CN114293814A - Stable dry grinding self-adaptive heavy concrete wall dismantling device - Google Patents
Stable dry grinding self-adaptive heavy concrete wall dismantling device Download PDFInfo
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- CN114293814A CN114293814A CN202210022296.1A CN202210022296A CN114293814A CN 114293814 A CN114293814 A CN 114293814A CN 202210022296 A CN202210022296 A CN 202210022296A CN 114293814 A CN114293814 A CN 114293814A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- E—FIXED CONSTRUCTIONS
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- 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
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- E04G23/08—Wrecking of buildings
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Abstract
The invention provides a stable dry grinding self-adaptive heavy concrete wall dismantling device which comprises a crawler moving device (1), a numerical control device (2), a lifting platform device (3), a milling and grinding device (4), a roller following device (5), a gas absorption device (6) and a material conveying system (7); the crawler moving device (1) is used for ensuring the movement of the self-adaptive heavy concrete wall dismantling device; the numerical control detection device (2) is used for realizing interactive operation of the self-adaptive heavy concrete wall dismantling device by workers; the lifting platform device (3) is used for lifting the hydraulic lifting platform so as to drive the milling and grinding device to lift; the milling and grinding device (4) is used for milling and grinding the heavy concrete wall; the new technology of dry milling is adopted in this scheme, and the principle of carrying out endothermic reaction under high temperature through graphite and carbon dioxide is cooled milling the planer tool bit and the tool bit of polishing, has realized green cutting, has avoided the use of cooling and lubrication liquid, has reduced the pollution to the environment.
Description
Technical Field
The invention relates to the technical field of reactor heavy concrete demolition, in particular to a stable dry-grinding self-adaptive heavy concrete wall demolition device.
Background
As the first reactor campaign expires, its decommissioning issues are of increasing concern. The main structural material of the reactor biological shielding layer is heavy concrete, and the heavy concrete is usually prepared by particularly dense and particularly heavy aggregates, has the properties of high density, high compressive strength and alpha ray and gamma ray impermeability, and is mainly used as a shielding structural material of nuclear engineering. Heavy concrete is often doped with a large amount of metal for radiation shielding purposes. Therefore, dismantling and disassembling the heavy concrete of the reactor biological shielding layer is one of the difficulties in the decommissioning process of the reactor. Proper milling and decontamination treatment is required on the basis of dismantling of heavy concrete.
At present, a decontamination and treatment device for radioactive heavy concrete walls on the inner sides of nuclear reactors is mainly a Brokk robot. The milling and cleaning can be carried out on the heavy concrete reactor, and the radioactive wall on the inner side of the reactor is processed and recovered. In addition, there are some common cutting methods, such as: hollow boring method, diamond disk saw method. The core boring method is mature in technology and simple to operate, but a large amount of dust is generated in the drilling process and the close-range operation of personnel is required. The diamond disk saw obtains a desired saw mark by scratching between the diamond particles and the material to be cut. The structure of the cutting machine is similar to that of a common cement cutting machine, diamond materials are added to the outer edge of a metal disc on a certain size, and then the cutting of the materials is achieved through high-speed rotation of the metal disc and parallel movement of saw blades. However, the cutting tool needs to be continuously cooled by water or nitrogen in the cutting process, which causes pollution to the environment.
The above-mentioned dismantling method has drawbacks, which cause various problems in practical applications.
Firstly, the Brokk robot needs to be specially customized, is expensive and is inconvenient to maintain. Secondly, the big recoil that leads to of required power in the dismantlement in-process is strong, can appear the unstable problem of device chassis, demolish efficiency greatly reduced. Thirdly, the common cutting methods such as the diamond disc saw and the like use cooling lubricating liquid in the working process, from the ecological perspective, the waste treatment of the cooling liquid can cause environmental pollution, the use of the cooling liquid is strictly forbidden under the radiation environment, and otherwise, the pollution diffusion can be caused; from an economic point of view, the cooling liquid, filtering and conveying systems are expensive and require large spaces. The stable dry grinding demolition technology is just one method, which can better solve the coordination and continuous development among ecological environment, technology and economy. During the machining process, the stability of the device can be improved and the use of cooling lubricants can be avoided. Aiming at the phenomena, in order to meet the requirements of clean production process and reduction of production cost and solve the negative effects caused by insufficient stability of the conventional demolition device or nuclear waste water generated by using cooling liquid oil gas, the invention provides a stable dry-grinding self-adaptive heavy concrete wall demolition device.
Disclosure of Invention
In order to solve the problems, the invention provides a stable dry grinding self-adaptive heavy concrete wall dismantling device and a method thereof. The invention has high reliability, good stability and strong practicability, and can efficiently finish the work of dismantling the heavy concrete radioactive wall of the nuclear reactor.
In order to achieve the purpose, the application provides the following technical scheme that the self-adaptive heavy concrete wall dismantling device capable of realizing stable dry grinding comprises a crawler moving device, a numerical control device, a lifting platform device, a milling and grinding device, a roller following device, a gas absorption device and a material conveying system;
the crawler moving device is used for ensuring the movement of the self-adaptive heavy concrete wall dismantling device;
the numerical control detection device is used for realizing interactive operation of the self-adaptive heavy concrete wall dismantling device by workers;
the lifting platform device is used for lifting the hydraulic lifting platform so as to drive the milling and grinding device to lift;
the milling and grinding device is used for milling and grinding the heavy concrete wall;
the roller following device is used for radial fixation, so that the stability of the whole device can be improved;
the gas recovery device is used for absorbing carbon monoxide gas;
the material conveying system is used for conveying graphite and carbon dioxide gas.
Further, the milling and grinding device comprises a rotary joint, a grinding tool bit, a wrist motor, a small arm, a large arm, a fourth hydraulic cylinder, a hose, a milling tool bit, a semi-solid shaft, a rotary platform, a fastening ring, a third infrared sensor and a hydraulic motor;
the rotary joint is arranged at two ends of the grinding cutter head and the milling cutter head, the grinding cutter head is fixed on the wrist, and the wrist motor is arranged on the wrist and used for driving the grinding cutter-head to rotate; the hydraulic motor drives the rotary platform to rotate, and the fourth hydraulic cylinder is controlled to stretch the small arm through feedback of the third infrared sensor; the wrist motor drives the gear to drive the semi-solid shaft to rotate, so that the cutter head starts to work; two rows of air holes are uniformly distributed on the semi-solid shaft and are respectively matched with through holes in the milling cutter head and the polishing cutter head, so that the mixture of graphite and carbon dioxide is conveyed; the hose is connected with the large arm through the fastening ring; the tighrening ring is used for fixing the hose on the big arm, and the third infrared sensor is installed at the front end of the wrist and used for detecting the distance between the tool bit and the wall.
Further, the numerical control detection device includes: the system comprises an ultrasonic sensor, a visual sensor, a numerical control device, an alarm lamp and a display screen; the ultrasonic sensor is arranged on the right side of the hydraulic lifting platform and used for detecting the distance between surrounding obstacles and the device; the numerical control device is arranged above the right side of the hydraulic lifting table and used for receiving and analyzing signals fed back by the sensor; during milling, the graphite and the carbon dioxide react in the internal passages of the milling cutter head and the grinding cutter head to generate carbon monoxide gas, and the carbon monoxide gas can be discharged from the vent holes; the carbon monoxide sensor can detect the concentration of carbon monoxide, and the concentration exceeds a set value to give an early warning prompt, so that an alarm lamp flickers; the signals received by the sensors can be analyzed by the numerical control system, displayed on a display screen and related operations can be carried out through control buttons.
Furthermore, the lifting platform device comprises a first hydraulic cylinder, a support bracket, a hydraulic lifting platform, a telescopic strut, a second hydraulic cylinder and a support platform; the first hydraulic cylinder is fixed on two sides of the support bracket, and the hydraulic lifting platform controls the first hydraulic cylinder to move so as to control the lifting of the support bracket, thereby realizing the lifting movement of the support platform; the second hydraulic cylinder drives the telescopic support to extend and retract.
Furthermore, the roller following device comprises a roller, a telescopic arm, a pressure sensor and a third hydraulic cylinder; the rollers are arranged at two ends of the telescopic arm and are adjacent to the pressure sensor; the third hydraulic cylinder drives the telescopic arm to stretch, and the pressure sensor feeds back a signal to the numerical control system, so that the telescopic arm can fasten the device; the roller can move along with the telescopic support.
Further, the gas recovery device comprises a carbon monoxide sensor, an aerodynamic device, an absorption cylinder, an exhaust outlet and a power device;
the absorption cylinder comprises an absorbent and a filter screen, the carbon monoxide sensor can detect the concentration of carbon monoxide, and early warning prompt can be carried out when the concentration exceeds a set value;
starting the air power device, and sucking carbon monoxide into the absorption cylinder so as to absorb the carbon monoxide; the air outlet can discharge the separated harmless gas, and the power device can drive the operation of the air outlet.
Further, the material conveying system comprises a graphite box, a rotary joint, a sucker mechanism, a feeding hole, a pressure tank, a discharge gate and a telescopic pipe; the material conveying system is arranged in the telescopic support, graphite enters the feeding hole from the graphite box, compressed carbon dioxide gas is stored in the pressure tank, the compressed carbon dioxide gas in the pressure tank can drive the graphite to enter the telescopic pipe, the telescopic pipe can be stretched, and the discharge gate can control the opening and closing of the material conveying system; the sucker mechanism is connected with the telescopic strut, so that the synchronous motion of the sucker mechanism and the telescopic strut is realized; the third infrared sensor can detect the content of graphite in the graphite box so as to perform filling; when the discharge gate is opened, graphite and carbon dioxide are conveyed; closing the discharge gate, and stopping conveying the system; the telescopic pipe is a conveying pipe, telescopic motion of the pipe is realized, the telescopic pipe can further lift along with the telescopic support, and the graphite carbon dioxide mixture is conveyed to the rotary joint; the four fixed ends of the rotary joint are respectively connected with four hoses, and then are connected with rotary joints at two sides of the milling and planing tool bit and the polishing tool bit through the hoses, so that carbon dioxide and graphite are fed into the hollow side of the rotary shaft;
the invention also provides a method for dismantling the stable dry-grinding self-adaptive heavy concrete wall dismantling device, which comprises the following steps:
step 1, inputting an instruction to a control system in a display panel and setting parameters; the dismounting device receives the instruction to move forward to a specified place, and if an obstacle exists in the process of moving forward, the dismounting device can perform analysis feedback through the first infrared sensor and the visual sensor, so that the dismounting device is positioned and adjusted in position;
step 2, after the dismounting device reaches the designated position, the lifting platform device starts to operate, and the first hydraulic cylinder starts to work to push the support bracket to move; the supporting platform drives the telescopic support to lift; then the following roller reaches a designated position to start running, and the device is fastened; the second hydraulic cylinder starts to work, and the telescopic strut starts to move slowly; at the moment, the button is pressed, the fourth hydraulic cylinder starts to work, the cutter head can be positioned through the second infrared sensor so as to be in contact with the heavy concrete wall, and the milling cutter head and the grinding cutter head start to work; meanwhile, the hydraulic motor starts to work, the rotary platform controls the large arm and the small arm to rotate, and the pressure sensor can control the rotary torque to ensure stable operation; setting a designated intermittent time through a control system;
step 3, feeding by a material conveying system, feeding graphite into a pressure tank from a graphite cylinder, pressurizing the pressure tank under the action of a vacuum pump, opening a discharge gate by a control system, and compressing carbon dioxide to mix the graphite into a conveying telescopic pipe under the action of the pressure tank;
step 4, performing endothermic reaction on the mixture of graphite and carbon dioxide in the milling cutter head and the grinding cutter head under a high-temperature condition, and cooling the cutter head; at the moment, the mixture of graphite and carbon dioxide enters the fixed end of the rotary joint through a hose, so that the mixture respectively enters the hollow sides of the semi-solid shafts of the milling cutter head and the grinding cutter head, and the mixture enters the cutter under the action of a pressure tank; at the moment, the cutter reaches the specified reaction temperature; the graphite and the carbon dioxide are subjected to strong endothermic reaction, so that the milling cutter head and the polishing cutter head are cooled;
step 5, after the device stops running, the gas absorption device starts working, the carbon monoxide sensor detects the concentration of the carbon monoxide, and early warning prompt is carried out when the concentration exceeds a set value; if the carbon monoxide concentration value exceeds the set concentration, the air power device starts to start, and carbon monoxide is sucked into the absorption cylinder so as to absorb the carbon monoxide.
The invention has the beneficial effects that:
1. the novel dry grinding process is adopted, and the milling cutter head and the grinding cutter head are cooled by the principle that graphite and carbon dioxide carry out endothermic reaction at high temperature, so that green cutting is realized, the use of cooling and lubricating liquid is avoided, and the pollution to the environment is reduced.
2. Compared with the conventional dismantling device, the dismantling device has higher dismantling efficiency and stronger stability, and better solves the problems of strong recoil and insufficient stability caused by the fact that the traditional dismantling device needs to output higher torque.
3. Have gas recovery unit, if the carbon monoxide that produces reaches appointed concentration, gas absorption system can work, reports to the police and absorbs carbon monoxide, purifies ambient air, keeps better operational environment, prevents to cause unnecessary harm to the human body.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a partial view of the milling cutter die assembly of the present invention;
FIG. 3 is a partial schematic view of a milling cutter head and a sanding cutter head of the present invention;
FIG. 4 is a schematic view of a semi-solid shaft configuration of the present invention;
FIG. 5 is a schematic view of the material delivery system of the present invention;
FIG. 6 is a schematic view of the material handling system of the present invention;
FIG. 7 is a schematic view of a numerical control apparatus according to the present invention.
Wherein: 1-crawler moving device: 1-1-a first infrared sensor; 1-2-sprocket; 1-3-rollers; 1-4-track; 1-5-a travel frame; 1-6-fixed platform; 1-7-adjustable support jaws; 1-8-ultrasonic sensor; 2-numerical control device: 2-1-ultrasonic sensor; 2-2-vision sensor; 2-3-numerical control device; 2-4-alarm lamp; 2-5-display screen; 2-6-control button; 3-lifting platform device: 3-1-hydraulic lifting platform; 3-2-a first hydraulic cylinder; 3-3-a support bracket; 3-4-supporting the platform; 3-5-telescopic strut; 3-6-second hydraulic cylinder; 4-milling and grinding device: 4-1-swivel joint; 4-2-grinding the cutter head; 4-2-1-via; 4-2-2-breather holes; 4.3-wrist motor; 4-4-forearm; 4-5-big arm; 4-6-fourth hydraulic cylinder; 4-7-hose; 4-8-milling and planing tool bit; 4-8-1-via; 4-8-2-air holes; 4-9-a semi-solid shaft; 4-9-1-solid side; 4-9-2-stomata; 4-9-3-hollow side; 4-10-rotating platform; 4-11-fastening ring; 4-12-a second infrared sensor; 4-13-hydraulic motor; 5-roller following device; 5-1-a third hydraulic cylinder; 5-2-rollers; 5-3-pressure sensor; 5-4-telescoping arm; 6-a gas absorption device; a 6-1-carbon monoxide sensor; 6-2-aerodynamic devices; 6-3-an absorption cylinder; 6-4-air outlet; 6-5-power plant; 7-1-graphite box; 7-1-1-a third infrared sensor; 7-2-swivel joint; 7-3-a sucker mechanism; 7-4-telescoping tubes; 7-5-pneumatic conveying device.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present application, the present invention will be further described in detail by way of examples with reference to the accompanying drawings.
As shown in fig. 1 below, the self-adaptive heavy concrete wall dismantling device for stable dry grinding of the invention comprises a crawler belt moving device 1, a numerical control device 2, a lifting platform device 3, a milling and grinding device 4, a roller following device 5, an air absorption device 6 and a material conveying system 7.
The crawler moving device is used for ensuring the movement of the self-adaptive heavy concrete wall dismantling device;
the crawler moving device 1 comprises a first infrared sensor 1-1, a chain wheel 1-2, a roller 1-3, a crawler 1-4, a traveling frame 1-5, a fixed platform 1-6, an adjustable supporting claw 1-7 and an ultrasonic sensor 1-8. The chain wheel 1-2 rotates, thereby driving the crawler belt 1-4 to move. The rollers 1-3 are used for supporting and executing and adjusting the tensioning degree of the crawler belt. The traveling frame 1-5 is used for mounting and fixing the chain wheel 1-2 and other components. Four adjustable supporting claws 1 to 7 are respectively installed at the peripheral position of the crawler belt moving device. When the crawler belt moving device is fixedly operated, the four adjustable supporting claws 1 to 7 can be opened and supported on the ground.
The ultrasonic sensors 1-8 are arranged on two sides of the fixed platform 1-6, ultrasonic waves are transmitted through the transmitting probe, the ultrasonic waves return to the receiving device when encountering obstacles in a medium, the transmission distance is calculated by receiving ultrasonic reflection signals transmitted by the ultrasonic sensors according to the time difference and the transmission speed of the ultrasonic waves and echo receiving, and the distance between the obstacles and the device can be obtained. The front end of the fixed platform is provided with a first infrared sensor 1-1 which can position the barrier.
The front end of the fixed platform is provided with a vision sensor 2-2 for optically processing the surrounding environment and compressing the collected image information.
The sensor signal is fed back to a numerical control device formed by a neural network and a statistical method, and then the subsystem associates the acquired image information with the actual position of the dismounting device to complete positioning and moving. After reaching the designated position, the four adjustable supporting claws 1 to 7 are contacted with the ground to realize the fixation of the device.
Referring to fig. 2 to 7, the numerical control detection device 2 is used for a worker to realize interactive operation of the self-adaptive heavy concrete wall dismantling device.
The numerical control detection device 2 includes: 2-1 parts of ultrasonic sensors, 2-2 parts of visual sensors, 2-3 parts of numerical control devices, 2-4 parts of alarm lamps, 2-5 parts of display screens and 2-6 parts of control buttons; the ultrasonic sensor 2-1 is arranged on the right side of the hydraulic lifting table and used for detecting the distance between surrounding obstacles and the device. And the numerical control device 2-3 is arranged above the right side of the hydraulic lifting table and used for receiving and analyzing signals fed back by the sensor.
The front end of the fixed platform is provided with a vision sensor 2-2 for optically processing the surrounding environment and compressing the collected image information.
During milling, the graphite and carbon dioxide react in the milling head 4-8 and the inner passages of the grinding head 4-2 to generate carbon monoxide gas, which can be discharged through the vent holes. The carbon monoxide sensor 6-1 can detect the concentration of carbon monoxide, and the concentration exceeds a set value and can be subjected to early warning prompt, so that the alarm lamp 2-4 flickers. The signals received by the sensors can be displayed on the display screens 2-5 through analysis of the numerical control system, and relevant operations can be carried out through the control buttons.
The lifting platform device 3 is used for lifting the hydraulic lifting platform so as to drive the milling and grinding device to lift;
the lifting platform device 3 comprises a first hydraulic cylinder 3-2, a support bracket 3-3, a hydraulic lifting platform 3-1, a telescopic strut 3-5, a second hydraulic cylinder 3-6 and a support platform 3-4; the first hydraulic cylinder 3-2 is fixed on two sides of the support bracket 3-3, and the hydraulic lifting platform 3-1 controls the first hydraulic cylinder 3-2 to move so as to control the lifting of the support bracket 3-3, thereby realizing the lifting movement of the support platform 3-4. The second hydraulic cylinder 3-6 drives the telescopic support 3-5 to extend and retract.
The roller following device 5 is used for radial fixation, so that the stability of the whole device can be improved;
the roller following device 5 comprises a roller 5-2, a telescopic arm 5-4, a pressure sensor 5-3 and a third hydraulic cylinder 5-1. The rollers 5-2 are arranged at two ends of the telescopic arm 5-4 and are adjacent to the pressure sensor 5-3. The third hydraulic cylinder 5-1 drives the telescopic arm 5-4 to stretch, and the pressure sensor 5-3 feeds back a signal to the numerical control system, so that the telescopic arm 5-4 can fasten the device. The rollers can follow the telescopic legs 3-5 for movement.
The gas recovery device 6 is used for absorbing carbon monoxide gas;
the gas recovery device 6 comprises a carbon monoxide sensor 6-1, an aerodynamic device 6-2, an absorption cylinder 6-3, an air outlet 6-4 and a power device 6-5;
the absorption cylinder 6-3 comprises an absorbent and a filter screen, the carbon monoxide sensor 6-1 can detect the concentration of carbon monoxide, and the concentration exceeding a set value can be early-warned.
The aerodynamic device 6-2 starts to start and carbon monoxide is sucked into the absorption drum 6-3, thereby absorbing the carbon monoxide. The exhaust outlet 6-4 can exhaust the separated harmless gas, and the power device 6-5 can drive the operation of the exhaust outlet.
The milling and grinding device is used for milling and grinding the heavy concrete wall;
the milling and grinding device comprises a rotary joint 4-1, a grinding cutter head 4-2, a wrist motor 4-3, a small arm 4-4, a large arm 4-5, a fourth hydraulic cylinder 4-6, a hose 4-7, a milling cutter head 4-8, a semi-solid shaft 4-9, a rotary platform 4-10, a fastening ring 4-11, a third infrared sensor 4-12 and a hydraulic motor 4-13; the rotary joint 4-1 is arranged at two ends of the grinding cutter head 4-2 and the milling cutter head 4-8, the grinding cutter head 4-2 is fixed at the wrist, and the wrist motor 4-3 is arranged at the wrist and used for driving the grinding cutter head to rotate. The hydraulic motors 4-13 can drive the rotating platforms 4-10 to rotate, and the fourth hydraulic cylinders 4-6 are controlled to stretch and retract the small arms 4-4 through feedback of the third infrared sensors 4-12. The wrist motor 4-3 drives the gear to drive the semi-solid shaft 4-9 to rotate, so that the cutter head starts to work. Two rows of air holes 4-9-2 are uniformly distributed on the semi-solid shaft 4-9 and are respectively matched with through holes in the milling cutter head 4-8 and the grinding cutter head 4-2, so that the mixture of graphite and carbon dioxide is conveyed. The rotary joint is provided with two interfaces comprising a fixed side and a rotary motion side, wherein the rotary motion side is connected with the hollow side 4-9-3 of the semi-solid shaft, the fixed side of the rotary joint is connected with a hose 4-7 of a conveying system, and the hose 4-7 is connected with a large arm 4-5 through a fastening ring 4-1. The fastening ring 4-11 is used for fixing the hose 4-7 on the large arm 4-5, and the third infrared sensor 4-12 is arranged at the front end of the wrist and used for detecting the distance between the cutter head and the wall.
The material conveying system 7 is used for conveying graphite and carbon dioxide gas;
the material conveying system 7 comprises a graphite box 7-1, a rotary joint 7-2, a sucker mechanism 7-3, a feeding hole, a pressure tank, a discharge gate and a telescopic pipe; the material conveying system is arranged in the telescopic support columns 3-5, graphite enters the feeding hole from the graphite box, compressed carbon dioxide gas is stored in the pressure tank, the compressed carbon dioxide gas in the pressure tank can drive the graphite to enter the telescopic pipes, the telescopic pipes can be stretched, and the discharge gate can control the opening and closing of the material conveying system. On the support platform 3-4. The sucker mechanism 7-3 is connected with the telescopic strut 3-5, so that the synchronous movement of the sucker mechanism and the telescopic strut is realized. The third infrared sensor 7-1-1 can detect the content of graphite in the graphite box 7-1 so as to perform filling. When the discharge gate is opened, graphite and carbon dioxide are conveyed; the discharge gate is closed and the system stops conveying. The telescopic pipe 7-4 is a conveying pipe, can realize telescopic motion of the pipe, can further lift along with the telescopic support 3-5, and conveys the graphite carbon dioxide mixture to the rotary joint 7-2. The four fixed ends of the rotary joint are respectively connected with four hoses 4-7, and further connected with the rotary joints 4-1 at two sides of the milling cutter head 4-8 and the grinding cutter head 4-2 through the hoses 4-7, so that carbon dioxide and graphite are fed into the hollow side 4-9-3 of the rotary shaft 4-9.
The embodiment also provides a method for stably dry-grinding self-adaptive heavy concrete wall demolition, which comprises the following steps:
step 1, inputting an instruction to a control system in a display panel and setting parameters. The dismounting device receives the instruction to move forward to the designated place, and if an obstacle exists in the moving process, the dismounting device can perform analysis feedback through the first infrared sensor 1-1 and the vision sensor 2-2, so that the dismounting device is positioned and adjusted in position.
And 2, after the dismounting device reaches the designated position, the lifting platform device 3 starts to operate, and the first hydraulic cylinder 3-2 starts to work to push the support bracket 3-3 to move. The supporting platform 3-4 drives the telescopic support 3-5 to lift. And then the following roller 5-2 reaches a designated position to start running, and the device is fastened. The second hydraulic cylinder 3-6 starts to work and the telescopic strut 3-5 starts to move slowly. At this point the button 2-6 is pressed and the fourth hydraulic cylinder 4-6 starts to operate, the cutter head can be positioned by the second infrared sensor 4-12 to contact the heavy concrete wall, at which point the milling cutter head 4-8 and the sanding cutter head 4-2 start to operate. Meanwhile, the hydraulic motors 4-13 start to work, the rotary platform 4-10 controls the large arm 4-5 and the small arm 4-4 to rotate, and the rotary torque can be controlled through the pressure sensor, so that stable operation is ensured. The specified intermittent time is set by the control system 2.
And 3, feeding by the material conveying system 7, feeding graphite into the pressure tank from the graphite barrel 7-1, pressurizing the pressure tank under the action of the vacuum pump, opening the discharge gate by the control system, and compressing carbon dioxide to mix the graphite into the conveying telescopic pipe 7-4 under the action of the pressure tank.
And 4, performing endothermic reaction on the mixture of graphite and carbon dioxide in the milling cutter head 4-8 and the grinding cutter head 4-2 under a high-temperature condition, and cooling the cutter heads. The graphite and carbon dioxide mixture is then fed from the hose 4-7 to the fixed end of the swivel 7-2 and thus into the hollow side 4-9-3 of the semi-solid shaft 4-9 of the milling cutter head 4-8 and the sanding cutter head 4-2, respectively, and the mixture is fed into the interior of the tool under the influence of the pressure tank. At which time the tool reaches the specified reaction temperature. The graphite and the carbon dioxide are subjected to strong endothermic reaction, thereby realizing the cooling of the milling cutter head 4-8 and the grinding cutter head 4-2.
And 5, after the device stops running, the gas absorption device 6 starts working, the carbon monoxide sensor 6-1 detects the concentration of the carbon monoxide, and early warning prompt is carried out when the concentration exceeds a set value. If the carbon monoxide concentration value exceeds the set concentration, the air power device 6-5 starts to start, and carbon monoxide is sucked into the absorption cylinder 6-3 so as to absorb the carbon monoxide.
While the present invention has been described in detail with respect to a stable dry-milled adaptive heavy concrete wall demolition apparatus and method thereof, it is to be understood that the description is illustrative of the principles and embodiments thereof by way of specific examples only and is not intended to limit the application of the present invention. The scope of the invention is defined by the appended claims and may include various modifications, alterations and equivalents of the patented invention without departing from the scope and spirit of the invention.
Claims (8)
1. A stable dry grinding self-adaptive heavy concrete wall dismantling device comprises a crawler moving device (1), a numerical control device (2), a lifting platform device (3), a milling and grinding device (4), a roller following device (5), a gas absorption device (6) and a material conveying system (7);
the crawler moving device (1) is used for ensuring the movement of the self-adaptive heavy concrete wall dismantling device;
the numerical control detection device (2) is used for realizing interactive operation of the self-adaptive heavy concrete wall dismantling device by workers;
the lifting platform device (3) is used for lifting the hydraulic lifting platform so as to drive the milling and grinding device to lift;
the milling and grinding device (4) is used for milling and grinding the heavy concrete wall;
the roller following device (5) is used for radial fixation, so that the stability of the whole device can be improved;
the gas recovery device (6) is used for absorbing carbon monoxide gas;
the material conveying system (7) is used for conveying graphite and carbon dioxide gas.
2. The stable dry-milled adaptive heavy concrete wall demolition apparatus according to claim 1, wherein:
the milling and grinding device comprises a rotary joint (4-1), a grinding tool bit (4-2), a wrist motor (4-3), a small arm (4-4), a large arm (4-5), a fourth hydraulic cylinder (4-6), a hose (4-7), a milling tool bit (4-8), a semi-solid shaft (4-9), a rotary platform (4-10), a fastening ring (4-11), a third infrared sensor (4-12) and a hydraulic motor (4-13);
the rotary joint (4-1) is arranged at two ends of the polishing tool bit (4-2) and the milling tool bit (4-8), the polishing tool bit (4-2) is fixed at the wrist, and the wrist motor (4-3) is arranged at the wrist and used for driving the polishing tool bit to rotate; the hydraulic motor (4-13) drives the rotating platform (4-10) to rotate, and the fourth hydraulic cylinder (4-6) is controlled to stretch the small arm (4-4) through feedback of the third infrared sensor (4-12); the wrist motor (4-3) drives the gear to drive the semi-solid shaft (4-9) to rotate, so that the cutter head starts to work; two rows of air holes (4-9-2) are uniformly distributed on the semi-solid shaft (4-9) and are respectively matched with through holes in the milling cutter head (4-8) and the grinding cutter head (4-2), so that the mixture of graphite and carbon dioxide is conveyed; the hose (4-7) is connected with the large arm (4-5) through the fastening ring (4-1); the fastening ring (4-11) is used for fixing the hose (4-7) on the large arm (4-5), and the third infrared sensor (4-12) is arranged at the front end of the wrist and used for detecting the distance between the cutter head and the wall.
3. The stable dry-milled adaptive heavy concrete wall demolition apparatus according to claim 1, wherein:
the numerical control detection device (2) comprises: the system comprises an ultrasonic sensor (2-1), a visual sensor (2-2), a numerical control device (2-3), an alarm lamp (2-4) and a display screen (2-5); the ultrasonic sensor (2-1) is arranged on the right side of the hydraulic lifting platform and used for detecting the distance between surrounding obstacles and the device; the numerical control device (2-3) is arranged above the right side of the hydraulic lifting table and is used for receiving and analyzing signals fed back by the sensor; during milling, graphite and carbon dioxide react in internal channels of the milling cutter head (4-8) and the grinding cutter head (4-2) to generate carbon monoxide gas, and the carbon monoxide gas can be discharged from the vent holes; the carbon monoxide sensor (6-1) can detect the concentration of carbon monoxide, and the concentration exceeds a set value and can be subjected to early warning prompt, so that the alarm lamp (2-4) flickers; the signals received by the sensors can be analyzed by the numerical control system, displayed on the display screens (2-5) and related operations can be carried out through the control buttons.
4. The stable dry-milled adaptive heavy concrete wall demolition apparatus according to claim 1, wherein: the lifting platform device (3) comprises a first hydraulic cylinder (3-2), a support bracket (3-3), a hydraulic lifting platform (3-1), a telescopic strut (3-5), a second hydraulic cylinder (3-6) and a support platform (3-4); the first hydraulic cylinders (3-2) are fixed on two sides of the supporting bracket (3-3), and the hydraulic lifting platform (3-1) controls the first hydraulic cylinders (3-2) to move so as to control the lifting of the supporting bracket (3-3), so that the lifting movement of the supporting platform (3-4) is realized; the second hydraulic cylinder (3-6) drives the telescopic support (3-5) to extend and retract.
5. The stable dry-milled adaptive heavy concrete wall demolition apparatus according to claim 1, wherein:
the roller following device (5) comprises a roller (5-2), a telescopic arm (5-4), a pressure sensor (5-3) and a third hydraulic cylinder (5-1); the rollers (5-2) are arranged at two ends of the telescopic arm (5-4) and are adjacent to the pressure sensor (5-3); the third hydraulic cylinder (5-1) drives the telescopic arm (5-4) to stretch, and the pressure sensor (5-3) feeds back a signal to the numerical control system, so that the telescopic arm (5-4) can fasten the device; the roller can move along with the telescopic support columns (3-5).
6. The adaptive heavy concrete wall demolition device with stable dry grinding according to claim (1), characterized in that the gas recovery device (6) comprises a carbon monoxide sensor (6-1), an aerodynamic device (6-2), an absorption cylinder (6-3), an air outlet (6-4) and a power device (6-5);
the absorption cylinder (6-3) comprises an absorbent and a filter screen, the carbon monoxide sensor (6-1) can detect the concentration of carbon monoxide, and the concentration exceeding a set value can be subjected to early warning prompt;
starting the aerodynamic device (6-2), and sucking carbon monoxide into the absorption cylinder (6-3) so as to absorb the carbon monoxide; the exhaust outlet (6-4) can exhaust the separated harmless gas, and the power device (6-5) can drive the operation of the exhaust outlet.
7. The self-adaptive heavy concrete wall demolishing device capable of realizing stable dry grinding according to claim 1, wherein the material conveying system (7) comprises a graphite box (7-1), a rotary joint (7-2), a sucker mechanism (7-3), a feeding port, a pressure tank, a discharge gate and a telescopic pipe; the material conveying system is arranged in the telescopic support column (3-5), graphite enters the feeding hole from the graphite box, compressed carbon dioxide gas is stored in the pressure tank, the compressed carbon dioxide gas in the pressure tank can drive the graphite to enter the telescopic pipe, the telescopic pipe can be stretched, and the discharge gate can control the opening and closing of the material conveying system; the sucker mechanism (7-3) is connected with the telescopic strut (3-5) so as to realize the synchronous motion of the sucker mechanism and the telescopic strut; the third infrared sensor (7-1-1) can detect the content of graphite in the graphite box (7-1) so as to carry out filling; when the discharge gate is opened, graphite and carbon dioxide are conveyed; closing the discharge gate, and stopping conveying the system; the telescopic pipe (7-4) is a conveying pipe, realizes telescopic movement of the pipe, can further lift along with the telescopic support (3-5), and conveys the graphite carbon dioxide mixture to the rotary joint (7-2); the four fixed ends of the rotary joint are respectively connected with four hoses (4-7), and then are connected with rotary joints (4-1) at two sides of the milling cutter head (4-8) and the grinding cutter head (4-2) through the hoses (4-7), so that carbon dioxide and graphite are fed into the hollow side (4-9-3) of the rotary shaft (4-9).
8. A method of stable dry-milled adaptive heavy concrete wall demolition apparatus demolition, the method comprising the steps of:
step 1, inputting an instruction to a control system in a display panel and setting parameters; the demolition device receives an instruction to move forward to a designated place, and if an obstacle exists in the process of moving forward, the first infrared sensor (1-1) and the visual sensor (2-2) can perform analysis feedback, so that the demolition device is positioned and position-adjusted;
step 2, after the dismounting device reaches the designated position, the lifting platform device (3) starts to operate, the first hydraulic cylinder (3-2) starts to work, and the support bracket (3-3) is pushed to move; the supporting platform (3-4) drives the telescopic support column (3-5) to lift; then the following roller (5-2) reaches a designated position to start running, and the device is fastened; the second hydraulic cylinder (3-6) starts to work, and the telescopic strut (3-5) starts to move slowly; at the moment, the button (2-6) is pressed, the fourth hydraulic cylinder (4-6) starts to work, the cutter head can be positioned through the second infrared sensor (4-12) so as to be in contact with the heavy concrete wall, and the milling cutter head (4-8) and the grinding cutter head (4-2) start to work; meanwhile, the hydraulic motors (4-13) start to work, the rotary platform (4-10) controls the large arm (4-5) and the small arm (4-4) to rotate, and the rotary torque can be controlled through the pressure sensor, so that stable operation is ensured; setting a designated intermittent time by the control system (2);
step 3, feeding is started by a material conveying system (7), graphite enters a pressure tank from a graphite cylinder (7-1), the pressure tank starts to pressurize under the action of a vacuum pump, a control system starts a discharge gate, and compressed carbon dioxide is mixed with the graphite and enters a conveying telescopic pipe (7-4) under the action of the pressure tank;
step 4, performing endothermic reaction on the mixture of graphite and carbon dioxide in the milling cutter head (4-8) and the grinding cutter head (4-2) under a high-temperature condition, and cooling the cutter heads; at the moment, the mixture of graphite and carbon dioxide enters the fixed end of the rotary joint (7-2) through the hose (4-7) and then respectively enters the hollow side (4-9-3) of the semi-solid shaft (4-9) of the milling cutter head (4-8) and the grinding cutter head (4-2), and the mixture enters the cutter under the action of the pressure tank; at the moment, the cutter reaches the specified reaction temperature; the graphite and the carbon dioxide are subjected to strong endothermic reaction, so that the milling cutter head (4-8) and the grinding cutter head (4-2) are cooled;
step 5, after the device stops running, the gas absorption device (6) starts to work, the carbon monoxide sensor (6-1) detects the concentration of the carbon monoxide, and early warning prompt is carried out when the concentration exceeds a set value; if the carbon monoxide concentration value exceeds the set concentration, the air power device (6-5) starts to start, and carbon monoxide is sucked into the absorption cylinder (6-3) so as to absorb the carbon monoxide.
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| CN202210022296.1A CN114293814B (en) | 2022-01-10 | 2022-01-10 | Stable dry grinding self-adaptive heavy concrete wall dismantling device |
| PCT/CN2022/115730 WO2023130742A1 (en) | 2022-01-10 | 2022-08-30 | Self-adaptive heavy concrete wall dismantling device capable of achieving stable dry grinding |
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| CN202210022296.1A CN114293814B (en) | 2022-01-10 | 2022-01-10 | Stable dry grinding self-adaptive heavy concrete wall dismantling device |
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| WO2023130742A1 (en) * | 2022-01-10 | 2023-07-13 | 湖南大学 | Self-adaptive heavy concrete wall dismantling device capable of achieving stable dry grinding |
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