House dismantling manipulator

Abstract

The utility model relates to the technical field of engineering machinery, and discloses a house dismantling manipulator which comprises a fixing table, a group of symmetrical and parallel wheel assemblies are fixedly installed at the bottom of the fixing table, a fixing shaft is fixedly installed in the center of the top of the fixing table, and a rotating structure is arranged at the top of the fixing shaft. A fixing plate is fixedly installed above the rotating structure and is in a concave shape, a telescopic structure is arranged in the middle of the concave shape of the fixing plate, the end, away from the fixing frame, of the mechanical arm fixing table is in an arc shape, and a power structure is arranged in the middle of the mechanical arm fixing table. A plurality of power structures and flexible mechanical assemblies are arranged, the telescopic structure can quickly adjust the position of the manipulator according to dismantling requirements, and the rotating structure can realize circumferential rotation, so that the manipulator can quickly reach each dismantling point of a building.

Description

TECHNICAL FIELD

[0001] The utility model relates to engineering machinery technical field, concretely is a house demolition manipulator. BACKGROUND

[0002] In the modern city construction and reconstruction process, house demolition operation is a very key link, house demolition, simply speaking, is the orderly disassembly work of the building that has been built but needs to be abandoned or reconstructed due to various reasons, with the continuous adjustment of city planning, the aging of buildings and the increasing demand of function updating, house demolition work is more and more frequent, on the one hand, old buildings may have safety hazards, such as structural damage, insufficient seismic performance, etc., which threaten the safety of life and property of residents, on the other hand, in order to realize the optimization of urban space and improve the city image, it is inevitable to choose to demolish the buildings that do not conform to the planning and rebuild, and the house demolition manipulator as a kind of efficient demolition equipment can greatly improve the efficiency of demolition operation, reduce labor cost and ensure the safety in the process of demolition, which plays an indispensable role in house demolition work,

[0003] The traditional house demolition technology has many drawbacks, the previous manual demolition is a common way, workers need to use simple tools such as hammer, crowbar, etc., this way not only has low efficiency and slow demolition speed, but also consumes a lot of physical strength of workers, which is difficult to meet the demand of large-scale demolition engineering, at the same time, manual demolition also faces high safety risk, workers are easy to be threatened by building collapse, high-altitude falling objects, etc., and the life safety is difficult to be effectively guaranteed, in addition, the traditional demolition technology has great influence on the surrounding environment in the process of demolition, the dust, noise and other pollution generated by demolition are serious, which is not conducive to environmental protection, these shortcomings not only limit the smooth development of house demolition work, but also affect the overall process and quality of city construction to some extent, therefore, we provide a house demolition manipulator. UTILITY MODEL CONTENTS

[0004] (I) technical problems solved

[0005] In view of the defects of prior art, the utility model provides a house demolition manipulator, which solves the above problems.

[0006] (II) technical scheme

[0007] To achieve the above-mentioned objectives, this utility model provides the following technical solution: a house demolition robot, including a fixed platform, a set of symmetrical and parallel wheel assemblies fixedly installed at the bottom of the fixed platform, a fixed shaft fixedly installed at the top center of the fixed platform, a rotating structure provided at the top of the fixed shaft, a fixed plate fixedly installed above the rotating structure, the fixed plate being concave, a telescopic structure provided in the middle of the concave shape of the fixed plate, a support plate and a fixed rod fixedly installed at the top of the fixed plate, a connecting structure provided at the top of the support plate, a fixed frame fixedly connected to the other end of the connecting structure, a robot rotating structure provided inside the fixed frame, a robot fixed platform fixedly installed at the other end of the robot rotating structure, the end of the robot fixed platform away from the fixed frame being arc-shaped, a power structure provided in the middle of the robot fixed platform, and a gripping structure rotatably installed at the arc-shaped end of the robot fixed platform.

[0008] Preferably, the rotating structure includes a rotating shaft, a fixed plate, and a rotating motor. The rotating shaft is fixedly installed on the top of the fixed shaft, and the top of the rotating shaft is fixedly connected to the bottom of the fixed plate. A through hole is provided at the bottom of the fixed plate. A ball bearing is fixedly installed inside the rotating shaft. The rotating motor is fixedly installed on the concave bottom surface of the fixed plate, and the output shaft of the rotating motor is fixedly connected to the ball bearing inside the rotating shaft.

[0009] Preferably, the telescopic structure includes a telescopic motor, a first connecting rod, and a fixed rod. The telescopic motor is fixedly installed on both outer walls of the fixed plate. The output shaft of the telescopic motor passes through the side wall of the fixed plate, and a set of parallel first connecting rods is fixedly connected to the end of the output shaft of the telescopic motor. The distance between the set of first connecting rods is fixed by a pin, and the fixed rod is rotatably installed on the pin between the first connecting rods.

[0010] Preferably, the connection structure includes a triangular connecting frame, a second connecting rod, and a fixing pin. A set of parallel triangular connecting frames is rotatably mounted on the top of the support plate. The other two corners of the triangular connecting frames are fixed by fixing pins. A second connecting rod is rotatably mounted on one side of the fixing pin. A fixing rod installed between the first connecting rods is rotatably connected to the fixing pin on which the second connecting rod is mounted. The other end of the second connecting rod is rotatably mounted between the two inner sides of the fixing frame.

[0011] Preferably, the rotating structure of the robotic arm includes a second rotating motor and a connecting plate. The second rotating motor is fixedly installed inside the center of the fixed frame, and the output shaft of the second rotating motor is fixedly connected to the connecting plate. The upper and lower ends of the connecting plate are fixedly installed on the robotic arm fixed platform.

[0012] Preferably, the power structure includes a manipulator motor, a rotating plate, a third link, and a connecting column. The manipulator motor is fixedly installed in the center of the manipulator mounting platform. The output shaft of the manipulator motor is fixedly connected to the rotating plate. One end of the rotating plate is rotatably connected to the third link, and the other end of the connecting column is rotatably connected to a movable gear plate.

[0013] Preferably, the gripping structure includes a movable gear plate, a driven gear plate, and a robot arm. The bottom of the connecting column is rotatably connected to the movable gear plate, and the top of the movable gear plate is rotatably connected to the lower surface of the top of the robot arm mounting platform. The movable gear plate has teeth in the middle. The driven gear plate is rotatably mounted on the lower surface of the top of the robot arm mounting platform. The driven gear plate also has teeth on one side corresponding to the movable gear plate. The teeth of the movable gear plate and the driven gear plate mesh with each other. The other ends of the movable gear plate and the driven gear plate are fixedly connected to the robot arm.

[0014] (III) Beneficial Effects

[0015] Compared with the prior art, this utility model provides a house demolition robot, which has the following beneficial effects:

[0016] 1. This house demolition robot is equipped with multiple power structures and flexible mechanical components. The telescopic structure can quickly adjust the position of the robot according to the demolition needs, and the rotating structure can achieve circumferential rotation, enabling the robot to quickly reach various demolition points of the building. At the same time, the power structure drives the gripping structure, which can quickly grab and remove building materials, greatly shortening the demolition time.

[0017] 2. This building demolition robot can be remotely operated by personnel from a safe area away from the demolition site via a control console, avoiding direct exposure of workers to dangerous environments. Its robust mechanical structure and reliable power system ensure that there will be no accidental loss of control during the demolition process. Even if a part of the building collapses, the robot can remain stable due to its structural advantages and will not cause harm to the operators, effectively protecting the lives of demolition workers.

[0018] 3. This demolition robot can precisely grasp and dismantle target building components, minimizing damage to surrounding structures. Simultaneously, it generates relatively little dust and noise during demolition. The precise control of the power structure and mechanical movement makes the demolition operation more orderly, and the resulting construction waste can be centrally collected for subsequent sorting and recycling, reducing negative environmental impact and better meeting the requirements of modern urban environmentally friendly demolition operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the wheel assembly of this utility model;

[0021] Figure 3 This is a schematic diagram of the telescopic structure of this utility model;

[0022] Figure 4 This is a schematic diagram of the power structure of this utility model;

[0023] Figure 5 This is a schematic diagram of the clamping structure of this utility model;

[0024] Figure 6 This is a schematic diagram of the rotating structure of the robotic arm of this utility model.

[0025] In the diagram: 1. Fixed platform; 2. Wheel assembly; 3. Fixed axle; 4. Rotating axle; 5. Fixed plate; 6. Rotating motor one; 7. Telescopic motor; 8. First connecting rod; 9. Support plate; 10. Fixed rod; 11. Triangular connecting frame; 12. Second connecting rod; 13. Fixed pin; 14. Fixed frame; 15. Rotating motor two; 16. Connecting plate; 17. Robotic arm fixed platform; 18. Robotic arm movable motor; 19. Rotating plate; 20. Third connecting rod; 21. Connecting column; 22. Movable gear plate; 23. Driven gear plate; 24. Robotic arm. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figures 1-6 A house demolition robot includes a fixed platform 1. A set of symmetrical and parallel wheel assemblies 2 are fixedly installed at the bottom of the fixed platform 1. A fixed shaft 3 is fixedly installed at the center of the top of the fixed platform 1. A rotating structure is provided at the top of the fixed shaft 3. A fixed plate 5 is fixedly installed above the rotating structure. The fixed plate 5 is concave. A telescopic structure is provided in the middle of the concave shape of the fixed plate 5. A support plate 9 and a fixed rod 10 are fixedly installed at the top of the fixed plate 5. A connecting structure is provided at the top of the support plate 9. A fixed frame 14 is fixedly connected to the other end of the connecting structure. A robot rotating structure is provided inside the fixed frame 14. A robot fixed platform 17 is fixedly installed at the other end of the robot rotating structure. The end of the robot fixed platform 17 away from the fixed frame 14 is arc-shaped. A power structure is provided in the middle of the robot fixed platform 17. A gripping structure is rotatably installed at the arc-shaped end of the robot fixed platform 17.

[0028] Furthermore, the rotating structure includes a rotating shaft 4, a fixed plate 5, and a rotating motor 6. The rotating shaft 4 is fixedly installed on the top of the fixed shaft 3, and the top of the rotating shaft 4 is fixedly connected to the bottom of the fixed plate 5. A through hole is opened at the bottom of the fixed plate 5. A ball bearing is fixedly installed inside the rotating shaft 4. The rotating motor 6 is fixedly installed on the concave bottom surface of the fixed plate 5. The output shaft of the rotating motor 6 is fixedly connected to the ball bearing inside the rotating shaft 4. The power source of the rotating motor 6 is usually an external power supply, ensuring that the motor can operate stably and continuously. During the operation of the motor, the speed of its output shaft can be precisely adjusted by a controller to adapt to the rotation speed requirements of the robot in different demolition scenarios. The ball bearing inside the rotating shaft 4 not only plays a supporting and rotating role, but also has good lubrication performance, which can effectively reduce frictional resistance during rotation, reduce energy loss, extend the service life of the rotating structure, and ensure that the fixed plate 5 remains stable during long-term, high-intensity rotation operations, providing a reliable guarantee for the subsequent precise positioning of the robot.

[0029] Furthermore, the telescopic structure includes a telescopic motor 7, a first connecting rod 8, and a fixed rod 10. The telescopic motor 7 is fixedly installed on both outer walls of the fixed plate 5. The output shaft of the telescopic motor 7 passes through the side wall of the fixed plate 5, and a set of parallel first connecting rods 8 are fixedly connected to the end of the output shaft of the telescopic motor 7. The distance between the set of first connecting rods 8 is fixed by a pin. The fixed rod 10 is rotatably installed on the pin between the first connecting rods 8. The telescopic motor 7 generally adopts a high-precision electric push rod motor with a self-locking function. When the motor stops working, the output shaft can remain in the current position to prevent accidental extension or retraction due to external force or its own weight, ensuring the stability of the robot's position during operation. The pin between the first connecting rods 8 is made of a special wear-resistant material and the surface is hardened to reduce wear during frequent movement and ensure smooth relative rotation between the first connecting rods 8. In addition to playing a connecting and transmission role in the telescopic structure, the fixed rod 10 can also enhance the stability of the entire telescopic structure, prevent swaying or deviation during extension or retraction, and make the robot's horizontal position adjustment more precise.

[0030] Furthermore, the connecting structure includes a triangular connecting frame 11, a second connecting rod 12, and a fixing pin 13. A set of parallel triangular connecting frames 11 are rotatably mounted on the top of the support plate 9. The other two corners of the triangular connecting frames 11 are fixed by fixing pins 13. A second connecting rod 12 is rotatably mounted on one fixing pin 13. A fixing rod 10 installed between the first connecting rods 8 is rotatably connected to the fixing pin 13 on which the second connecting rod 12 is mounted. The other end of the second connecting rod 12 is rotatably mounted between the two inner sides of the fixing frame 14. The shape design of the triangular connecting frame 11 has been optimized, adopting a stable triangular structure, which can effectively... By dispersing forces from different directions, the overall strength and stability of the connection structure are enhanced. The connection between the triangular connecting frame 11, the support plate 9, and the fixing pin 13 uses high-strength bolts, which can ensure that the connection will not loosen under long-term vibration and stress. The length of the second connecting rod 12 can be adjusted according to the actual dismantling operation requirements. By replacing the second connecting rod 12 with different lengths, the working range and angle of the robot can be changed, improving the versatility of the equipment. During the connection process, the surface of the fixing pin 13 is treated with anti-rust to prevent the connection from jamming or loosening due to rust, which would affect the normal operation of the connection structure.

[0031] Furthermore, the rotating structure of the robotic arm includes a second rotating motor 15 and a connecting plate 16. The second rotating motor 15 is fixedly installed in the center of the inside of the fixed frame 14. The output shaft of the second rotating motor 15 is fixedly connected to the connecting plate 16. The upper and lower ends of the connecting plate 16 are fixedly installed on the robotic arm fixed platform 17. The second rotating motor 15 can monitor the rotation angle and speed of the motor output shaft in real time to realize the rotation positioning of the robotic arm fixed platform 17. While ensuring the connection strength, the connecting plate 16 reduces its own weight and the inertial force during the rotation process through reasonable structural optimization. The connection between the connecting plate 16 and the robotic arm fixed platform 17 adopts a combination of welding and bolt connection, which can not only ensure the connection firmness, but also facilitate the maintenance and replacement of the robotic arm fixed platform 17 in the later stage.

[0032] Furthermore, the power structure includes a robotic arm movable motor 18, a rotating plate 19, a third link 20, and a connecting column 21. The robotic arm movable motor 18 is fixedly installed in the center of the robotic arm fixed platform 17. The output shaft of the robotic arm movable motor 18 is fixedly connected to the rotating plate 19. One end of the rotating plate 19 is rotatably connected to the third link 20, and the other end of the connecting column 21 is rotatably connected to a movable gear plate 22. The robotic arm movable motor 18 is typically a servo motor with a large torque, which can provide sufficient power in a short time to drive the rotating plate 19 to rotate rapidly. The rotating plate 19 is designed with an eccentric structure. By changing the eccentricity, the movement amplitude of the third link 20 can be adjusted, thereby controlling the gripping force and stroke of the robot arm 24. The connection between the third link 20 and the connecting column 21 adopts a movable joint. This joint allows for angle changes within a certain range, enabling the connecting column 21 to better adapt to different working postures during movement, improving the efficiency and stability of power transmission. The connecting column 21 is made of high-strength alloy steel, which has been heat-treated and has good comprehensive mechanical properties. It can withstand large impact and tensile forces, ensuring the reliability of the power structure under high-load working conditions.

[0033] Furthermore, the gripping structure includes a movable gear plate 22, a driven gear plate 23, and a robotic arm 24. The bottom of the connecting column 21 is rotatably connected to the movable gear plate 22. The top of the movable gear plate 22 is rotatably connected to the lower surface of the top of the robotic arm mounting platform 17. The movable gear plate 22 has teeth in its middle. The driven gear plate 23 is rotatably mounted on the lower surface of the top of the robotic arm mounting platform 17. The driven gear plate 23 also has teeth on one side corresponding to the movable gear plate 22. The teeth of the movable gear plate 22 and the driven gear plate 23 mesh with each other. The other end of the movable gear plate 22 and the driven gear plate 23 is fixedly connected to the robotic arm 24. 4. The teeth of the movable gear plate 22 and the driven gear plate 23 are involute, which can ensure smooth transmission and low noise during meshing, and has a high load-bearing capacity. The gripping part of the robot arm 24 is made of special rubber material, which can not only increase the friction between the robot arm and the building material to prevent the material from slipping during the gripping process, but also play a certain buffering role to avoid excessive damage to the building material. The opening and closing angle of the robot arm 24 can be adjusted according to the size and shape of the gripping material. The rotation angle of the movable gear plate 22 and the driven gear plate 23 is controlled by the control system to achieve precise gripping by the robot arm 24.

[0034] Structural Description:

[0035] Fixed platform 1: Fixed platform 1 is the basic support structure of the house demolition robot. The wheel assembly 2 is symmetrically and parallelly installed at the bottom, and the fixed shaft 3 is fixed in the center of the top. It is like a stable foundation, providing solid support for the entire device. It is the carrier for the installation and operation of other components, ensuring that the equipment will not shake or tip over during demolition operations.

[0036] Wheel assembly 2: Wheel assembly 2 is installed at the bottom of the fixed platform 1 and consists of a set of symmetrical and parallel wheels. These wheels have good wear resistance and grip. Their function is to give the device mobility, so that the robot can flexibly shuttle in the demolition site, quickly reach different demolition positions, and improve the mobility of the operation.

[0037] Fixed axis 3: Fixed axis 3 is located at the top center of fixed platform 1. One end of it is firmly fixed to the fixed platform, and the other end is connected to the rotating structure. Its main function is to provide stable support and precise positioning for the rotating structure, so that the rotating structure can rotate smoothly around the fixed axis during operation, thereby driving the robot to adjust the angle.

[0038] Rotating shaft 4: The rotating shaft 4 is installed on the top of the fixed shaft 3, and its top is fixedly connected to the bottom of the fixed plate 5. The rotating shaft is equipped with ball bearings. This design greatly reduces the friction during rotation. Driven by the rotating motor 6, it drives the fixed plate 5 to rotate around the fixed shaft 3. It is one of the key components for realizing multi-angle operation of the robot.

[0039] Fixed plate 5: Fixed plate 5 has a concave structure and is located above the rotating structure. The concave design saves materials and provides installation space for the telescopic structure. Support plate 9 and fixed rod 10 are installed on its top. It not only bears the weight of other components, but also adjusts the position of the robot in the horizontal direction through the movement of the telescopic structure.

[0040] Rotary motor 6: Rotary motor 6 is fixedly installed on the concave bottom surface of the fixed plate 5. Its output shaft is fixedly connected to the ball bearing in the rotating shaft 4. Power is generated by energizing it. When the motor is running, the output shaft drives the ball bearing to rotate, thereby causing the rotating shaft 4 and the fixed plate 5 to rotate together, allowing the robot to quickly align with different demolition points of the building and improve work efficiency.

[0041] Telescopic motor 7: The telescopic motor 7 is installed on both sides of the outer wall of the fixed plate 5. Its output shaft passes through the side wall of the fixed plate and is connected to a set of parallel first connecting rods 8 at the end. The telescopic motor controls the extension and retraction of the output shaft to push the first connecting rods 8 to move, thereby realizing the extension and retraction of the telescopic structure and thus accurately adjusting the distance between the robot and the building.

[0042] First Link 8: The first link 8 is connected to the output shaft of the telescopic motor 7. They are a set of parallel links, with a fixed distance between them by a pin. A fixed rod 10 is rotatably mounted on the pin. Driven by the telescopic motor 7, the first link 8 drives the fixed rod 10 to move, so that the entire telescopic structure can extend and retract stably, driving the robot to approach or move away from the building, meeting the needs of different demolition scenarios.

[0043] Support plate 9: Support plate 9 is fixedly installed on top of fixed plate 5. Its main function is to provide a stable support platform for the connection structure and ensure that the connection structure can work normally. The strength and stability of the support plate directly affect the performance of the connection structure, and thus affect the positioning accuracy of the robot.

[0044] Fixed rod 10: Fixed rod 10 is rotatably mounted on the pin between the first connecting rods 8. It plays an important role in connection and transmission in the telescopic structure, and also enhances the stability of the entire telescopic structure. When the first connecting rod 8 moves, fixed rod 10 moves accordingly to prevent swaying or deviation during the telescopic process, and makes the robot arm more accurately adjusted in the horizontal direction.

[0045] Triangular connecting frame 11: Triangular connecting frame 11 is rotatably mounted on the top of support plate 9. It adopts a stable triangular structure, which can effectively disperse forces from different directions. The other two corners of the triangular connecting frame are fixed by fixing pins 13. A second connecting rod 12 is rotatably mounted on one side of the fixing pin to transmit the movement of the telescopic structure and connect to the fixing frame 14.

[0046] Second link 12: One end of the second link 12 is rotatably mounted on the fixing pin 13 on which the second link is mounted. The fixing pin is connected to the fixing rod 10 between the first link 8. The other end is rotatably mounted between the two inner sides of the fixing frame 14. It plays the role of transmitting motion in the connecting structure, transmitting the motion of the telescopic structure to the fixing frame 14, so that the fixing frame can move accurately to the predetermined position.

[0047] Fixed pin 13: Fixed pin 13 is used to fix the triangular connecting frame 11 and connect the second connecting rod 12 and the fixed rod 10. Its design ensures the stability of the connection structure, so that the triangular connecting frame, the second connecting rod and the fixed rod can work closely together and ensure that the connection between the components of the whole device is stable and reliable during operation.

[0048] Fixed frame 14: The fixed frame 14 is equipped with a robot arm rotation structure, which is connected to the fixed plate 5 through a connecting structure. It is mainly used to support and position the robot arm fixed platform 17, provide installation space for the robot arm rotation structure, ensure that the robot arm can remain stable during rotation, and adjust the position and angle of the robot arm according to the operation requirements.

[0049] Rotary motor 2 15: Rotary motor 2 15 is fixedly installed in the center of the fixed frame 14. Its output shaft is fixedly connected to the connecting plate 16. When powered on, it drives the connecting plate to rotate. The function of rotary motor 2 is to provide power for the rotation of the robot fixed platform 17, so that the robot can flexibly adjust the angle in the vertical plane and better adapt to the demolition needs of different heights and angles of the building.

[0050] Connecting plate 16: The upper and lower ends of the connecting plate 16 are fixedly installed on the robot arm stationary 17 and connected to the output shaft of the second rotating motor 15. It rotates under the drive of the second rotating motor, thereby driving the robot arm stationary 17 to rotate around the output shaft of the second rotating motor. The connecting plate not only transmits power, but also ensures the stability and accuracy of the robot arm stationary during the rotation process.

[0051] Robotic arm mounting platform 17: The end of the robotic arm mounting platform 17 away from the mounting frame 14 is arc-shaped. This design helps to better fit the surface of the object when gripping building materials. A power structure is set in the middle, and a gripping structure is rotatably installed at the arc-shaped end. The robotic arm mounting platform is an important component that supports and drives the robotic arm 24 to work, providing support and power source for the robotic arm's movements.

[0052] Robotic arm movable motor 18: The robotic arm movable motor 18 is fixedly installed in the center of the robotic arm fixed platform 17. It is the core component of the power structure. The output shaft is fixedly connected to the rotating plate 19. When powered on, the robotic arm movable motor provides power to the power structure, drives the rotating plate to rotate, and then drives the third link 20 to move, so as to realize the grasping action of the robotic arm.

[0053] Rotating plate 19: The rotating plate 19 is connected to the output shaft of the robotic arm motor 18. One end of the rotating plate is rotatably connected to the third link 20. The rotating plate rotates under the drive of the robotic arm motor. By changing the rotation angle, the movement amplitude of the third link is adjusted, thereby controlling the gripping force and stroke of the robotic arm 24 to achieve the purpose of accurately gripping building materials.

[0054] Third link 20: One end of the third link 20 is connected to the rotating plate 19, and the other end is connected to the connecting column 21. It plays a key role in transmitting motion in the power structure, converting the rotation of the rotating plate into the linear motion of the connecting column, providing power for the gripping structure, and enabling the connecting column to drive the movable gear plate 22 to move, thereby realizing the opening and closing action of the manipulator.

[0055] Connecting column 21: Connecting column 21 transmits the motion of the third link 20 to the movable gear plate 22. Its bottom is rotatably connected to the movable gear plate 22, playing a connecting and transmission role between the power structure and the gripping structure. The motion of the connecting column directly affects the rotation of the movable gear plate, thereby controlling the gripping and releasing actions of the robot arm 24.

[0056] Movable gear plate 22: The movable gear plate 22 is rotatably connected to the bottom of the connecting column 21 and the lower surface of the top of the robot arm fixed platform 17. It has teeth in its middle and meshes with the driven gear plate 23. When the connecting column 21 drives the movable gear plate to rotate, the driven gear plate is driven to rotate synchronously through gear meshing, thereby realizing the opening and closing action of the robot arm 24.

[0057] Driven gear plate 23: Driven gear plate 23 is rotatably mounted on the lower surface of the top of the robot arm fixed platform 17. It also has teeth on one side corresponding to the movable gear plate 22, which mesh with the teeth of the movable gear plate 22. It rotates under the drive of the movable gear plate, and works with the movable gear plate to realize the precise grasping of the robot arm 24, ensuring the smoothness and reliability of the grasping process.

[0058] Robotic arm 24: The robotic arm 24 is connected to the other end of the movable gear plate 22 and the driven gear plate 23. It is the direct execution component of the demolition operation. It achieves opening and closing actions through the rotation of the movable gear plate and the driven gear plate. It is used to grab and demolish building materials. Its grabbing ability and accuracy directly affect the efficiency and quality of the demolition operation.

[0059] Working Principle: During operation, the wheel assembly 2 first moves the entire device to the demolition site. The fixed platform 1 provides stable support. After the equipment is started, the rotating structure begins to work. The rotating motor 6 is energized, and its output shaft drives the ball bearings inside the rotating shaft 4 to rotate. Since the top of the rotating shaft 4 is fixedly connected to the bottom of the fixed plate 5, the fixed plate 5 rotates around the fixed shaft 3. This rotation allows the robot arm to flexibly adjust its angle and quickly align with the demolition points in different directions of the building, greatly improving the flexibility of the operation. As the fixed plate 5 rotates into place, the telescopic structure begins to function. The telescopic motors 7 on both sides of the outer wall of the fixed plate 5 start synchronously, and their output shafts extend, pushing the first connecting rod connected to them. The first connecting rod 8 and the first connecting rod 8 are fixed at a distance by a pin, and a fixed rod 10 is rotatably mounted on the pin. Driven by the telescopic motor 7, the first connecting rod 8 drives the fixed rod 10 to move, thereby realizing the telescopic function. By adjusting the extension length of the output shaft of the telescopic motor 7, the horizontal position of the robot can be precisely controlled, allowing the robot to approach or move away from the building to meet the needs of different demolition scenarios. The connecting structure, as an intermediate transmission component, transmits the movement of the telescopic structure to the fixed frame 14. The triangular connecting frame 11, which is rotatably mounted on the top of the support plate 9, remains stable under the action of the fixed pin 13. The second connecting rod 12 is rotatably mounted on one side of the fixed pin 13, and the fixed rod 10 is connected to the first connecting rod 8 at one end. The first end is connected to the second connecting rod 12, and the second end is rotatably mounted between the two inner sides of the fixed frame 14. When the telescopic structure moves, the fixed rod 10 drives the second connecting rod 12 to move, thereby moving the fixed frame 14 to ensure that the robot can accurately reach the predetermined demolition position. The robot's rotating structure inside the fixed frame 14 starts working after reaching the designated position. The rotating motor 15 starts, and its output shaft drives the connecting plate 16 to rotate. Since the upper and lower ends of the connecting plate 16 are fixed on the robot's fixed platform 17, the robot's fixed platform 17 rotates around the output shaft of the rotating motor 15. This rotation allows the robot to flexibly adjust its angle in the vertical plane, better adapting to the demolition needs of buildings with different heights and angles, and enhancing the demolition efficiency. In addition to its adaptability to different tasks, the power structure provides power to the gripping structure to achieve the gripping and dismantling actions. The manipulator's movable motor 18 is located in the center inside the manipulator's fixed platform 17, and its output shaft is connected to the rotating plate 19. When the manipulator's movable motor 18 is started, the rotating plate 19 rotates accordingly. The third connecting rod 20 connected to one end of the rotating plate 19 drives the connecting column 21 to move. The movement of the connecting column 21 is transmitted to the movable gear plate 22. The movable gear plate 22 and the driven gear plate 23 mesh with each other, so that the two rotate synchronously. The other ends of the movable gear plate 22 and the driven gear plate 23 are respectively fixedly connected to the manipulator 24. Under the rotation of the gear plate, the manipulator 24 opens or closes to complete the gripping and dismantling actions of building materials.

[0060] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A house demolition robot, comprising a fixed platform (1), characterized in that: A set of symmetrical and parallel wheel assemblies (2) are fixedly installed at the bottom of the fixed platform (1). A fixed shaft (3) is fixedly installed at the center of the top of the fixed platform (1). A rotating structure is provided at the top of the fixed shaft (3). A fixed plate (5) is fixedly installed above the rotating structure. The fixed plate (5) is concave. A telescopic structure is provided in the middle of the concave shape of the fixed plate (5). A support plate (9) and a fixed rod (10) are fixedly installed at the top of the fixed plate (5). A connecting structure is provided at the top of the support plate (9). A fixed frame (14) is fixedly connected to the other end of the connecting structure. A robot arm rotating structure is provided inside the fixed frame (14). A robot arm fixed platform (17) is fixedly installed at the other end of the robot arm rotating structure. The end of the robot arm fixed platform (17) away from the fixed frame (14) is arc-shaped. A power structure is provided in the middle of the robot arm fixed platform (17). A gripping structure is rotatably installed at the arc-shaped end of the robot arm fixed platform (17).

2. The house demolition robot according to claim 1, characterized in that: The rotating structure includes a rotating shaft (4), a fixed plate (5), and a rotating motor (6). The rotating shaft (4) is fixedly installed on the top of the fixed shaft (3). The top of the rotating shaft (4) is fixedly connected to the bottom of the fixed plate (5). The bottom of the fixed plate (5) has a through hole. A ball bearing is fixedly installed inside the rotating shaft (4). The rotating motor (6) is fixedly installed on the concave bottom surface of the fixed plate (5). The output shaft of the rotating motor (6) is fixedly connected to the ball bearing inside the rotating shaft (4).

3. The house demolition robot according to claim 1, characterized in that: The telescopic structure includes a telescopic motor (7), a first connecting rod (8), and a fixed rod (10). The telescopic motor (7) is fixedly installed on both outer walls of the fixed plate (5). The output shaft of the telescopic motor (7) passes through the side wall of the fixed plate (5), and a set of parallel first connecting rods (8) is fixedly connected to the end of the output shaft of the telescopic motor (7). The distance between the set of first connecting rods (8) is fixed by a pin, and the fixed rod (10) is rotatably installed on the pin between the first connecting rods (8).

4. A house demolition robot according to claim 3, characterized in that: The connection structure includes a triangular connecting frame (11), a second connecting rod (12), and a fixing pin (13). A set of parallel triangular connecting frames (11) is rotatably installed on the top of the support plate (9). The other two corners of the triangular connecting frame (11) are fixed by the fixing pin (13). A second connecting rod (12) is rotatably installed on one side of the fixing pin (13). A fixing rod (10) installed between the first connecting rod (8) is rotatably connected to the fixing pin (13) on which the second connecting rod (12) is installed. The other end of the second connecting rod (12) is rotatably installed between the two inner sides of the fixing frame (14).

5. A house demolition robot according to claim 1, characterized in that: The rotating structure of the robotic arm includes a second rotating motor (15) and a connecting plate (16). The second rotating motor (15) is fixedly installed in the center of the inside of the fixed frame (14). The output shaft of the second rotating motor (15) is fixedly connected to the connecting plate (16). The upper and lower ends of the connecting plate (16) are fixedly installed on the robotic arm fixed platform (17).

6. A house demolition robot according to claim 1, characterized in that: The power structure includes a manipulator motor (18), a rotating plate (19), a third link (20), and a connecting column (21). The manipulator motor (18) is fixedly installed in the center of the manipulator mounting platform (17). The output shaft of the manipulator motor (18) is fixedly connected to the rotating plate (19). One end of the rotating plate (19) is rotatably connected to the third link (20), and the other end of the connecting column (21) is rotatably connected to a movable gear plate (22).

7. A house demolition robot according to claim 6, characterized in that: The gripping structure includes a movable gear plate (22), a driven gear plate (23), and a robot (24). The bottom of the connecting column (21) is rotatably connected to the movable gear plate (22). The top of the movable gear plate (22) is rotatably connected to the lower surface of the top of the robot fixed platform (17). The movable gear plate (22) has teeth in the middle. The driven gear plate (23) is rotatably installed on the lower surface of the top of the robot fixed platform (17). The driven gear plate (23) also has teeth on one side corresponding to the movable gear plate (22). The teeth of the movable gear plate (22) and the driven gear plate (23) mesh with each other. The other end of the movable gear plate (22) and the driven gear plate (23) is fixedly connected to the robot (24).

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