Disassembling device and disassembling method for waste steel structure

Abstract

The invention relates to the technical field of steel structure disassembling, and discloses a waste steel structure disassembling device and a disassembling method.The waste steel structure disassembling device comprises a moving platform; the executing mechanism comprises a driving part and a laser cutting part arranged at the executing end of the driving part; the control mechanism is suitable for controlling the movement of the movable platform, the movement track of the driving part and the cutting parameters of the laser cutting part; and the visual positioning mechanism is suitable for identifying and positioning the to-be-dissected steel structure component and providing data for the control mechanism to plan a cutting path. A to-be-disassembled component and a complex node are accurately recognized and positioned through a visual positioning mechanism, and reliable data support is provided for a control mechanism to plan a cutting path; and in cooperation with cooperative operation of the multi-degree-of-freedom driving part and the laser cutting part, the control mechanism is combined to precisely regulate and control the moving platform, the motion trail and the cutting parameters, and fine disassembly of the waste steel structure is achieved.

Description

Technical Field

[0001] This invention relates to the field of steel structure dismantling technology, specifically to a dismantling device and method for scrap steel structures. Background Technology

[0002] Currently, in the field of steel structure construction waste dismantling, traditional methods such as flame cutting, plasma cutting, and mechanical shearing still dominate. Some modern equipment has introduced CNC cutting systems or robotic arms, combined with fixed laser cutting machines or mobile drive solutions, which can improve work efficiency and provide basic path planning and cutting parameter control capabilities; some equipment is also equipped with simple vision recognition systems to assist in positioning and trajectory generation, providing preliminary technical support for the dismantling of waste steel structures.

[0003] However, when dealing with scrap steel structures with complex nodes such as corbels and ring plates, the above-mentioned technologies still have obvious shortcomings: First, the dismantling process is rough and lacks a detailed assessment of the remaining value of the components, which can easily cause serious damage to the reusable parts; Second, the cutting precision control is insufficient. In the process of connecting the ring plate with the round tube and treating irregular welds, problems such as excessive gaps and eccentric cutting often occur, which seriously affect the reuse rate of the components. Summary of the Invention

[0004] This invention provides a dismantling device and method for scrap steel structures to solve the problems in the prior art where the rough dismantling process leads to component damage and insufficient cutting precision affects component reuse.

[0005] In a first aspect, the present invention provides a device for dismantling scrap steel structures, comprising: Mobile platform; An actuator is mounted on the mobile platform. The actuator includes a multi-degree-of-freedom drive and a laser cutting component mounted at the actuation end of the drive. A control mechanism is provided on the mobile platform, and the control mechanism is signal-connected to the mobile platform, the drive unit, and the laser cutting part; A visual positioning mechanism is mounted on the drive component, located on one side of the laser-cut component, and is signal-connected to the control mechanism. The visual positioning mechanism is adapted to identify and locate the steel structure component to be dismembered, and to provide data for the control mechanism to plan the cutting path.

[0006] Optionally, a mounting base is fixedly provided on the mobile platform, and the driving component is rotatably mounted on the mounting base via a slewing bearing.

[0007] Optionally, the driving element includes: The first connecting arm is rotatably mounted on the mobile platform; The second connecting arm is rotatably mounted on the first connecting arm, and the end of the second connecting arm is the execution end.

[0008] Optionally, the laser-cut part is detachably mounted on the actuating end via a quick-release assembly, the quick-release assembly comprising: A rotating seat is rotatably mounted at the end of the second connecting arm via a rotating shaft; A fixing component is provided on the rotating base, and the laser cutting component is detachably mounted on the fixing component.

[0009] Optionally, the mobile platform is a trolley, which includes a chassis, drive wheels disposed at the bottom of the chassis, and a frame disposed on the chassis.

[0010] Optionally, the control mechanism includes: A numerical control system is mounted on the mobile platform, and the numerical control system is signal-connected to the drive component and the laser-cut component. The human-machine interface is mounted on the mobile platform and is connected to the CNC system via signals.

[0011] Optionally, the visual positioning mechanism includes: A 3D camera, which is fixedly mounted on the actuator end of the drive unit via a mounting bracket.

[0012] Optionally, it also includes a gas supply system, which includes an air compressor connected to the laser-cut part via an air pipe to provide auxiliary gas to the laser-cut part to blow away the molten material in the cut.

[0013] Optionally, the mobile platform is further provided with: A laser generator is connected to the laser-cut workpiece via an optical fiber; A water chiller is connected to the laser generator via cooling pipes.

[0014] Beneficial effects: The present invention provides a scrap steel structure dismantling device, comprising: a mobile platform; an execution mechanism disposed on the mobile platform, the execution mechanism including a multi-degree-of-freedom drive component and a laser cutting component disposed at the execution end of the drive component; a control mechanism disposed on the mobile platform, the control mechanism being signal-connected to the mobile platform, the drive component, and the laser cutting component; and a visual positioning mechanism disposed on the drive component, located on one side of the laser cutting component, and signal-connected to the control mechanism, the visual positioning mechanism being adapted to identify and locate the steel structure components to be dismantled, and to provide data for the control mechanism to plan the cutting path.

[0015] The scrap steel structure dismantling device provided by this invention identifies and locates the components to be dismantled and complex nodes through a visual positioning mechanism, providing reliable data support for the control mechanism to plan the cutting path. Combined with the coordinated operation of multi-degree-of-freedom drive components and laser cutting components, and the precise control of the moving platform, motion trajectory, and cutting parameters by the control mechanism, it achieves refined dismantling of scrap steel structures. This not only reduces damage to reusable parts of the components during dismantling but also optimizes cutting accuracy, improves cutting effects at complex nodes, and helps increase the component reuse rate.

[0016] Secondly, the present invention also provides a dismantling method using the scrap steel structure dismantling device described in any one of the above descriptions, comprising the following steps: Control the mobile platform to move to the work position where the steel structure component to be dismantled is located; The visual positioning mechanism scans and identifies the structural features of the steel structure component to be dismantled, and transmits the data to the control mechanism, which then plans and generates the cutting path. The control mechanism sets the laser cutting parameters, plans the cutting path, and controls the drive component to move the laser cutting component along the planned cutting path, while simultaneously performing laser cutting on the steel structure component to be dismembered. During the cutting process, the control mechanism monitors the equipment's operating status. After the current steel structure component to be dismembered is cut, the mobile platform is controlled to move to the next work position. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a scrap steel structure dismantling device according to an embodiment of the present invention; Figure 2 A schematic diagram of the circular steel tube component for the corbel; Explanation of reference numerals in the attached figures: 1. Mobile platform; 2. Actuator; 21. Drive component; 22. Laser-cut component; 3. Control mechanism; 4. Vision positioning mechanism; 5. Air supply system; 6. Round tube steel component with bracket. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The following is combined Figure 1 The following describes embodiments of the present invention.

[0021] According to an embodiment of the present invention, in one aspect, a scrap steel structure dismantling device is provided, comprising: Mobile platform 1; The actuator 2 is mounted on the mobile platform 1. The actuator 2 includes a multi-degree-of-freedom drive component 21 and a laser cutting component 22 mounted on the execution end of the drive component 21. The control mechanism 3 is set on the mobile platform 1, and the control mechanism 3 is connected to the control mobile platform 1, the drive component 21 and the laser cutting component 22 via signals. The visual positioning mechanism 4 is mounted on the drive component 21 and is connected to the control mechanism 3 by signal. The visual positioning mechanism 4 is suitable for identifying and locating the steel structure components to be dismembered and providing data for the control mechanism 3 to plan the cutting path.

[0022] The scrap steel structure dismantling device provided in this embodiment of the invention identifies and locates the components to be dismantled and complex nodes through the visual positioning mechanism 4, providing reliable data support for the control mechanism 3 to plan the cutting path; in conjunction with the coordinated operation of the multi-degree-of-freedom drive component 21 and the laser cutting component 22, and combined with the precise control of the moving platform 1, motion trajectory and cutting parameters by the control mechanism 3, it achieves refined dismantling of scrap steel structures; it can reduce damage to the reusable parts of the components during dismantling, optimize cutting accuracy, improve the cutting effect at complex nodes, and help improve the reuse rate of components.

[0023] Furthermore, a mounting base is fixedly installed on the mobile platform 1, and the drive component 21 is rotatably mounted on the mounting base via a slewing bearing.

[0024] In a straightforward manner, the drive component 21 is rotatably mounted on the mounting base via a slewing bearing, which increases the rotational freedom of the drive component 21, enabling it to drive the laser-cut component 22 to achieve 360-degree omnidirectional operation coverage. This eliminates the need for frequent adjustments to the position of the moving platform 1, allowing for flexible adaptation to the different cutting angle requirements of complex node components, thus improving operational flexibility and ease of use.

[0025] Specifically, in this embodiment, the mounting base is fixed to the central area of ​​the mobile platform 1 by welding. Its top has a mounting groove that matches the outer ring of the slewing bearing. The outer ring of the slewing bearing is fastened to the mounting base by bolts. The bottom fixing seat of the drive component 21 is welded and fixed to the inner ring of the slewing bearing. The slewing bearing is equipped with its own hydraulic drive unit, which is signal-connected to the control mechanism 3. The control mechanism 3 controls the rotation angle and speed of the slewing bearing based on the position data transmitted by the visual positioning mechanism 4, thereby driving the drive component 21 and the laser cutting component 22 to adjust their working position.

[0026] In an alternative embodiment, the slewing bearing is replaced by a meshing structure of a gear ring and a drive gear. The gear ring is fixed to the top of the mounting base, and the drive gear is connected to the bottom fixed seat of the drive component 21 and equipped with a servo motor. The servo motor is controlled by the control mechanism 3 to realize the rotation of the drive component 21.

[0027] Furthermore, the drive component 21 includes: The first connecting arm is rotatably mounted on the mobile platform 1; The second connecting arm is rotatably mounted on the first connecting arm, and the end of the second connecting arm is the actuating end.

[0028] As is easily understood, the drive unit 21 adopts a rotating connection structure between the first connecting arm and the second connecting arm. The relative rotation of the two arms can expand the working range, allowing the laser cutting part 22 to flexibly reach different positions and complex nodes of the component to be cut. The coordinated rotation of the two arms can more accurately adapt to the cutting path, improve the cutting adaptability of complex parts such as irregular welds, ring plates and round pipe joints, and enhance the flexibility and accuracy of the device operation.

[0029] In this embodiment, the first connecting arm is fixed to the moving platform 1 by a flange with a shaft hole and the inner ring bolt of the slewing bearing on the moving platform 1. The first connecting arm has a lug structure at its top, and a rotating shaft passes through the lug. The rotating shaft is rotatably connected to the head end of the second connecting arm via a bearing. The rotatable connection between the first and second connecting arms adopts a hydraulic hinge structure. The two arms rotate relative to each other via a hydraulic cylinder. The extension and retraction of the hydraulic cylinder is controlled by the control mechanism 3 through a solenoid valve to adapt to the angle adjustment requirements under heavy load scenarios. In an alternative embodiment, gear meshing transmission can also be used. A sector gear is set at the top of the first connecting arm, and a corresponding drive gear is set at the head end of the second connecting arm. The drive gear is driven by a stepper motor, and the rotation angle of the two arms is controlled through gear meshing to improve adjustment stability.

[0030] Furthermore, the laser-cut part 22 is detachably mounted on the actuating end via a quick-release assembly, which includes: A rotating seat is rotatably mounted at the end of the second connecting arm via a rotating shaft; The fastener is mounted on the rotating base and has a detachable laser cutting component 22.

[0031] In a straightforward manner, the laser cutting component 22 is detachably mounted on the execution end via a quick-release assembly. The rotating base can drive the laser cutting component 22 to rotate around the axis, increasing the adjustment dimension of the cutting angle and making it easier to adapt to cutting surfaces with different orientations. The detachable design of the fixing component facilitates the quick replacement and maintenance of the laser cutting component 22. When the cutting component is damaged or needs to be replaced with a different power model, disassembly and assembly can be completed without complicated operations, improving the continuity and adaptability of the device's operation.

[0032] Specifically, the rotating seat has a U-shaped structure, and its two side walls are rotatably connected to the ear plate at the end of the second connecting arm through a rotating shaft. One end of the rotating shaft is connected to a servo motor, which is signal-connected to the control mechanism 3 and can drive the rotating seat to rotate around the rotating shaft to adjust the pitch angle of the laser cutting part 22. The fixing part is a flange with a positioning pin hole. The tail of the laser cutting part 22 is provided with a matching flange interface. The two are detachably fixed by a quick-release pin through the pin hole. The end of the pin is provided with a spring buckle to prevent it from falling off and to ensure the connection stability during the cutting process.

[0033] In an alternative embodiment, the rotating seat of the quick-release assembly can be replaced with a ball joint structure, which connects the end of the second connecting arm to the fixing member through a ball joint, enabling multi-directional angle adjustment of the laser cutting part 22 to adapt to more complex cutting orientation requirements; the fixing member can adopt a snap-fit ​​connection, with elastic snaps on the fixing member and corresponding slots on the laser cutting part 22, and the assembly and disassembly can be completed by pressing the snaps, making the operation more convenient.

[0034] Furthermore, the mobile platform 1 is a traveling trolley, which includes a chassis, drive wheels set at the bottom of the chassis, and a frame set on the chassis.

[0035] In a straightforward manner, the mobile platform 1 adopts a trolley structure, which enables the device to move autonomously with the help of the drive wheels at the bottom of the chassis. It can flexibly adapt to different work sites (such as dismantling workshops, open-air storage areas, etc.), making it easy to approach the scrap steel structure components to be dismantled, reducing the trouble of manual handling due to the fixed position of the components, and improving the working range and mobility of the device. The frame provides a stable installation foundation for components such as the actuator 2 and the control mechanism 3, ensuring the structural stability when the components work together.

[0036] Specifically, the chassis of the traveling trolley is welded from high-strength alloy steel and has a rectangular frame structure to ensure load-bearing strength. Four drive wheels are symmetrically arranged at the bottom of the chassis, two of which are active wheels with servo motors and the other two are universal driven wheels. The servo motors of the active wheels are connected to the control mechanism 3, and the wheel speed and steering can be adjusted through the control mechanism 3 to realize the linear movement, steering and rotation of the traveling trolley. The frame is a vertical frame welded to the upper surface of the chassis. Its top plane is used to fix the mounting base, and the sides are provided with multi-layer mounting plates, which are used to place the control cabinet of the control mechanism 3, the power module and the auxiliary equipment of the vision positioning mechanism 4. The frame edge is also equipped with guardrails to prevent external collisions from damaging the equipment during operation.

[0037] Furthermore, control mechanism 3 includes: The numerical control system is mounted on the mobile platform 1 and is connected to the drive unit 21 and the laser cutting part 22 via signals. The human-machine interface is mounted on the mobile platform 1 and is connected to the CNC system signal.

[0038] In a straightforward manner, the control mechanism 3 uses a CNC system to precisely control the motion trajectory of the drive component 21 and the parameters of the laser-cut component 22. Combined with a human-machine interface, it facilitates operators in inputting commands, adjusting parameters, or monitoring the operational status in real time, forming a collaborative mode of automatic control plus manual intervention. This ensures the consistency of the cutting path and parameters, improving disassembly accuracy, while also allowing for flexible adjustments through manual operation under complex working conditions, enhancing the practicality and controllability of the device.

[0039] Specifically, the CNC system uses a PLC controller, which is fixedly installed in the control cabinet of the mobile platform 1 frame. Its input end is connected to the signal output end of the vision positioning mechanism 4. After receiving the component positioning data, it generates motion trajectory instructions for the drive component 21 and parameter signals such as laser cutting power and speed, which are transmitted to the servo motor of the drive component 21 and the control module of the laser cutting component 22, respectively. The human-machine interface is a touch screen display embedded in the operation panel on the side of the frame. The screen can display the real-time cutting path, equipment status and parameter setting interface. The operator can modify the cutting parameters and start and stop the equipment by touch input or physical buttons. The display screen and the CNC system communicate bidirectionally through the data bus to realize the synchronization of instruction transmission and status feedback.

[0040] Furthermore, the visual positioning mechanism 4 includes: The 3D camera is fixedly mounted on the actuator end of the drive unit 21 via a mounting bracket.

[0041] As is easily understood, the 3D camera is set at the execution end of the drive component 21 and can move synchronously with the execution end to capture the three-dimensional shape and complex node details of the component to be disassembled at close range. This provides the control mechanism 3 with accurate spatial coordinate data, which helps to plan the cutting path more accurately. It is especially advantageous for positioning irregular structures such as brackets and ring plates, reducing cutting deviations caused by insufficient visual information and improving the targeting and accuracy of disassembly.

[0042] Furthermore, it also includes a gas supply system 5, which includes an air compressor connected to the laser cutting part 22 via an air pipe, for providing auxiliary gas to the laser cutting part 22 to blow away the molten material in the cut.

[0043] In a straightforward manner, the air supply system 5 provides auxiliary gas to the laser-cut part 22 through an air compressor, which can promptly blow away the molten material generated during the cutting process, prevent the molten material from adhering to the edge of the cut and causing secondary damage, ensure the cleanliness and smoothness of the cut, and at the same time reduce the contamination of the laser cutting head by the molten material, which helps to maintain the stability of the cutting accuracy and improve the reusability of the component after cutting.

[0044] Furthermore, the mobile platform 1 also includes: The laser generator is connected to the laser-cut part 22 via an optical fiber; The water chiller is connected to the laser generator via cooling pipes.

[0045] In a straightforward manner, the mobile platform 1 integrates a laser generator and a water chiller. The laser generator provides a stable light source for the laser-cut part 22 via optical fiber, ensuring the continuity and consistency of the cutting energy output. The water chiller cools the laser generator in real time through cooling pipes, preventing it from overheating due to prolonged operation and affecting its performance or lifespan. The two work together to ensure the stability and efficiency of the laser cutting process and reduce the interference of equipment failure on the disassembly operation.

[0046] In an alternative embodiment, the water chiller can be replaced by an air-cooled system, which adds heat dissipation fins and a high-speed fan to the laser generator housing to achieve cooling through forced air convection. This is suitable for operation scenarios with low laser power and low heat generation, and simplifies system piping connections.

[0047] According to an embodiment of the present invention, in another aspect, a dismantling method using the scrap steel structure dismantling device described above is also provided, comprising the following steps: Control the mobile platform 1 to move to the work position where the steel structure component to be dismantled is located; The visual positioning mechanism 4 scans and identifies the structural features of the steel structure component to be dismembered, and transmits the data to the control mechanism 3, which then plans and generates the cutting path. The laser cutting parameters are set by the control mechanism 3, the cutting path is planned, and the drive component 21 is controlled to drive the laser cutting component 22 to move along the planned cutting path, while simultaneously performing laser cutting on the steel structure components to be dismembered. During the cutting process, the control mechanism 3 monitors the equipment's operating status. After the current steel structure component to be dismembered is cut, the control mechanism 1 moves the mobile platform 1 to the next work position.

[0048] Specifically, under the command of the control mechanism 3, the multi-degree-of-freedom drive component 21 of the actuator 2 flexibly adjusts its motion trajectory according to the planned cutting path: the slewing bearing drives the drive component 21 to rotate as a whole, and the first and second connecting arms expand the working range through relative rotation, so that the laser cutting part 22 can accurately reach the position to be cut; during the cutting process, the drive component 21 continuously adjusts its posture in coordination with the path to ensure that the laser cutting part 22 operates stably along the preset trajectory.

[0049] Specifically, after receiving the data transmitted by the vision positioning mechanism 4, the CNC system of the control mechanism 3 plans the cutting path in combination with the preset algorithm, and converts the path into motion commands and laser cutting parameters (such as power and speed) of the drive component 21; the human-machine interface allows the operator to monitor the path planning results and equipment operating status in real time, and manually adjust the parameters when necessary, so as to realize flexible intervention on the basis of automatic cutting and ensure that the cutting process is controllable.

[0050] Specifically, the 3D camera of the visual positioning mechanism 4 moves with the actuator of the drive component 21 to scan the steel structure component to be dissected, capture the three-dimensional structural features of complex nodes such as corbels and ring plates, generate point cloud data and transmit it to the control mechanism 3; these data provide the control mechanism 3 with accurate spatial coordinates of the component, adapt to the cutting requirements of complex parts such as irregular welds, and reduce positioning deviation.

[0051] Here, the cutting of the cylindrical steel member 6 with corbels is described as an example of the steel structure member to be dissected: Reference Figure 2 The cylindrical steel component 6 with corbels is a steel component with a cylindrical tube as the main load-bearing structure, and corbels (protruding support or connecting structures) formed on the surface of the cylindrical tube through welding or integral molding. This component has a complex structure, low adaptability for secondary use, and is difficult to disassemble. In the specific disassembly process, the corbels are first cut and separated from the main cylindrical tube. The mobile platform 1 moves the scrap steel structure disassembly device to the position of the corbel of the component to be disassembled, ensuring that the corbel is completely within the cutting range. Then, the vision positioning mechanism 4 is activated to scan the component. According to the image generated by the scan, the operator draws the cutting line on the image of the CNC system through the human-machine interface to ensure that the corbel is completely separated from the main cylindrical tube. Finally, the cutting device is activated to complete the disassembly of the corbel part.

[0052] After cutting the corbel, the remaining main steel pipe consists of multiple ring plates welded axially to a long steel pipe. All ring plates need to be removed sequentially. The operating platform 1 is moved to the position of the first ring plate to be cut, ensuring the ring plate is within the camera scanning range for coarse positioning. After the camera scans the cutting position, the operator marks the cutting line in the CNC system based on the scanned image. Simultaneously, the camera automatically identifies the outer diameter of the round pipe and calculates the arc radius, cutting an arc bevel to ensure the gap between the ring plate and the outer wall of the round pipe is ≤2mm. The CNC system detects the concentricity of the inner and outer circles of the ring plate, controlling the deviation to ≤2mm to avoid cutting eccentricity. During cutting, the drive component 21 drives the laser cutting component 22 to rotate along the round pipe. The laser cutting component 22 detects the distance to the pipe wall in real time and dynamically adjusts the distance to the surface of the round pipe to ensure the laser focus position error is ≤0.05mm. After completing the cutting of the first ring plate, the remaining ring plates are removed sequentially following the same process. During the cutting process, the operator needs to monitor the cutting status in real time. If abnormalities such as material jamming or laser interruption occur, the machine must be stopped immediately to troubleshoot before restarting the operation.

[0053] Finally, based on subsequent use and transportation requirements, the main cylindrical tube is cut to ensure the perpendicularity of the end face. The operator moves the dismantling equipment to the cutting position, ensuring the area is within the camera's scanning range for coarse positioning (precise positioning is not required). After the camera scans the cutting position, the operator marks the cutting line in the CNC system based on the scanned image. Then, supports are used to hold both ends of the cylindrical tube to prevent deformation due to gravity after cutting. After the cutting device is started and the cut is completed, the cutting quality must be checked to ensure the cut surface is free of cracks, delamination, severe undercut, and other defects, and burrs must be thoroughly removed.

[0054] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A device for dismantling scrap steel structures, characterized in that, include: Mobile platform (1); An actuator (2) is mounted on the mobile platform (1). The actuator (2) includes a multi-degree-of-freedom drive (21) and a laser cutting component (22) mounted on the execution end of the drive (21). A control mechanism (3) is installed on the mobile platform (1), and the control mechanism (3) is signal connected to the mobile platform (1), the drive unit (21), and the laser cutting part (22); A visual positioning mechanism (4) is disposed on the drive member (21), located on one side of the laser cutting member (22), and is signal-connected to the control mechanism (3). The visual positioning mechanism (4) is adapted to identify and position the steel structure member to be dismembered.

2. The scrap steel structure dismantling device according to claim 1, characterized in that, The mobile platform (1) is fixedly provided with a mounting base, and the driving component (21) is rotatably mounted on the mounting base via a slewing bearing.

3. The scrap steel structure dismantling device according to claim 2, characterized in that, The driving element (21) includes: The first connecting arm is rotatably mounted on the mobile platform (1); The second connecting arm is rotatably mounted on the first connecting arm, and the end of the second connecting arm is the execution end.

4. The scrap steel structure dismantling device according to claim 3, characterized in that, The laser-cut component (22) is detachably mounted on the actuating end via a quick-release assembly, the quick-release assembly comprising: A rotating seat is rotatably mounted at the end of the second connecting arm via a rotating shaft; A fixing component is provided on the rotating seat, and the laser cutting component (22) is detachably provided on the fixing component.

5. The scrap steel structure dismantling device according to any one of claims 1-4, characterized in that, The mobile platform (1) is a walking trolley, which includes a chassis, drive wheels set at the bottom of the chassis, and a frame set on the chassis.

6. The scrap steel structure dismantling device according to any one of claims 1-4, characterized in that, The control mechanism (3) includes: A numerical control system is installed on the mobile platform (1), and the numerical control system is signal connected to the drive unit (21) and the laser cutting part (22); The human-machine interface is disposed on the mobile platform (1) and is connected to the CNC system via signals.

7. The scrap steel structure dismantling device according to any one of claims 1-4, characterized in that, The visual positioning mechanism (4) includes: A 3D camera is fixedly mounted on the execution end of the drive unit (21) via a mounting bracket.

8. The scrap steel structure dismantling device according to any one of claims 1-4, characterized in that, It also includes a gas supply system (5), which includes an air compressor connected to the laser cutting part (22) via an air pipe, for providing auxiliary gas to the laser cutting part (22) to blow away the molten material in the cut.

9. The scrap steel structure dismantling device according to any one of claims 1-4, characterized in that, The mobile platform (1) is also equipped with: A laser generator is connected to the laser-cut part (22) via an optical fiber; A water chiller is connected to the laser generator via cooling pipes.

10. A dismantling method using the scrap steel structure dismantling device as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Control the mobile platform (1) to move to the working position at the steel structure component to be dismantled; The visual positioning mechanism (4) scans and identifies the structural features of the steel structure component to be dismembered, and transmits the data to the control mechanism (3), which then plans and generates the cutting path. The control mechanism (3) sets the laser cutting parameters, plans the cutting path, and controls the drive component (21) to drive the laser cutting component (22) to move along the planned cutting path, while simultaneously performing laser cutting on the steel structure components to be dismembered. During the cutting process, the control mechanism (3) monitors the equipment operation status and, after completing the cutting of the current steel structure component to be dismembered, controls the mobile platform (1) to move to the next work position.

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