower support is mechanically limited and guided to move axially along the telescopic guide arm 51. When the angle steel tower support is fully inside the guide space formed by the two telescopic guide arms 51, the torsion spring 53 drives the self-locking hook 52 to complete the locking action, realizing the sequential coupling execution of component cutting and separation and gripping guidance processes.

[0050] The visual positioning module 7 is integrated into the front end of the multi-degree-of-freedom hydraulic robotic arm. This visual positioning system captures the surface morphology features of the angle steel structure through the imaging unit, and the visual positioning module 7 is wirelessly connected to the external controller.

[0051] As a structural reinforcement of this technical solution, the telescopic guide arm 51 is laterally integrated with a linear gear rail 511, and the guide drive motor 512 is fixed to the side of the telescopic guide arm 51 through a motor mounting base. The output shaft of the guide drive motor 512 is connected to a planetary gear reducer, and the guide drive motor 512 drives the guide transmission gear 513 that meshes with the linear gear rail 511 to rotate.

[0052] Preferably, in some examples, the gear-rail transmission system may be equipped with an automatic backlash compensation mechanism that eliminates meshing backlash through a structure such as a preloaded spring.

[0053] The telescopic lifting arm is equipped with a tapered guide cavity at its front end, with the spacing between its inner sides decreasing in a gradient along the direction of component introduction. A centering guide channel is constructed through wedge-shaped geometric constraints.

[0054] Based on the above technical solution, the present invention also proposes an unmanned tower dismantling method based on the removal of weak points in towers. The specific operation method of this unmanned tower dismantling method is as follows: S1. Autonomous navigation and terrain adaptation: The remote control module is activated, and terrain data is acquired through the visual positioning module 7. A three-dimensional environment map is constructed in conjunction with the laser scanning device. A preset path is constructed based on the three-dimensional environment map, and the self-propelled chassis 1 moves according to the preset path.

[0055] S2. Multimodal data fusion definition: The vision positioning module 7, integrated into the front end of the multi-degree-of-freedom hydraulic robotic arm, is activated. The vision positioning module 7 captures the surface morphology features of the angle steel structure, and simultaneously uses LiDAR to scan and generate a point cloud model. The visual image and the three-dimensional model are fused into a unified coordinate system, and the stress distribution field of the material is simulated and calculated. The critical failure area is selected to generate a cutting path planning scheme.

[0056] S3. Robotic arm collaborative pose calibration: The multi-degree-of-freedom hydraulic robotic arm adjusts its spatial pose according to the cutting path, the vision servo system provides real-time feedback on the cutting head's pose offset, and the remote control module corrects the robotic arm's motion trajectory to ensure that the cutting plane and the construction axis form an orthogonal geometric relationship.

[0057] S4. Perform the positioning-clamping-cutting process: The positioning drive motor 42 outputs torque to drive the drive gear 43 to rotate. The drive gear 43 meshes with the first driven gear 44 to induce the double arc-shaped clamping clamp 41 to open and close along a predetermined trajectory, constraining and positioning the angle steel tower support. Subsequently, the remote control module activates the cutting module 6, and the cutting modules 6 on both sides cut the angle steel tower support synchronously. At this time, the linear constraint channel formed by the telescopic guide arm 51 guides the angle steel tower support to move stably. When the angle steel tower support is fully inserted into the guide space, the self-locking hook 52 completes the locking action under the drive of the torsion spring 53, realizing the immediate fixation of the cut debris.

[0058] S5. Locked-up transfer of angle steel tower wreckage: After cutting, the telescopic guide arm 51 guides the angle steel tower debris along the axial direction of the gradually narrowing guide space and fixes it. Then, the self-moving chassis transfers the debris along the planned path and finally accurately places the debris into the designated aggregate area.

[0059] The integrated waterjet cutting and remote control unmanned angle steel tower dismantling method of this invention is precisely compatible with unmanned tower dismantling robots and methods based on the dismantling of weak points in towers. It achieves weak area identification and cutting path planning of angle steel structure based on visual positioning, and the multi-degree-of-freedom hydraulic robotic arm ensures that the cutting module 6 reaches the weak area of ​​angle steel structure. The cold waterjet cutting avoids the intervention of heat source, and the material is dissociated by ultra-high pressure jet kinetic energy to maintain the integrity of the microstructure of the cutting surface, eliminate the risk of secondary damage caused by traditional thermal cutting, and ensure the mechanical stability of the residual structure.

[0060] Meanwhile, the flexible buffer of the double arc-shaped clamping clamp 41 and the coordinated positioning and clamping of the gradually narrowing guide cavity in the method of the present invention realize the instant fixation of the cut debris, synchronize the cutting and clamping processes, and build a continuous operation chain of "identification-cutting-removal", providing a standardized solution for unmanned angle steel tower demolition projects.

[0061] 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 or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An unmanned tower dismantling robot based on the removal of weak points in towers, characterized in that, The device includes a self-propelled chassis (1) that moves on the ground, a multi-degree-of-freedom hydraulic boom (2) mounted on the front side of the self-propelled chassis (1), and a cutting actuator (3) mounted on the cantilever end of the multi-degree-of-freedom hydraulic boom (2). The cutting actuator (3) includes a guide positioning module (4) formed at the front end of the cutting actuator (3) and a gripping module (5) for performing gripping actions. The cutting module (6) is fixed on the gripping module (5) and moves synchronously with the gripping module (5).

2. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 1, characterized in that: The number of gripping modules (5) is two, and the two gripping modules (5) are symmetrically installed on the upper and lower sides of the guide positioning module (4). The cutting module (6) is installed on the side of the gripping module (5) away from the guide positioning module (4).

3. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 1, characterized in that: The guide positioning module (4) includes two clamping clamps (41) formed at the front end of the cutting actuator (3) and arranged opposite to each other. The drive unit induces the two clamping clamps (41) to open and close.

4. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 3, characterized in that: Both clamps (41) are arc-shaped structures, with sponge attached to the inner surface of the clamps (41).

5. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 3, characterized in that: The drive unit includes a positioning drive motor (42), a drive gear (43) connected to the positioning drive motor (42), a first driven gear (44) meshing with the drive gear (43) and formed on one of the clamps (41), and a second driven gear (45) meshing with the first driven gear (44). The second driven gear (45) is fixedly connected to the other clamp (41).

6. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 1, characterized in that: The gripping module (5) has telescopic guide arms (51) formed symmetrically on both sides and the telescopic guide arms (51) can move linearly in a straight line. The front end of the telescopic guide arm (51) is hinged to a self-locking hook body (52), and a torsion spring (53) is coupled to the rotation axis of the self-locking hook body (52) and the telescopic guide arm (51).

7. The unmanned tower dismantling robot based on the removal of weak points of towers as described in claim 1, characterized in that: The cutting module (6) is a waterjet cutting component.

8. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 6, characterized in that: The visual positioning module (7) is formed at the front of the multi-degree-of-freedom hydraulic boom (2). The visual positioning module (7) acquires images by taking pictures of the front and is wirelessly connected to an external controller.

9. The unmanned tower dismantling robot based on the removal of weak points of towers according to claim 6, characterized in that: The telescopic guide arm (51) forms a linear toothed rail (511) on its longitudinal side. The guide drive motor (512) is mounted on a motor mounting base on the side of the telescopic guide arm (51). The guide drive motor (512) is equipped with a guide transmission gear (513) that meshes with the linear toothed rail (511).

10. An unmanned tower dismantling method based on the removal of weak points in towers, characterized in that: The unmanned angle steel tower dismantling method uses an unmanned tower dismantling robot based on the dismantling of weak points of the tower as described in any one of claims 1-9.

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