A device for removing thermal insulation boards on the downstream face of an ultra-high arch dam

Abstract

The utility model discloses a kind of thermal insulation board dismantling devices of super-high arch dam downstream face, it is related to thermal insulation board dismantling technical field, including mobile chassis, the central position of mobile chassis bottom is provided with rotary support;Mechanical arm, with the rotary support of mobile chassis is fixed, mechanical arm can be rotated 360 degrees relative to mobile chassis;Dismantling tool, installation is in the end position of mechanical arm;Mobile unit, along the direction of perpendicular to dismantling tool arrangement, mobile unit includes two bearing platforms, bearing platform can be synchronously relatively moved;A group of bearing platform surface is respectively equipped with spraying mechanism nozzle and marking mechanism nozzle. Through mobile chassis can guarantee that the dismantling device is located in the inclined dam body surface movement, through automatic control can quickly remove the thermal insulation board on dam body surface, and then utilize spraying mechanism nozzle can quickly in dam body surface stroke protective layer, effectively avoid the crack of dam body.

Description

Technical Field

[0001] This utility model relates to the field of insulation board removal technology, and in particular to a device for removing insulation boards on the downstream face of an ultra-high arch dam. Background Technology

[0002] During the construction and maintenance of ultra-high arch dams, the insulation board on the downstream side plays a crucial role in preventing cracks from forming in the internal structure of the dam due to excessive temperature differences. As the dam's service life increases, the insulation board on the dam surface may age, break, or fall off, requiring regular removal and replacement.

[0003] Traditional demolition methods mainly rely on manual labor using simple machinery (such as pneumatic picks and crowbars) or general engineering equipment (such as excavators equipped with breakers). However, the downstream face of an ultra-high arch dam is a steep and curved surface, and the removal of insulation boards is a high-altitude operation. Using traditional methods is extremely inefficient and carries significant risks for manual high-altitude work. Furthermore, it is difficult to precisely control the demolition force and scope, which can easily cause impact damage to the dam's concrete surface. The demolition work is disconnected from subsequent protection (such as spraying), and the dam surface is exposed to the environment for a long time, where drastic fluctuations in temperature and humidity can easily induce micro-cracks. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is that the existing insulation boards on the downstream face of ultra-high arch dams are time-consuming and laborious to remove, and cannot be protected in time after removal, which can easily induce cracks.

[0005] The above-mentioned technical problems are solved by the following technical solution: This utility model proposes a device for removing insulation boards on the downstream face of an ultra-high arch dam, which includes a mobile chassis, and a slewing support is provided at the center of the bottom of the mobile chassis; The robotic arm is fixed to the rotary support of the mobile chassis, and the robotic arm can rotate 360 ​​degrees relative to the mobile chassis. Remove the tooling and install it at the end of the robotic arm; The mobile unit is arranged along a direction perpendicular to the dismantling fixture. The mobile unit includes two support platforms that can move synchronously relative to each other. A spraying mechanism nozzle and a marking mechanism nozzle are respectively installed on the surface of one set of support platforms. Multiple sets of adsorption mechanisms are provided at the bottom of the bearing platforms. The adsorption mechanism includes a support leg fixedly connected to the mobile chassis, and a support pad disposed at the end of the support leg; The extension and retraction of the support leg causes the support pad to contact the surface of the dam.

[0006] In a preferred embodiment of the ultra-high arch dam downstream insulation board removal device of this utility model: the moving unit includes a support platform, guide rails symmetrically arranged on both sides of the support platform, a rack slidably connected to the guide rails, and a gear for driving the rack to move linearly; The support platform is fixedly connected to the rack.

[0007] In a preferred embodiment of the insulation board removal device for the downstream face of the ultra-high arch dam described in this utility model: the rack includes a slider, and the slider is adapted to the guide rail; The gear is driven by a motor.

[0008] In a preferred embodiment of the insulation board removal device for the downstream face of the ultra-high arch dam described in this utility model: the gears mesh with a set of racks respectively; The rotation of the gear can drive the rack to move along the internal trajectory of the guide rail.

[0009] In a preferred embodiment of the insulation board removal device for the downstream face of the ultra-high arch dam described in this utility model: the spray nozzle of the spraying mechanism and the spray nozzle of the marking mechanism rotate synchronously with the removal tooling; The nozzles of the spraying mechanism and the marking mechanism can extend and retract to adjust the distance between the nozzles and the dam surface.

[0010] In a preferred embodiment of the insulation board removal device for the downstream face of the ultra-high arch dam described in this utility model: the removal tool completes the removal of the insulation board on the dam surface; the spraying mechanism sprays protective coating on the dam surface and forms a protective layer on the dam surface; The marking mechanism nozzles can mark cracks on the dam surface.

[0011] The beneficial effects of this utility model are as follows: by moving the chassis, the dismantling device can be moved on the inclined dam surface; by using automated control, the insulation board on the dam surface can be quickly dismantled; and then the spraying mechanism nozzle can quickly form a protective layer on the dam surface, effectively preventing cracks from appearing in the dam. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments of this utility model will be briefly introduced below; obviously, the drawings described below only relate to some embodiments of this utility model, and are not intended to limit this utility model.

[0013] Figure 1 A three-dimensional structural diagram of the dismantling device is shown; Figure 2 A schematic diagram of the connection structure between the adsorption mechanism and the mobile chassis is shown. Figure 3 A schematic diagram of the connection structure between the dismantling tooling and the moving unit is shown. Detailed Implementation

[0014] To enable those skilled in the art to better understand this utility model, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0015] The terminology used in this invention refers to those general terms currently widely used in the art in consideration of the functionality of this invention; however, these terms may vary according to the intent, precedent, or new technology of those skilled in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of this invention. Therefore, the terminology used in this specification should not be construed as simple names, but rather based on the meaning of the terms and the overall description of this invention.

[0016] Reference Figures 1-3 This embodiment provides a device for removing insulation panels on the downstream face of an ultra-high arch dam, comprising: a mobile chassis 1, with a rotary support located at the center of the bottom of the mobile chassis 1; and a robotic arm 2, fixed to the rotary support of the mobile chassis 1, capable of rotating 360 degrees relative to the mobile chassis 1. It should be noted that the mobile chassis 1 adopts a wide tracked chassis, which can stably climb to the surface of the dam and stay on the surface of the dam; the base of the robotic arm 2 is rigidly connected to the slewing bearing in the center of the mobile chassis 1 by high-strength bolts, and the slewing bearing can realize the robotic arm to rotate continuously 360 degrees relative to the mobile chassis 1; this structure solves the problem of stability and all-round coverage when the device operates on the inclined curved surface downstream of the ultra-high arch dam.

[0017] Furthermore, the dismantling fixture 3 is installed at the end of the robotic arm 2; the moving unit 4 is arranged in a direction perpendicular to the dismantling fixture 3, and the moving unit 4 includes two bearing platforms 45, which can move synchronously relative to each other; a set of bearing platforms 45 are respectively equipped with a spraying mechanism nozzle 5 and a marking mechanism nozzle 6.

[0018] It should be noted that the robotic arm 2 adopts a three-section telescopic arm structure, with each section of the arm body welded from high-strength hollow rectangular steel; adjacent arm sections are connected by a precision sliding pair driven by a hydraulic cylinder, and the inner side of the sliding pair is embedded with a wear-resistant copper bushing to reduce frictional resistance.

[0019] Specifically, the robotic arm is equipped with a quick-change interface plate at its end. This interface plate has a standardized flange connection structure, which allows for quick connection and disassembly of tooling 3, making it easier for workers to perform replacement operations.

[0020] Before using dismantling tool 3, the insulation board of the dam can be divided into several small pieces by cutting tools, so that the dismantling tool 3 can better clamp and dismantle it.

[0021] The dismantling fixture 3 is connected to the end of the robotic arm 2. The rotation of the robotic arm 2 can drive the dismantling fixture 3 to rotate synchronously, and the dismantling fixture 3 located at the end of the robotic arm 2 can achieve a 360-degree rotation.

[0022] Furthermore, the moving unit 4 and the dismantling fixture 3 are arranged perpendicularly to each other, and the moving unit 4 includes a set of supporting platforms 45. The supporting platforms 45 can move relative to each other. There are two supporting platforms 45, and the surfaces of the two platforms 45 are respectively equipped with spray nozzles 5 of the spraying mechanism and spray nozzles 6 of the marking mechanism.

[0023] It should be noted that the spray nozzle 5 of the spraying mechanism is connected to the paint supply system through a flexible insulated corrugated pipe, and the paint supply system is installed on the mobile chassis 1; the corrugated pipe has an integrated electric heat tracing insulation layer to ensure that the paint does not solidify in the low temperature and high humidity environment of the dam surface.

[0024] Specifically, the sprayed crack-resistant coating uses a polyurethane-based temperature-controlled material, which can effectively reduce the dissipation of humidity and temperature on the dam surface.

[0025] It should be noted that the marking mechanism nozzle 6 is connected to the marking agent supply system via a hose; and the marking mechanism nozzle 6 and the spraying mechanism nozzle 5 cover the same area.

[0026] The marking agent uses fluorescent powder. While the protective layer is being sprayed onto the dam surface, the fluorescent powder covers the surface of the newly sprayed protective layer, effectively distinguishing the newly sprayed area from the old sprayed area; it also makes it easier for workers to accurately locate the working position of the spraying operation.

[0027] Specifically, when removing the insulation boards from the dam surface, the dismantling tool 3 is used to clamp the divided insulation boards from the dam surface, thus removing them from the dam surface. After the insulation boards are removed, a protective coating can be quickly sprayed onto the dam surface using the spraying mechanism nozzle 5. This effectively avoids the problem of a long interval between the insulation board removal operation and the application of the protective layer, which would expose the dam surface to the environment for a long time, and the drastic fluctuations in temperature and humidity could easily induce micro-cracks. The marking mechanism nozzle 6 moves synchronously with the spraying mechanism nozzle 5. During the spraying process of the spraying mechanism nozzle 5, the marking mechanism nozzle 6 sprays fluorescent powder to mark the newly formed protective layer on the dam surface, forming a clear and continuous marking line at the edge of the new protective layer. After the spraying and marking operations are completed, the dam surface can be scanned with an infrared detection instrument. By checking the continuity of the fluorescent marking line, areas with potential damage such as scratches or micro-pits can be quickly and accurately located, facilitating the repair of defects on the dam surface by the staff.

[0028] Reference Figures 1-3 As an optional embodiment, the mobile chassis 1 includes multiple sets of adsorption mechanisms 7 at its bottom; each adsorption mechanism 7 includes a support leg 71 fixedly connected to the mobile chassis 1, and a support pad 72 disposed at the end of the support leg 71; the extension and retraction of the support leg 71 causes the support pad 72 to contact the surface of the dam body. It should be noted that the support leg 71 is a hydraulically driven adjustable support leg, and the support pad 72 has internal damping. When the mobile chassis 1 is parked on the surface of the dam, the support leg 71 can be controlled to drive the end of the support pad 72 to contact the surface of the dam. This further ensures that the mobile chassis 1 can be parked stably on the surface of the dam.

[0029] Preferably, the support pad 72 can also be in the form of a suction cup. The support pad 72 is connected to a vacuum pump through an independent branch hose. An electromagnetic switch valve is installed on the branch pipe corresponding to each support pad 72. By controlling the electromagnetic switch valve, the vacuum pump is used to extract the air inside the space formed after the support pad 72 comes into contact with the dam surface, so as to ensure that the suction cup can be firmly attached to the dam surface, and further ensure the stability of the contact between the mobile chassis 1 and the dam.

[0030] Reference Figures 1-3 In one embodiment provided in this application, the moving unit 4 includes a support platform 41, guide rails 42 symmetrically arranged on both sides of the support platform 41, a rack 43 slidably connected to the guide rails 42, and a gear 44 for driving the rack 43 to move linearly; the bearing platform 45 is fixedly connected to the rack 43.

[0031] It should be noted that the support platform 41 is fixedly connected to the base plate of the dismantling fixture 3; the support platform 41 is provided with guide rails 42 on both sides along the long axis, and the guide rails 42 are fixedly connected to the support platform 41 by bolts; the rack 43 is adapted to the gear 44, and when the gear 44 rotates, it can drive the rack 43 to move along the long axis of the guide rail 42.

[0032] Furthermore, a set of support platforms 45 are fixedly connected to the rack 43 by bolts, and when the rack 43 moves, it can drive the support platform 45 to move synchronously, thereby adjusting the distance between the spraying mechanism nozzle 5 and the marking mechanism nozzle 6, effectively avoiding motion interference between the spraying mechanism nozzle 5 and the marking mechanism nozzle 6 during the spraying process.

[0033] When spraying fluorescent agents, it is necessary to ensure that the polyurethane-based temperature-controlled material has formed a protective layer on the dam body. However, due to the influence of temperature and weather, the time it takes for the spray nozzle 5 of the spraying mechanism to form a stable protective layer after spraying cannot be well determined. In order to further ensure the synchronization of the collaboration between the marking mechanism nozzle 6 and the spraying mechanism nozzle 5, the distance between the spraying mechanism nozzle 5 and the marking mechanism nozzle 6 can be adjusted to achieve the marking of the dam body surface.

[0034] The rotation of gear 44 can drive rack 43 to move, which can quickly adjust the position of spraying mechanism nozzle 5 and marking mechanism nozzle 6, making it easier to spray protective layer on dam surface.

[0035] Furthermore, the guide rail 42 has a dovetail-shaped internal structure, and the slider 431 is adapted to the internal groove of the guide rail 42; the slider 431 and the rack 43 are fixedly connected by bolts, and the slider 431 slides along the internal groove of the guide rail 42.

[0036] Gear 44 meshes with a set of racks 43; the rotation of gear 44 drives rack 43 to move along the internal trajectory of guide rail 42.

[0037] It should be noted that gear 44 is connected to the output end of the motor. By driving the output shaft of the motor to rotate, gear 44 can be driven to rotate; in turn, rack 43 can be driven to slide along the long axis of guide rail 42.

[0038] Furthermore, the spraying mechanism nozzle 5 and the marking mechanism nozzle 6 rotate synchronously with the dismantling fixture 3; the spraying mechanism nozzle 5 and the marking mechanism nozzle 6 can extend and retract to adjust the distance between the nozzle and the dam surface.

[0039] It should be noted that the spraying mechanism nozzle 5 and the marking mechanism nozzle 6 are respectively installed and connected to the output end of the telescopic rod, and the telescopic rod is a pneumatic telescopic rod; by moving the output end, the spraying mechanism nozzle 5 can be moved closer to or away from the dam surface, making it easier to cover the dam surface with spraying material.

[0040] Furthermore, dismantling equipment 3 completes the removal of the insulation board on the dam surface; spraying mechanism nozzle 5 sprays protective coating on the dam surface and forms a protective layer on the dam surface; marking mechanism nozzle 6 sprays fluorescent material to confirm the boundary of the newly sprayed protective layer.

[0041] After the dismantling equipment 3 completes the dismantling work on the dam surface, the protective coating can be sprayed onto the dam surface through the spraying mechanism nozzle 5 to form a protective layer on the dam surface and prevent cracks from appearing in the dam. The marking mechanism nozzle 6 moves synchronously with the spraying mechanism nozzle 5 and sprays fluorescent agent onto the newly formed protective layer surface. The fluorescent agent forms a clear line at the edge of the new protective layer, which is more convenient for positioning the spraying operation.

[0042] Furthermore, this device also includes an intelligent control system. The core hardware of the intelligent control system is an integrated control box with a high protection level of IP65. This control box is rigidly fixed to the frame of the mobile chassis 1 by a shock-absorbing bracket. The control box integrates a central processing unit, a hydraulic valve group drive module, a servo motor driver, a data acquisition card, a wireless communication module, and a power supply module. All actuators, such as the robotic arm, dismantling tool, moving unit, spray pump, and sensors, are connected to the control box through a customized multi-core shielded cable bundle. The cable bundle is covered with an engineering plastic drag chain arranged along the side of the robotic arm to ensure that the cable is orderly retracted and extended during the extension and retraction of the robotic arm 2. At the rotational connection between the base of the robotic arm 2 and the slewing bearing of the chassis, a high-channel-count conductive slip ring is installed to achieve uninterrupted power and signal transmission during the 360° rotation process.

[0043] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of this utility model.

[0044] Importantly, the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A device for removing insulation boards from the downstream face of an ultra-high arch dam, characterized in that: include, A mobile chassis (1) is provided with a slewing support at the center of its bottom; The robotic arm (2) is fixed to the rotary support of the mobile chassis (1), and the robotic arm (2) can rotate 360 ​​degrees relative to the mobile chassis (1). Remove tooling (3) and install it at the end of the robotic arm (2); The moving unit (4) is arranged in a direction perpendicular to the dismantling fixture (3). The moving unit (4) includes two support platforms (45), which can move synchronously relative to each other. A set of support platforms (45) are respectively equipped with spraying mechanism nozzles (5) and marking mechanism nozzles (6).

2. The device for removing insulation boards from the downstream face of an ultra-high arch dam according to claim 1, characterized in that: The bottom of the mobile chassis (1) is provided with multiple sets of adsorption mechanisms (7); The adsorption mechanism (7) includes a support leg (71) fixedly connected to the mobile chassis (1) and a support pad (72) disposed at the end of the support leg (71); The extension and retraction of the support leg (71) causes the support pad (72) to contact the surface of the dam.

3. The device for removing insulation boards from the downstream face of an ultra-high arch dam according to claim 2, characterized in that: The moving unit (4) includes a support platform (41), guide rails (42) symmetrically arranged on both sides of the support platform (41), a rack (43) slidably connected to the guide rails (42), and a gear (44) for driving the rack (43) to move linearly. The support platform (45) is fixedly connected to the rack (43).

4. The device for removing insulation boards from the downstream face of an ultra-high arch dam according to claim 3, characterized in that: The rack (43) includes a slider (431) that is adapted to the guide rail (42); The gear (44) is driven by a motor.

5. The device for removing insulation boards from the downstream face of an ultra-high arch dam according to claim 4, characterized in that: The gears (44) mesh with a set of racks (43); The rotation of the gear (44) can drive the rack (43) to move along the internal trajectory of the guide rail (42).

6. The device for removing insulation boards from the downstream face of an ultra-high arch dam according to claim 5, characterized in that: The spray nozzle (5) of the spraying mechanism and the spray nozzle (6) of the marking mechanism rotate synchronously with the dismantling fixture (3); The spray nozzle (5) of the spraying mechanism and the nozzle (6) of the marking mechanism can extend and retract to adjust the distance between the nozzle and the surface of the dam.

7. The device for removing insulation boards from the downstream face of an ultra-high arch dam according to claim 6, characterized in that: The dismantling tool (3) completes the removal of the insulation board on the surface of the dam; the spraying mechanism nozzle (5) sprays protective coating on the surface of the dam and forms a protective layer on the surface of the dam. The marking mechanism nozzle (6) sprays fluorescent material to form marking lines at the edge of the newly sprayed protective layer.

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