CN107313606A - Intelligent ultra-high pressure water fluid jet Chai Lou robots - Google Patents
Intelligent ultra-high pressure water fluid jet Chai Lou robots Download PDFInfo
- Publication number
- CN107313606A CN107313606A CN201710508621.4A CN201710508621A CN107313606A CN 107313606 A CN107313606 A CN 107313606A CN 201710508621 A CN201710508621 A CN 201710508621A CN 107313606 A CN107313606 A CN 107313606A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- fuselage
- drive cylinder
- pressure water
- high pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/08—Wrecking of buildings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/08—Wrecking of buildings
- E04G23/081—Wrecking of buildings using hydrodemolition
Abstract
The present invention relates to a kind of intelligent ultra-high pressure water fluid jet Chai Lou robots, including fuselage, walking mechanism, cutter device, material-gathering device and mechanical grip, described walking mechanism is arranged on the bottom of fuselage, described cutter device is by nozzle, liquid-transport pipe-line and liquid booster are constituted, described nozzle is connected on fuselage by the first swing mechanism, fluid reservoir is offered in described fuselage, described nozzle is connected by liquid-transport pipe-line with fluid reservoir, one end that described liquid-transport pipe-line is connected with fluid reservoir is provided with liquid booster, described material-gathering device is connected on fuselage also by the first swing mechanism, the room that gathers materials is offered in described fuselage, described material-gathering device is connected with the room of gathering materials, described mechanical grip is connected on fuselage by the second swing mechanism.The present invention is split by using ultra-high pressure water fluid jet technology to building, makes not producing winged powder airborne dust in whole cutting process, improves the operating efficiency of dismounting.
Description
Technical field
Patent of the present invention is related to house dismantling technology field, particularly a kind of intelligent ultra-high pressure water fluid jet Chai Lou robots.
Background technology
Current people are often hit using artificial chisel and hammer pounds progress and tears building, this method less investment, but speed open slow, the engineering time
Long, manual site's operation is easily damaged to the person；With the development of modern technologies, pneumatic broken (pneumatic pick, gas are occurred in that
Hammer), big machinery crushes (digging machine, Hydro-efflux Hammer) and the blasting technique that develops rapidly is widely used in engineering construction, these
Demolition technique all can cause large effect, including high noisy, high vibration, demolishing process to protect to the surrounding enviroment of job site
Certain safe distance is held, scene image is poor, construction period length to job site, it is necessary to especially carry out traffic control etc.；Reinforcing bar
Concrete cutting technique is a kind of emerging static(al) demolition technique, mainly there is dish-style patterning method and diamond steel wire patterning method, but still
There are some to limit and not enough, noise can not still prevent, scene needs largely to be prevented from stirring up a cloud of dust with water, Engineering operation person works
Environment is poor and with certain risk, is torn open so in order to solve the above-mentioned technical problem having invented a kind of intelligent ultra-high pressure water fluid jet
Building robot, cuts into building waste block, while being received by block using ultra-high pressure water fluid jet cutting technique by old building
Collection conveying device is collected shipment, and tears building robot automation's operation open by Intelligent Recognition and control technology realization.Contrast
Current demolition technique and method, intelligent ultra-high pressure water fluid jet Chai Lou robots have many advantages.
The content of the invention
The present invention is split by using ultra-high pressure water fluid jet technology to building, makes not produce in whole cutting process
Fly powder airborne dust, and noise shockproofness is less than city vehicle noise intensity, improves the operating efficiency of dismounting, and invented one
Plant intelligence ultra-high pressure water fluid jet Chai Lou robots.
To solve above-mentioned technical problem, the invention provides a kind of intelligent ultra-high pressure water fluid jet Chai Lou robots, including
Fuselage,
Walking mechanism, described walking mechanism is arranged on the bottom of fuselage,
Cutter device, described cutter device is made up of nozzle, liquid-transport pipe-line and liquid booster, described nozzle
It is connected to by the first swing mechanism on fuselage, fluid reservoir is offered in described fuselage, described nozzle passes through liquid-transport pipe-line
It is connected with fluid reservoir, one end that described liquid-transport pipe-line is connected with fluid reservoir is provided with liquid booster,
Material-gathering device, described material-gathering device is connected on fuselage also by the first swing mechanism, is opened in described fuselage 1
Provided with the room that gathers materials, described material-gathering device is connected with the room of gathering materials,
Mechanical grip, described mechanical grip is connected on fuselage by the second swing mechanism.
Further：Described walking mechanism is crawler unit.
Further：The first described swing mechanism includes first mechanical arm, second mechanical arm, first mechanical arm driving gas
Cylinder and second mechanical arm drive cylinder, the lower end of described first mechanical arm are movably connected on fuselage, the first described machinery
The upper end of arm is connected with one end of second mechanical arm, and described nozzle and material-gathering device are arranged on the other end of second mechanical arm
On, described first mechanical arm drive cylinder is movably arranged on fuselage, and first mechanical arm drive cylinder goes out shaft end and first
Mechanical arm is flexibly connected, and described second mechanical arm drive cylinder is movably arranged in first mechanical arm, second mechanical arm driving
The shaft end that goes out of cylinder is flexibly connected with second mechanical arm.
Further：Described material-gathering device is material collecting box, and described material collecting box is arranged in second mechanical arm, described
Material collecting box is located at the underface of nozzle, and the bottom of described material collecting box offers through hole, described through hole by gather materials pipeline with
The room that gathers materials is connected.
Further：The second described swing mechanism includes three-mechanical arm, the 4th mechanical arm, the 5th mechanical arm, the 3rd
Mechanical arm drive cylinder, the 4th mechanical arm drive cylinder and the 5th mechanical arm drive cylinder, the lower end of described three-mechanical arm
It is movably connected on fuselage, the upper end of described three-mechanical arm is connected with one end of the 4th mechanical arm, the 4th described machinery
The other end of arm is connected with one end of the 5th mechanical arm, and described mechanical grip is arranged on the other end of the 5th mechanical arm, institute
The three-mechanical arm drive cylinder stated is movably arranged on fuselage, and three-mechanical arm drive cylinder goes out shaft end and three-mechanical arm
It is flexibly connected, the 4th described mechanical arm drive cylinder is movably arranged on three-mechanical arm, the 4th mechanical arm drive cylinder
Go out shaft end to be flexibly connected with the 4th mechanical arm, the 5th described mechanical arm drive cylinder is movably arranged on the 4th mechanical arm, the
The shaft end that goes out of five mechanical arm drive cylinders is flexibly connected with the 5th mechanical arm.
There is provided using the present invention after said structure and a kind of green, environmentally friendly, intelligentized comprehensive tear building equipment architecture, realization open
Building disassembles the full-automatic unmannedization operation of process, and it splits by using ultra-high pressure water fluid jet technology to building,
Make not producing winged powder airborne dust in whole cutting process, and noise shockproofness is less than city vehicle noise intensity, improves and tears open
The operating efficiency removed, the design can be applicable to the dismounting work of any building, be particularly suitable for use in the ring of large- and-medium size cities three built-in
Build dismounting, it is broken etc. to noise, dust, vibrations sensitive area.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is structural representation of the invention.
Embodiment
It is as shown in Figure 1 that the invention provides a kind of intelligent ultra-high pressure water fluid jet Chai Lou robots, including fuselage 1, walking
Mechanism 15, cutter device, material-gathering device and mechanical grip 3, described walking mechanism 15 are arranged on the bottom of fuselage 1, described
Cutter device is made up of nozzle 2, liquid-transport pipe-line and liquid booster, and described nozzle 2 is connected by the first swing mechanism
On the fuselage 1, fluid reservoir is offered in described fuselage 1, described nozzle 2 is connected by liquid-transport pipe-line with fluid reservoir, institute
One end that the liquid-transport pipe-line stated is connected with fluid reservoir is provided with liquid booster, and described material-gathering device is swung also by first
Mechanism is connected on the fuselage 1, the room that gathers materials is offered in described fuselage 1, described material-gathering device is connected with the room of gathering materials, described
Mechanical grip 3 is connected on the fuselage 1 by the second swing mechanism.During work, by liquid booster to the conveying high-pressure water of nozzle 2
Stream, nozzle 2 cut using High-Pressure Water to house, and the fritter particle after cutting is by material-gathering device automatic transport to gathering materials
Interior, the particle of bulk is put into the interior that gathers materials by mechanical grip 3.The present invention is by using ultra-high pressure water fluid jet technology to building
Thing is split, and makes not producing winged powder airborne dust in whole cutting process, and noise shockproofness is strong less than city vehicle noise
Degree, improves the operating efficiency of dismounting
Walking mechanism 15 as shown in Figure 1 is crawler unit, and the design is improved by using crawler unit
Locomitivity, can reach compared with complex environment carry out operation.
First swing mechanism as shown in Figure 1 includes first mechanical arm 4, second mechanical arm 5, first mechanical arm drive cylinder
6 and second mechanical arm drive cylinder 7, the lower end of described first mechanical arm 4 is flexibly connected on the fuselage 1, the first described machine
The upper end of tool arm 4 is connected with one end of second mechanical arm 5, and described nozzle 2 and material-gathering device are arranged on the another of second mechanical arm 5
On one end, described first mechanical arm drive cylinder 6 is movably arranged on fuselage 1, and first mechanical arm drive cylinder 6 goes out shaft end
It is flexibly connected with first mechanical arm 4, described second mechanical arm drive cylinder 7 is movably arranged in first mechanical arm 4, the second machine
The shaft end that goes out of tool arm drive cylinder 7 is flexibly connected with second mechanical arm 5.
Material-gathering device as shown in Figure 1 is material collecting box 8, and described material collecting box 8 is arranged in second mechanical arm 5, described
Material collecting box 8 is located at the underface of nozzle 2, and the bottom of described material collecting box 8 offers through hole, and described through hole passes through the pipeline that gathers materials
It is connected with the room of gathering materials.
Second swing mechanism as shown in Figure 1 includes three-mechanical arm 9, the 4th mechanical arm 10, the 5th mechanical arm the 11, the 3rd
Mechanical arm drive cylinder 12, the 4th mechanical arm drive cylinder 13 and the 5th mechanical arm drive cylinder 14, described three-mechanical arm 9
Lower end be flexibly connected on the fuselage 1, the upper end of described three-mechanical arm 9 is connected with one end of the 4th mechanical arm 10, described
The other end of the 4th mechanical arm 10 be connected with one end of the 5th mechanical arm 11, described mechanical grip 3 is arranged on the 5th machinery
On the other end of arm 11, described three-mechanical arm drive cylinder 12 is movably arranged on fuselage 1, three-mechanical arm drive cylinder
12 shaft end that goes out is flexibly connected with three-mechanical arm 9, and the 4th described mechanical arm drive cylinder 13 is movably arranged on the 3rd machinery
On arm 9, the shaft end that goes out of the 4th mechanical arm drive cylinder 13 is flexibly connected with the 4th mechanical arm 10, described the 5th mechanical arm driving
Cylinder 14 is movably arranged on the 4th mechanical arm 10, and the 5th mechanical arm drive cylinder 14 goes out the activity of shaft end and the 5th mechanical arm 11
Connection.
In summary the present invention provide it is a kind of it is green, environmentally friendly, intelligentized it is comprehensive tear building equipment architecture open, realize building
The full-automatic unmannedization operation of process is disassembled, it splits by using ultra-high pressure water fluid jet technology to building, made whole
Winged powder airborne dust is not produced in cutting process, and noise shockproofness is less than city vehicle noise intensity, improves the work of dismounting
Make efficiency, the design can be applicable to the dismounting work of any building, be particularly suitable for use in building demolition in the ring of large- and-medium size cities three,
It is broken to wait to noise, dust, vibrations sensitive area.
Claims (5)
1. a kind of intelligent ultra-high pressure water fluid jet Chai Lou robots, it is characterised in that：Including
Fuselage (1),
Walking mechanism (15), described walking mechanism (15) is arranged on the bottom of fuselage (1),
Cutter device, described cutter device is made up of nozzle (2), liquid-transport pipe-line and liquid booster, described nozzle
(2) it is connected to by the first swing mechanism on fuselage (1), fluid reservoir, described nozzle (2) is offered in described fuselage (1)
It is connected by liquid-transport pipe-line with fluid reservoir, one end that described liquid-transport pipe-line is connected with fluid reservoir is provided with liquid supercharging
Device,
Material-gathering device, described material-gathering device is connected on fuselage (1) also by the first swing mechanism, in described fuselage (1)
The room that gathers materials is offered, described material-gathering device is connected with the room of gathering materials,
Mechanical grip (3), described mechanical grip (3) is connected on fuselage (1) by the second swing mechanism.
2. intelligent ultra-high pressure water fluid jet Chai Lou robots according to claim 1, it is characterised in that：Described walking mechanism
(15) it is crawler unit.
3. intelligent ultra-high pressure water fluid jet Chai Lou robots according to claim 1, it is characterised in that：Described first swings
Mechanism includes first mechanical arm (4), second mechanical arm (5), first mechanical arm drive cylinder (6) and second mechanical arm drive cylinder
(7), (4 lower end is movably connected on fuselage (1) described first mechanical arm, the upper end of described first mechanical arm (4) and the
One end of two mechanical arms (5) is connected, and described nozzle (2) and material-gathering device are arranged on the other end of second mechanical arm (5), institute
The first mechanical arm drive cylinder (6) stated is movably arranged on fuselage (1), first mechanical arm drive cylinder (6) go out shaft end with
First mechanical arm (4) is flexibly connected, and described second mechanical arm drive cylinder (7) is movably arranged in first mechanical arm (4), the
The shaft end that goes out of two mechanical arm drive cylinders (7) is flexibly connected with second mechanical arm (5).
4. intelligent ultra-high pressure water fluid jet Chai Lou robots according to claim 3, it is characterised in that：Described material-gathering device
For material collecting box (8), described material collecting box (8) is arranged in second mechanical arm (5), and described material collecting box (8) is located at nozzle (2)
Underface, the bottom of described material collecting box (8) offers through hole, and described through hole is connected by the pipeline that gathers materials with the room of gathering materials.
5. intelligent ultra-high pressure water fluid jet Chai Lou robots according to claim 1, it is characterised in that：Described second swings
Mechanism includes three-mechanical arm (9), the 4th mechanical arm (10), the 5th mechanical arm (11), three-mechanical arm drive cylinder (12), the
Four mechanical arm drive cylinders (13) and the 5th mechanical arm drive cylinder (14), the lower end activity of described three-mechanical arm (9) connect
It is connected on fuselage (1), the upper end of described three-mechanical arm (9) is connected with one end of the 4th mechanical arm (10), the described the 4th
The other end of mechanical arm (10) is connected with one end of the 5th mechanical arm (11), and described mechanical grip (3) is arranged on the 5th machinery
On the other end of arm (11), described three-mechanical arm drive cylinder (12) is movably arranged on fuselage (1), and three-mechanical arm drives
The take offence shaft end that goes out of cylinder (12) is flexibly connected with three-mechanical arm (9), described the 4th mechanical arm drive cylinder (13) activity peace
On three-mechanical arm (9), the shaft end that goes out of the 4th mechanical arm drive cylinder (13) is flexibly connected with the 4th mechanical arm (10), institute
The 5th mechanical arm drive cylinder (14) stated is movably arranged on the 4th mechanical arm (10), the 5th mechanical arm drive cylinder (14)
Go out shaft end to be flexibly connected with the 5th mechanical arm (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508621.4A CN107313606A (en) | 2017-06-28 | 2017-06-28 | Intelligent ultra-high pressure water fluid jet Chai Lou robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508621.4A CN107313606A (en) | 2017-06-28 | 2017-06-28 | Intelligent ultra-high pressure water fluid jet Chai Lou robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107313606A true CN107313606A (en) | 2017-11-03 |
Family
ID=60179796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710508621.4A Pending CN107313606A (en) | 2017-06-28 | 2017-06-28 | Intelligent ultra-high pressure water fluid jet Chai Lou robots |
Country Status (1)
| Country | Link |
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| CN (1) | CN107313606A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756293A (en) * | 2018-05-30 | 2018-11-06 | 吴正芳 | A kind of steel construction cutting disassembling vehicle |
| CN109138493A (en) * | 2018-10-24 | 2019-01-04 | 辽宁工程技术大学 | A kind of building demolition equipment based on Water Cutting technology |
| CN110878645A (en) * | 2019-11-19 | 2020-03-13 | 上海建工四建集团有限公司 | Method for dismantling building component |
| CN110878643A (en) * | 2019-11-19 | 2020-03-13 | 上海建工四建集团有限公司 | Building element demolishs equipment |
| CN112647968A (en) * | 2020-12-24 | 2021-04-13 | 招商局重庆交通科研设计院有限公司 | Nondestructive quick water jet flow demolition device for tunnel secondary lining structure |
| CN114074027A (en) * | 2021-10-25 | 2022-02-22 | 浙江省长三角城市基础设施科学研究院 | Construction waste demolishs categorised recovery robot |
| CN114717963A (en) * | 2022-04-27 | 2022-07-08 | 安徽省公路桥梁工程有限公司 | High-pressure water jet efficient milling concrete bridge deck pavement device and using method thereof |
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| JPH08120950A (en) * | 1994-10-25 | 1996-05-14 | Masaaki Maekawa | Demolishing method for building and dust removing device |
| JP4974735B2 (en) * | 2007-03-30 | 2012-07-11 | 株式会社テクノ | Fluid supply device |
| CN102600571A (en) * | 2012-03-19 | 2012-07-25 | 苏州海伦哲专用车辆有限公司 | Two-arm fire fighting truck |
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| JPH07111479B2 (en) * | 1987-11-05 | 1995-11-29 | 鹿島建設株式会社 | Peeling device for concrete structure surface |
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| JPH08120950A (en) * | 1994-10-25 | 1996-05-14 | Masaaki Maekawa | Demolishing method for building and dust removing device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756293A (en) * | 2018-05-30 | 2018-11-06 | 吴正芳 | A kind of steel construction cutting disassembling vehicle |
| CN109138493A (en) * | 2018-10-24 | 2019-01-04 | 辽宁工程技术大学 | A kind of building demolition equipment based on Water Cutting technology |
| CN110878645A (en) * | 2019-11-19 | 2020-03-13 | 上海建工四建集团有限公司 | Method for dismantling building component |
| CN110878643A (en) * | 2019-11-19 | 2020-03-13 | 上海建工四建集团有限公司 | Building element demolishs equipment |
| CN110878643B (en) * | 2019-11-19 | 2021-07-16 | 上海建工四建集团有限公司 | Building element demolishs equipment |
| CN112647968A (en) * | 2020-12-24 | 2021-04-13 | 招商局重庆交通科研设计院有限公司 | Nondestructive quick water jet flow demolition device for tunnel secondary lining structure |
| CN114074027A (en) * | 2021-10-25 | 2022-02-22 | 浙江省长三角城市基础设施科学研究院 | Construction waste demolishs categorised recovery robot |
| CN114074027B (en) * | 2021-10-25 | 2023-12-22 | 浙江鑫博学建设集团有限公司 | Building rubbish demolishs categorised recovery robot |
| CN114717963A (en) * | 2022-04-27 | 2022-07-08 | 安徽省公路桥梁工程有限公司 | High-pressure water jet efficient milling concrete bridge deck pavement device and using method thereof |
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Application publication date: 20171103 |
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