CN120625971B - Overhead multi-claw riding type chimney dismantling robot and dismantling method - Google Patents

Abstract

The present invention discloses a top-mounted multi-claw straddling chimney demolition robot and a demolition method, relating to the technical field of demolition of high-rise buildings; the robot comprises a carrying platform, a supporting mechanism, a clamping mechanism, and a chimney demolition mechanism; rectangular holes are evenly distributed on the carrying platform, and the supporting mechanisms are used to install the rectangular holes; the supporting mechanism is used to fix the robot as a whole on the top of the chimney, and the chimney demolition mechanism is symmetrically installed below the carrying platform, and the chimney demolition mechanism is used to perform chimney demolition work; the supporting mechanism comprises a supporting rod and a supporting slider mechanism; the supporting slider mechanism is installed in the rectangular hole of the carrying platform, and the supporting slider mechanism is used to carry the supporting rod and control the supporting rod to realize radial displacement function; the present invention has the function of variable diameter and angle adjustment, and can adapt to the demolition of chimneys of different sizes.

Description

Overhead multi-claw riding type chimney dismantling robot and dismantling method

Technical Field

The invention relates to the technical field of demolition of high-rise buildings, in particular to a multi-claw riding type chimney demolition robot and a demolition method.

Background

In the process of updating and reforming industrial facilities, old chimney cannot meet the modern industrial requirements of high-speed development, and the existence of the old chimney not only can cause the waste of space resources, but also can influence the beautiful image of the city, so that the old chimney is seriously dismantled. The traditional chimney dismantling method mainly comprises manual dismantling, blasting dismantling and mechanical dismantling. Manual dismantling relies on the hand-held tools of workers to disassemble gradually, and the method is extremely low in efficiency, and workers need to operate in high-altitude and dangerous environments and face multiple safety risks such as high-altitude falling, object striking and dust pollution. The blasting demolishs though efficiency is higher, but the huge vibrations and the flying stones that produce in the blasting process probably can cause unpredictable harm to surrounding building, infrastructure and personnel safety, still can produce a large amount of dust simultaneously, causes the pollution to the environment, and the blasting demolishs and need strict approval procedure and complicated safety protection measure, and implementation cost is high. Mechanical demolition is usually performed by large mechanical equipment, however, for some chimneys with large restrictions on complex terrains or surrounding environments, the large machinery is difficult to work close, and in the demolition process, the collapse direction of the chimneys is out of control due to improper mechanical operation, so that safety accidents are caused.

The conventional chimney dismantling device has a plurality of defects although the conventional dismantling mode is improved to a certain extent. The fixing modes of part of the devices are not stable enough, shake and even fall easily in the dismantling process to influence the safety and stability of the dismantling operation, the dismantling structure of some devices is unreasonable in design, cannot adapt to chimneys of different sizes and materials, so that the dismantling efficiency is low and equipment is easy to damage, and the other devices lack of effective dust collection and noise reduction measures in the dismantling process to cause adverse effects on the operation environment and the life of surrounding residents. Therefore, the novel dismantling device which can safely, efficiently and stably dismantle the chimney and has good environmental adaptability and environmental protection performance is developed, and the technical problem to be solved in the field of dismantling of the current industrial facilities is solved.

Disclosure of Invention

The invention overcomes the defects of the prior art, and provides a top-mounted multi-claw riding type chimney dismantling robot and a dismantling method, which are realized by the following technical scheme:

A multi-claw riding type chimney removing robot with a top is arranged on the top of a chimney, connection with the chimney is achieved through the clamping mechanism, rectangular holes are uniformly distributed in the top of the chimney, the supporting mechanism is used for installing the supporting mechanism in the rectangular holes, the robot is integrally fixed on the top of the chimney, the chimney removing mechanism is symmetrically arranged below the top of the carrying platform and used for removing the chimney, the supporting mechanism comprises a supporting rod and a supporting sliding block mechanism, the supporting sliding block mechanism is arranged in the rectangular holes of the carrying platform and used for carrying the supporting rod and controlling the supporting rod to achieve a radial displacement function, the supporting rod comprises a first electric push rod, a second electric push rod, a supporting rod shell, a supporting rod moving core, an angle adjusting push rod and a third electric push rod, the carrying platform is hinged with a fixed end of the first electric push rod, a telescopic end of the first electric push rod is hinged with the supporting rod shell, the supporting rod moving core is connected inside the supporting rod shell in a sliding mode, the bottom of the supporting rod moving core is a conical structure, the bottom of the supporting rod extends out of the supporting rod shell, the supporting rod moving core is connected with the inner top surface of the supporting rod shell through the electric push rod in a three-phase mode, the conical structure is connected with the clamping mechanism in a rotating mode, and the angle adjusting mechanism is hinged with the clamping mechanism.

The support sliding block mechanism comprises a support rod sliding block, rollers and sliding bearings, wherein the support rod sliding block is of a U-shaped frame structure, one end of the U-shaped frame structure is of an open structure, and the other end of the U-shaped frame structure is of a closed structure;

the roller comprises a roller I and a roller II, openings are formed in the side walls of two sides of one end of an open structure of the support rod sliding block in an up-down symmetrical mode, the roller I is rotatably connected to the openings through a fastening flange, a plate-shaped roller fixing piece I and a plate-shaped roller fixing piece II are fixedly connected to the back face of one end of a closed structure of the support rod sliding block, rotating shafts are respectively connected to the roller fixing piece I and the roller fixing piece II, and the two ends of the rotating shafts are respectively rotatably connected with the roller II.

Furthermore, the sliding bearing is arranged on the inner side of the side wall of the supporting rod sliding block through an upper bearing fixing piece and a lower bearing fixing piece, the back of the supporting rod sliding block is provided with a hanging lug, the telescopic end of the second electric push rod is hinged with the hanging lug, and the fixed end of the second electric push rod is hinged with the inner wall of the rear side of the rectangular hole of the carrying platform.

Further, the clamping mechanism comprises a clamping mechanism base, a clamping moving block, a clamping mechanism connecting rod, a clamping mechanism sliding plate, a clamping mechanism connecting plate, a clamping mechanism sliding block and a supporting plate;

The four corners of the bottom of the clamping mechanism base are provided with connecting columns, the front and back of the top of the clamping mechanism base are symmetrically provided with two sliding columns, two sides of a clamping moving block are sleeved on the corresponding sliding columns, the front and back of the top of the clamping mechanism base are respectively provided with sliding rails, the bottom of the clamping mechanism sliding plate is provided with sliding blocks, the left and right sides of the clamping mechanism base are respectively and slidably connected with the clamping mechanism sliding plate through the matching of the sliding rails and the sliding blocks, the four corners of the clamping moving block are respectively hinged with the clamping mechanism sliding plate through clamping mechanism connecting rods, one side of the bottom of the clamping mechanism sliding plate is hinged with the top of the clamping mechanism connecting plate, the bottom of the clamping mechanism connecting plate is hinged with a supporting plate, the middle of the clamping mechanism connecting plate is provided with the clamping mechanism sliding blocks, the clamping mechanism sliding blocks are hinged with the corresponding connecting columns at the bottom of the clamping mechanism base, and the conical structure at the bottom of the supporting rod moving core is hinged with the clamping moving block.

The chimney dismantling mechanism comprises a track mechanism, a supporting base and a dismantling executing mechanism, the track mechanism is arranged below the carrying platform, the supporting base is connected with the track mechanism, the supporting base moves circumferentially on the track mechanism, and the dismantling executing mechanism is connected to the supporting base.

The track mechanism comprises an inner annular sliding rail, an annular toothed rail, an outer annular sliding rail, an inner annular sliding rail sliding block and an outer annular sliding rail sliding block, wherein the annular toothed rail is positioned between the inner annular sliding rail and the outer annular sliding rail, the inner annular sliding rail and the outer annular sliding rail are used for mounting a support base, the annular toothed rail is used for being matched with a gear structure in the support base, and the support base is driven to move circumferentially under the drive of a motor.

Further, the support base comprises a base first shell, a base second shell, a rack motor, a motor gear, an annular rack gear and a base third shell;

The base is characterized in that a T-shaped groove is symmetrically formed in the first base shell, the second base shell is connected with the first base shell in a sliding manner through the T-shaped groove, and the third base shell is arranged at the bottoms of the first base shell and the second base shell;

a rack motor is arranged on the first shell of the base, a motor gear is arranged at the shaft end of the rack motor, the motor gear is meshed with an annular rack gear, and the annular rack gear is meshed with an annular rack.

The quick-clamping mechanism comprises a lock head, a spring, a quick-clamping constraint block, a quick-clamping constraint rod, a quick-clamping mechanism shell, a limit screw, a quick-clamping connecting rod, a quick-clamping moving block and a micro-motion push rod;

the second shell of the base is provided with a rectangular groove, a quick card moving block is arranged in the rectangular groove of the second shell of the base, the quick card moving block is provided with a small-range displacement space along the direction of the T-shaped groove of the first shell of the base, the quick card moving block is connected with the first shell of the base through two micro-motion push rods, and the micro-motion push rods are arranged in two round holes formed when the second shell of the base is connected with the third shell of the base;

A quick-clamping mechanism shell is connected in a sliding mode to each tooth groove of the tooth-shaped structure of the side wall of the second outer shell of the base, the outer shape of the quick-clamping mechanism shell is consistent with the tooth groove shape of the tooth-shaped structure of the second outer shell of the base, a round hole is formed in the side face of the quick-clamping mechanism shell, the quick-clamping mechanism shell is connected with the inner wall of the tooth groove in a sliding mode through the rectangular groove in the side face of the quick-clamping mechanism shell, a connecting hole penetrating up and down is formed in the quick-clamping mechanism shell, a quick-clamping constraint rod is arranged in the connecting hole, the bottom of the quick-clamping constraint rod is connected with the second outer shell of the base through threads, the top of the quick-clamping constraint rod is connected with the quick-clamping constraint block, a communicating hole is formed in the quick-clamping constraint rod and the quick-clamping constraint block, a right-angle trapezoid structure is formed in the quick-shaped constraint rod, a round hole is formed in the corresponding face of one side of the lock head, a round hole is formed in the round hole, a round rod is inserted into the hole in the corresponding to the side of the quick-clamping constraint block, a spring is mounted on the outer wall of the round hole, one end of the spring is connected with the quick-clamping constraint block, the other end of the spring is connected with the trapezoid-shaped structure, the long side of the quick-clamping constraint rod is connected with the second outer shell, and the rectangular groove is mounted on the rectangular groove, and the lock is matched with the rectangular groove.

The mechanical arm mechanism comprises a mechanical arm fluted disc, a mechanical arm gear, a rotary motor I, a mechanical arm turntable, a first electric push rod, a first connecting rod, a second electric push rod, a second connecting rod, a third electric push rod, a connecting frame, a third connecting rod and a rotary motor II;

The mechanical arm fluted disc is connected to the lower part of the third shell of the base through a bolt, teeth are arranged on the circumference of the inner wall of the mechanical arm fluted disc, the mechanical arm rotary disc is connected to the mechanical arm fluted disc, a first rotating motor is arranged on the mechanical arm rotary disc, a driving end of the first rotating motor stretches into the space between the mechanical arm rotary disc and the mechanical arm fluted disc and is fixedly connected with a mechanical arm gear, the mechanical arm gear is meshed with the teeth on the inner wall of the mechanical arm fluted disc, one end of a first connecting rod is hinged to the mechanical arm rotary disc, the other end of the first connecting rod is hinged to the middle part of a second connecting rod, one end of a first electric push rod is hinged to the mechanical arm rotary disc, the other end of the first electric push rod is hinged to one end of the second electric push rod, the other end of the second connecting rod is hinged to the side wall of the third connecting rod, one end of the third electric push rod is hinged to the third connecting rod, and the second rotating motor is installed at the end of the third connecting rod and is connected with the impact drill bit.

The method for removing the overhead multi-claw riding type chimney adopts the overhead multi-claw riding type chimney removing robot and comprises the following steps:

s1, dividing the wall surface at the top of a chimney into n equal-part wall surfaces, and setting two opposite wall surfaces as a group;

s2, lifting the supporting mechanisms corresponding to the first two groups of wall surfaces to separate the supporting mechanisms from the corresponding wall surfaces, and then punching and dismantling the first two groups of wall surfaces through the chimney dismantling mechanisms corresponding to the first two groups of wall surfaces;

s3, finishing the dismantling, namely lowering the first two wall faces to the position after the dismantling is finished by adjusting the angle and the length of the corresponding supporting mechanisms of the first two wall faces, and clamping and fixing the first two wall faces through the clamping mechanisms;

And S4, sequentially completing the dismantling of the remaining groups of wall surfaces in a mode of S2 and S3, and after completing the dismantling work of all the wall surfaces of the current layer, realizing the integral descent of the robot, and then carrying out the dismantling work of the wall surfaces of the next layer.

Compared with the prior art, the invention has the following beneficial effects:

1. Compared with the traditional manual dismantling mode, the invention can save more manpower and material costs and reduce the risk of dismantling, has a full-automatic dismantling function, has higher efficiency and accords with the automatic development trend.

2. Compared with other mounting modes, the top mounting mode can avoid the influence of obstacles such as scaffolds on the chimney, and is suitable for dismantling chimney structures with complex shapes.

3. Compared with other reducing modes, the reducing mode of the support rod used in the invention can realize the reducing function of larger diameter by adjusting the angle of the support rod and the length of the support rod, thereby reducing the whole volume of the robot.

4. The carrying bases used in the circumferential movement mechanism are distributed in a tooth shape in the direction close to the shell of the carrying platform, can be meshed with tooth-shaped structures on the carrying platform, and ensure the stability of the dismantling execution mechanism during work.

5. The carrying base used in the circumferential movement mechanism has a quick clamping function, can realize the quick locking and separating functions of the base and the carrying platform, and is convenient for the robot to switch between a dismantling mode and a movement mode.

6. The carrying platform used in the invention is of a hexagonal structure, and the supporting mechanism is arranged on the connecting line from the vertex to the center of the hexagon, so that the larger diameter-changing size can be realized under the condition of reducing the volume of the robot.

Drawings

FIG. 1 is a schematic view of an overall installation structure of a robot according to the present invention;

FIG. 2 is a bottom view of the robot according to the present invention;

FIG. 3 is a schematic view of a supporting mechanism according to the present invention;

FIG. 4 is a schematic view of a structure of the supporting slider mechanism according to the present invention;

FIG. 5 is a sectional view showing the structure of the support rod according to the present invention;

FIG. 6 is a schematic view of a supporting rod and a clamping mechanism according to the present invention;

FIG. 7 is a schematic view of a clamping mechanism according to the present invention;

FIG. 8 is a schematic view of the diameter-changing process of the support rod according to the present invention;

FIG. 9 is a schematic diagram of a mechanical arm mechanism according to the present invention;

FIG. 10 is a schematic view of a demolition actuator according to the present invention;

FIG. 11 is an enlarged view of FIG. 10 at A;

FIG. 12 is a side cross-sectional view of the quick-release mechanism of the present invention;

FIG. 13 is an enlarged view at B in FIG. 12;

FIG. 14 is a schematic view of the installation of the quick-card mechanism;

FIG. 15 is a schematic grouping of the first layer walls of the chimney;

FIG. 16 is a schematic illustration of a first set of path plans for a stack wall removal operation;

FIG. 17 is a schematic view of the location of the support mechanism during removal;

FIG. 18 is a schematic view of the clamping mechanism lowered to position 2 after the first set of chimney walls are removed;

fig. 19 is a stack removal workflow diagram.

As shown in the figure:

1-a carrying platform;

2-supporting rod, 2001-first electric push rod, 2002-second electric push rod, 2003-supporting rod shell, 2004-supporting rod moving core, 2005-angle adjusting push rod, 2006-third electric push rod;

3-supporting slide block mechanism, 3001-roller I, 3002-fastening flange, 3003-supporting rod slide block, 3004-roller II, 3005-bearing fixing piece, 3006-sliding bearing, 3007-roller fixing piece I and 3008-roller fixing piece II;

4-clamping mechanism, 4001-clamping mechanism base, 4002-clamping moving block, 4003-clamping mechanism connecting rod, 4004-clamping mechanism sliding plate, 4005-clamping mechanism connecting plate, 4006-clamping mechanism sliding block and 4007-supporting plate;

the device comprises a 5-track mechanism, a 5001-inner annular sliding rail, a 5002-annular toothed rail, a 5003-outer annular sliding rail, a 5004-inner annular sliding rail slide block and a 5005-outer annular sliding rail slide block;

6-supporting base, 6001-base first shell, 6002-base second shell, 6003-rack motor, 6004-motor gear, 6005-ring rack gear, 6006-base third shell;

7-quick-clamping mechanism, 7001-lock, 7002-spring, 7003-quick-clamping constraint block, 7004-quick-clamping constraint rod, 7005-quick-clamping mechanism shell, 7006-limit screw, 7007-quick-clamping connecting rod, 7008-quick-clamping moving block and 7009-micro-motion push rod;

8-mechanical arm mechanism, 8001-mechanical arm fluted disc, 8002-mechanical arm gear, 8003-rotary motor I, 8004-mechanical arm turntable, 8005-first electric push rod, 8006-first connecting rod, 8007-second electric push rod, 8008-second connecting rod, 8009-third electric push rod, 8010-connecting frame, 8011-third connecting rod, 8012-rotary motor II, 8013-percussion bit;

9-chimney.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail by combining the embodiments and the drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. The following describes the technical scheme of the present invention in detail with reference to examples and drawings, but the scope of protection is not limited thereto.

Referring to fig. 1 to 14, the embodiment provides a top-mounted multi-claw riding type chimney dismantling robot, which comprises a carrying platform 1, a supporting mechanism, a clamping mechanism 4 and a chimney dismantling mechanism, wherein the robot is integrally arranged at the top of a chimney 9, and the function of connection with the chimney 9 is realized through the clamping mechanism 4.

The carrying platform 1 is of a hexagonal structure, a round hole is formed in the center of the carrying platform 1, six rectangular holes are uniformly distributed in the hexagonal structure, the length direction of each rectangular hole is arranged from the vertex to the center of the hexagonal structure, and the rectangular holes are internally used for installing the supporting mechanism. The supporting mechanism is used for integrally fixing the robot on the top of the chimney 9, and the robot is convenient to disassemble. The inside circular tube-shape structure that is in loading platform 1 below is equipped with round tooth form structure on circular tube-shape structure inner wall, and tooth form structure is used for making things convenient for the location constraint of chimney demolishment mechanism, installs the chimney in loading platform 1 below symmetry and demolishs the mechanism, and the mechanism is demolishd to the chimney is used for carrying out the demolishment work of chimney 9.

Before describing the robot in detail, some nouns therein are first defined.

The definition of the inside and the outside of the mechanism which is not a closed structure and is distributed along the radial direction of the carrying platform 1 is defined by taking the center of the carrying platform 1 as a reference point, wherein one side close to the center is the inside, and one side far from the center is the outside.

The second definition is that the radial movement is radial movement along the radial direction of the mounting platform 1 with reference to the circular cylindrical structure below the mounting platform 1.

The third definition is that the circumferential movement takes the central axis of the circular cylindrical structure below the carrying platform 1 as a reference, and the movement around the central axis is circumferential movement.

Specifically, the support mechanism comprises a support rod 2 and a support slide block mechanism 3, wherein the support slide block mechanism 3 is installed in a rectangular hole of the carrying platform 1, and the support slide block mechanism 3 is used for carrying the support rod 2 and controlling the radial displacement function of the support rod 2.

The support rod 2 includes a first electric push rod 2001, a second electric push rod 2002, a support rod housing 2003, a support rod moving core 2004, an angle adjusting push rod 2005, and a third electric push rod 2006.

The supporting slide block mechanism 3 comprises a first roller 3001, a fastening flange 3002, a supporting rod slide block 3003, a second roller 3004, a bearing fixing member 3005, a sliding bearing 3006, a first roller fixing member 3007 and a second roller fixing member 3008.

The support rod slide block 3003 is of a U-shaped frame structure, one end of the U-shaped frame structure is of an open structure, the other end of the U-shaped frame structure is of a closed structure, two symmetrical openings are formed in side walls of two sides of one end of the open structure of the support rod slide block 3003, a first roller 3001 is rotatably connected to the opening through a fastening flange 3002, a first plate-shaped roller fixing piece 3007 and a second roller fixing piece 3008 are fixedly connected to the back surface of one end of the closed structure of the support rod slide block 3003, rotating shafts are respectively connected to the first roller fixing piece 3007 and the second roller fixing piece 3008, two ends of the rotating shafts are respectively rotatably connected with a second roller 3004, and the first roller 3001 and the second roller 3004 are located on the outer side of the support rod slide block 3003. Rectangular through grooves are formed in two sides of the rectangular hole of the carrying platform 1, and the first roller 3001 and the second roller 3004 are connected in a sliding mode in the rectangular through grooves. The inner wall of the support rod slide block 3003 is symmetrically provided with a sliding bearing 3006, the sliding bearing 3006 is arranged on the inner side of the side wall of the support rod slide block 3003 through an upper bearing fixing piece 3005 and a lower bearing fixing piece 3005, the sliding bearing 3006 is used for installing the support rod 2, one of the upper bearing fixing piece 3005 and the lower bearing fixing piece 3005 is a pre-installation part, the other bearing fixing piece 3005 is a rear installation part, the bearing fixing piece 3005 of the pre-installation part and the support rod slide block 3003 are integrally designed, and after the support rod 2 is installed, the bearing fixing piece 3005 of the rear installation part is installed.

The back of the supporting rod slide block 3003 is provided with a hanging lug, the telescopic end of the electric push rod II 2002 is hinged with the hanging lug, the fixed end of the electric push rod II 2002 is hinged with the inner wall of the rear side of the rectangular hole of the carrying platform 1, the radial movement of the supporting rod slide block 3003 is controlled through the electric push rod II 2002, the fixed end of the electric push rod I2001 is hinged with a connecting lug which is arranged above the carrying platform 1 and is positioned at the rear side of the rectangular through groove, the telescopic end of the electric push rod I2001 is hinged with the supporting rod shell 2003, the electric push rod I2001 is used for controlling the angle of the supporting rod shell 2003, the supporting rod moving core 2004 is slidingly connected inside the supporting rod shell 2003, the bottom of the supporting rod moving core 2004 is of a conical structure, the bottom of the supporting rod moving core 2004 extends out of the supporting rod shell 2003, the supporting rod moving core 2004 is connected with the inner top surface of the supporting rod shell 2003 through the electric push rod III 2006, the supporting rod moving core 2004 can be pushed out of the supporting rod shell 2003 through the electric push rod III 2006, and a large-scale diameter changing function of the supporting rod 2 is achieved. The conical structure is rotatably connected with the clamping mechanism 4, and an angle adjusting push rod 2005 is hinged between the conical structure and the clamping mechanism 4. The angle adjustment between the clamping mechanism 4 and the supporting rod movable core 2004 can be realized by pushing the angle adjustment push rod 2005, so that the clamping work of the clamping mechanism 4 and the chimney wall surface is facilitated.

The clamping mechanism 4 comprises a clamping mechanism base 4001, a clamping moving block 4002, a clamping mechanism connecting rod 4003, a clamping mechanism sliding plate 4004, a clamping mechanism connecting plate 4005, a clamping mechanism sliding block 4006 and a supporting plate 4007.

The four corners of the bottom of the clamping mechanism base 4001 are provided with connecting columns, the front and back of the top of the clamping mechanism base 4001 are symmetrically provided with two sliding columns, two sides of the clamping moving block 4002 are sleeved on the corresponding sliding columns, the clamping moving block 4002 can move up and down along the two sliding columns, sliding rails are arranged on the front and back of the top of the clamping mechanism base 4001, the bottom of the clamping mechanism sliding plate 4004 is provided with a sliding block, the left side and the right side of the clamping mechanism base 4001 are respectively connected with the clamping mechanism sliding plate 4004 in a sliding manner through the matching of the sliding rails and the sliding blocks, four corners of the clamping moving block 4002 are respectively hinged with the clamping mechanism sliding plate 4004 through clamping mechanism connecting rods 4003, one side of the bottom of the clamping mechanism sliding plate 4004 is hinged with the top of the clamping mechanism connecting plate 4005, the bottom of the clamping mechanism connecting plate 4005 is hinged with the supporting plate 4007, the middle of the clamping mechanism connecting plate 4005 is provided with the clamping mechanism sliding block 4006, the clamping mechanism sliding block 4006 is hinged with the connecting columns corresponding to the bottom of the clamping mechanism base 4001, the conical structure at the bottom of the moving core 2004 is hinged with the clamping moving block 4002, and when the clamping moving block 4002 is subjected to pressure drop from the supporting rod 2, the clamping mechanism sliding plate is pushed out of the clamping mechanism sliding plate 4004 to the whole machine, and the clamping mechanism is far away from the clamping mechanism base 4004, and the whole body is kept away from the clamping mechanism base 4004 under the principle, and the clamping mechanism is kept away from the clamping mechanism base, and the clamping mechanism base is under the principle of the clamping mechanism.

The chimney dismantling mechanism is provided with two groups which are symmetrically distributed. The chimney dismantling mechanism comprises a track mechanism 5, a supporting base 6, a quick-clamping mechanism 7 and a dismantling actuating mechanism.

The track mechanism 5 is installed below the carrying platform 1, the track mechanism 5 comprises an inner annular sliding rail 5001, an annular toothed rail 5002, an outer annular sliding rail 5003, an inner annular sliding rail sliding block 5004 and an outer annular sliding rail sliding block 5005, the annular toothed rail 5002 is located between the inner annular sliding rail 5001 and the outer annular sliding rail 5003, the inner annular sliding rail 5001 and the outer annular sliding rail 5003 are used for mounting a supporting base 6, the annular toothed rail 5002 is used for being matched with a gear structure in the supporting base 6, and circumferential movement of the supporting base 6 is achieved under the driving of a motor.

The support base 6 includes a base first housing 6001, a base second housing 6002, a rack motor 6003, a motor gear 6004, an annular rack gear 6005, a base third housing 6006.

The quick-lock mechanism 7 includes a lock head 7001, a spring 7002, a quick-lock restriction block 7003, a quick-lock restriction rod 7004, a quick-lock mechanism case 7005, a limit screw 7006, a quick-lock link 7007, a quick-lock moving block 7008, and a micro-push rod 7009.

The bottom of a first base shell 6001 is connected with an inner annular sliding rail slider 5004 and an outer annular sliding rail slider 5005, the inner annular sliding rail slider 5004 is in sliding connection with the inner annular sliding rail 5001, the outer annular sliding rail slider 5005 is in sliding connection with the outer annular sliding rail 5003, a rack motor 6003 is arranged on the first base shell 6001, a motor gear 6004 is arranged at the shaft end of the rack motor 6003, the motor gear 6004 is meshed with an annular rack gear 6005, the annular rack gear 6005 is meshed with an annular rack 5002, the motor gear 6004 is driven to rotate through rotation of the rack motor 6003, and then the annular rack gear 6005 is driven to rotate, so that the first base shell 6001 moves along the circumference of the annular rack 5002.

T-shaped grooves are symmetrically formed in the first base housing 6001, the second base housing 6002 is slidably connected with the first base housing 6001 through the T-shaped grooves, and the second base housing 6002 can move along the first base housing 6001. The base third housing 6006 is mounted at the bottom of the base first housing 6001 and the base second housing 6002. The side wall of the second base housing 6002, which is close to the carrying platform 1, is in a tooth-shaped structure, and the tooth-shaped structure of the side wall of the second base housing 6002 can be meshed with the tooth-shaped structure on the inner wall of the cylindrical structure below the carrying platform 1.

The base second housing 6002 is provided with a rectangular groove, a quick card moving block 7008 is arranged in the rectangular groove of the base second housing 6002, the quick card moving block 7008 can carry out small-range displacement along the T-shaped groove direction of the base first housing 6001, the quick card moving block 7008 is connected with the base first housing 6001 through two micro-motion push rods 7009, and the micro-motion push rods 7009 are arranged in two round holes formed when the base second housing 6002 is connected with the base third housing 6006. When the micro push rod 7009 pushes, the quick card moving block 7008 moves towards the edge of the carrying platform 1 first, and when reaching the edge of the base second housing 6002, the micro push rod 7009 pushes the base second housing 6002 to move continuously, so that the toothed structure of the side wall of the base second housing 6002 is meshed with the toothed structure of the cylindrical structure below the carrying platform 1.

A quick-clamping mechanism shell 7005 is slidably connected in each tooth groove of the tooth-shaped structure of the side wall of the base second shell 6002, the outer shape of the quick-clamping mechanism shell 7005 is consistent with the tooth groove shape of the tooth-shaped structure of the base second shell 6002, the quick-clamping mechanism shell 7005 is hinged with a quick-clamping moving block 7008 through a quick-clamping connecting rod 7007, a rectangular groove is formed in the side face of the quick-clamping mechanism shell 7005, the quick-clamping mechanism shell 7005 is slidably connected with the inner wall of the tooth groove through the rectangular groove in the side face, a connecting hole which is vertically through is formed in the quick-clamping mechanism shell 7005, a quick-clamping constraint rod 7004 is arranged in the connecting hole, the bottom of the quick-clamping constraint rod 7004 is connected with the base second shell 6002 through threads, the top of the quick-clamping constraint rod 7004 is connected with a quick-clamping constraint block 7003, and the two are mutually matched to limit the movement of the quick-clamping mechanism shell 7005, and the quick-clamping mechanism shell 7005 is prevented from falling off. The quick-clamping restraining rod 7004 and the quick-clamping restraining block 7003 are provided with communicated holes, the lock head 7001 is of a right trapezoid structure, a round hole is formed in one side of the right-angle side of the lock head 7001, a cylindrical rod extends out of the round hole and can be inserted into the hole communicated with the quick-clamping restraining rod 7004 and the quick-clamping restraining block 7003, a spring 7002 is mounted on the outer wall of the cylindrical rod, one end of the spring 7002 is connected with the quick-clamping restraining block 7003, the other end of the spring 7002 is connected with the right-angle trapezoid structure, the spring 7002 can keep pushing out of the lock head 7001 and can move to a certain extent, a rectangular groove is formed in one side of the long side of the lock head 7001, and the rectangular groove of the lock head 7001 is matched with a limit screw 7006 mounted on the quick-clamping mechanism shell 7005, so that the limit function of the lock head 7001 is achieved.

When the micro push rod 7009 pushes the base second housing 6002 to be meshed with the carrying platform 1, the lock head 7001 can stretch into a clamping groove at the bottom of the carrying platform 1 under the elasticity of the spring 7002, so that quick locking of the base second housing 6002 and the carrying platform 1 can be realized.

When the micro push rod 7009 is retracted inwards, the quick card moving block 7008 moves towards the edge direction far away from the carrying platform 1, the quick card mechanism shell 7005 is pulled downwards through the quick card connecting rod 7007, the lock head 7001 descends under the combined action of the rectangular groove on the lock head 7001 and the limit screw 7006, the quick card mechanism 7 is connected with and separated from the carrying platform 1, and when the quick card moving block 7008 contacts with one side of the center of the base second shell 6002 close to the carrying platform 1, the base second shell 6002 is driven to move towards the center of the robot, and the supporting base 6 is separated from the carrying platform 1.

A screw hole is provided in the lower portion of the base third housing 6006 for attaching and detaching the actuator. The dismantling actuating mechanism comprises a mechanical arm mechanism 8 and a percussion bit 8013, wherein the mechanical arm mechanism 8 is of a five-degree-of-freedom mechanical arm structure, and the mechanical arm mechanism 8 is adopted for carrying the percussion bit 8013.

The mechanical arm mechanism 8 includes a mechanical arm gear 8001, a mechanical arm gear 8002, a first rotary motor 8003, a mechanical arm turntable 8004, a first electric push rod 8005, a first link 8006, a second electric push rod 8007, a second link 8008, a third electric push rod 8009, a connecting frame 8010, a third link 8011, and a second rotary motor 8012.

The mechanical arm fluted disc 8001 is connected to the lower portion of the base third shell 6006 through bolts, teeth are arranged on the circumference of the inner wall of the mechanical arm fluted disc 8001, the mechanical arm fluted disc 8004 is connected to the mechanical arm fluted disc 8001, a rotating motor I8003 is arranged on the mechanical arm fluted disc 8004, the driving end of the rotating motor I8003 stretches into a position between the mechanical arm fluted disc 8004 and the mechanical arm fluted disc 8001 and is fixedly connected with a mechanical arm gear 8002, the mechanical arm gear 8002 is meshed with the teeth on the inner wall of the mechanical arm fluted disc 8001, one end of a first connecting rod 8006 is hinged to the mechanical arm fluted disc 8004, the other end of the first connecting rod 8006 is hinged to the middle of a second connecting rod 8008, one end of the first electric push rod 8005 is hinged to the mechanical arm fluted disc 8004, the other end of the first electric push rod 8005 is hinged to one end of the second electric push rod 8007, the other end of the second electric push rod 8007 is hinged to one end of the second connecting rod 8010, the other end of the second connecting rod 8010 is hinged to one end of the connecting frame 8010, the connecting frame 8011 is hinged to the side wall of the third connecting rod 8011, one end of the third electric push rod 8009 is hinged to the second connecting rod 8011, the other end of the third electric push rod 8009 is hinged to the third connecting rod 8011, and the third electric push rod 8009 is hinged to the end of the third electric connecting rod 8011 is hinged to the end of the third rotary hammer.

Referring to fig. 15 to 19, the present embodiment further provides a method for removing an overhead multi-claw straddled chimney, which is implemented by using an overhead multi-claw straddled chimney removing robot, in this embodiment, a six-claw straddled chimney removing robot is specifically adopted, and other number of claw straddled chimney removing robots and other asymmetric removing methods also belong to the protection scope of the present invention by taking a symmetrical removing method as an example. In this embodiment, the method for implementing packet layered demolition specifically includes the following steps:

As shown in fig. 15, the wall surface at the top of the chimney 9 is divided into six equal parts, and the parts are numbered from a to F in sequence, and when the straddle type chimney dismantling robot is installed, the support mechanism drives the six clamping mechanisms 4 to clamp the centers of the six wall surfaces of the chimney 9 respectively. In order to ensure the stability of the dismantling operation, a symmetrical dismantling mode is adopted for the operation, for example, when the wall surface A is dismantled, the wall surface D of the symmetrical part is dismantled by using another group of dismantling actuating mechanisms, so that the wall surface of the chimney is further divided into three groups of AD, BE and CF.

The first group of path planning diagrams for the wall surface dismantling operation of the chimney are shown in fig. 16, and comprise a downward ① # line and a ② # line, a ③ # line connecting the ① # line and the ② # line and a ④ # position located in the middle of an area surrounded by the three lines, the fixed-point diagrams of the supporting mechanism in the dismantling process are shown in fig. 17, the ① # line position of the wall surface A and the ① # line position of the wall surface D are symmetrical in center, the ① # line position of the wall surface A and the ① # line position of the wall surface D are set to be I # positions, the ② # line position of the wall surface A and the ② # line position of the wall surface D are symmetrical in center, the ② # line position of the wall surface A and the ② # line position of the wall surface D are set to be II positions, and the middle of the I and II positions is set to be III.

In order to ensure the stability of the removal work and the flatness of the section of the chimney 9, when the chimney 9 is removed, the two supporting mechanisms are moved to the left I position and the right I position shown in FIG. 17, and the removal work of the chimney wall ① is performed, because the embodiment adopts the impact drill removal mode, the impact drill 8013 is controlled by the mechanical arm mechanism 8 to sequentially punch the ① line on the chimney wall to complete the removal work of the ① line, then the two supporting mechanisms are moved to the left II position and the right II position shown in FIG. 17, the removal work of the ② line is performed, after the removal work of the ② line is completed, the two supporting mechanisms are moved to the left III position and the right III position, the removal work of the chimney wall ③ line is performed in the direction from the II position to the I position, and after the removal work of the ③ line is completed, the chimney wall is pushed to the inside of the chimney 9 at the ④ position, and the removal work of a group of the wall is completed.

As shown in fig. 18, the position before the chimney 9 is removed is defined as the number 1 position, the position after the removal of one group of wall surfaces of the chimney 9 is defined as the number 2 position, when the removal of one group of wall surfaces of the chimney is finished, the corresponding two supporting mechanisms are lowered to the number 2 position, the supporting and fixing at the number 2 position are completed, and then the removal of the wall surfaces of the next group of chimney is carried out. As shown in fig. 19, the description of the workflow is performed according to the flowchart below.

S1, realizing the dismantling function (taking dismantling AD group chimney wall surface as an example)

S1.1, preparing for dismantling, namely lifting the supporting mechanism corresponding to the A, D wall surface to separate from the chimney wall surface, so that the dismantling work is convenient.

S1.2, moving the dismantling actuating mechanism corresponding to the A, D wall surface by the position I, and carrying out sequential punching operation on the ① line.

S1.3, moving the dismantling actuating mechanism to the position II, and carrying out sequential punching work of ② lines.

S1.4, moving the dismantling actuating mechanism to the III position, and carrying out sequential punching work of ③ lines.

S1.5, pushing the ④ number position of the chimney wall surface by using the dismantling actuating mechanism, pushing the chimney wall surface into the chimney 9, and completing the dismantling of the AD group.

S2, implementation of descent function

And after the disassembly is completed, the angle and the length of the supporting mechanism corresponding to the wall surface of the AD group chimney are adjusted to enable the supporting mechanism to descend to the number 2 position after the disassembly is completed, and the supporting mechanism is clamped and fixed through the clamping mechanism 4.

And S3, completing the dismantling of the BE and the CF in sequence according to the mode of S1 and S2.

When the dismantling work of the three groups of chimney wall surfaces is completed and the supporting mechanisms are all lowered to the No. 2 position, the No. 2 position is redefined as the No. 1 position at the moment, and the dismantling work of the next layer can be carried out.

While the invention has been described in detail in connection with specific preferred embodiments thereof, it is not to be construed as limited thereto, but rather as a result of a simple deduction or substitution by a person having ordinary skill in the art to which the invention pertains without departing from the scope of the invention defined by the appended claims.

Claims (10)

1. A multi-claw riding type chimney dismantling robot is characterized by comprising a carrying platform (1), a supporting mechanism, a clamping mechanism (4) and a chimney dismantling mechanism, wherein the robot is integrally arranged at the top of a chimney (9), connection with the chimney (9) is achieved through the clamping mechanism (4), rectangular holes are uniformly distributed in the carrying platform (1) and are internally provided with the supporting mechanism, the supporting mechanism is used for integrally fixing the robot at the top of the chimney (9), the chimney dismantling mechanism is symmetrically arranged below the carrying platform (1) and is used for dismantling the chimney (9), the supporting mechanism comprises a supporting rod (2) and a supporting slider mechanism (3), the supporting slider mechanism (3) is arranged in the rectangular holes of the carrying platform (1) and is used for carrying the supporting rod (2) and controlling the supporting rod (2) to achieve a radial displacement function, the supporting rod (2) comprises a first electric push rod (2001), a second electric push rod (2002), a supporting rod shell (2003), a supporting rod moving core (2004), an angle adjusting push rod (2006) and a third electric push rod (2006), the supporting rod is hinged with the first electric push rod (2001) and the second electric push rod (2004) and the supporting rod (2001) are hinged to the supporting rod (2001) moving core in the rectangular holes, the bottom of the support rod movable core (2004) is of a conical structure, the bottom of the support rod movable core (2004) extends out of the support rod shell (2003), the support rod movable core (2004) is connected with the inner top surface of the support rod shell (2003) through an electric push rod III (2006), the conical structure is rotationally connected with the clamping mechanism (4), and an angle adjusting push rod (2005) is hinged between the conical structure and the clamping mechanism (4).

2. The overhead multi-claw riding type chimney dismantling robot disclosed by claim 1 is characterized in that the supporting slide block mechanism (3) comprises a supporting rod slide block (3003), rollers and sliding bearings (3006), wherein the supporting rod slide block (3003) is of a U-shaped frame structure, one end of the U-shaped frame structure is of an open structure, the other end of the U-shaped frame structure is of a closed structure, the rollers are rotatably connected to the outer sides of the supporting rod slide block (3003), rectangular through grooves are formed in two sides of a rectangular hole of the carrying platform (1), the rollers are slidably connected in the rectangular through grooves, the sliding bearings (3006) are symmetrically arranged on the inner side walls of the supporting rod slide block (3003), and the sliding bearings (3006) are used for installing the supporting rods (2);

The roller comprises a roller I (3001) and a roller II (3004), openings are formed in the side walls of two sides of one end of an open structure of a support rod sliding block (3003) in an up-down symmetrical mode, the roller I (3001) is rotatably connected to the opening through a fastening flange (3002), a plate-shaped roller fixing piece I (3007) and a plate-shaped roller fixing piece II (3008) are fixedly connected to the back face of one end of a closed structure of the support rod sliding block (3003), rotating shafts are respectively connected to the roller fixing piece I (3007) and the roller fixing piece II (3008), and the roller II (3004) is rotatably connected to two ends of the rotating shafts.

3. The overhead multi-claw riding type chimney dismantling robot is characterized in that a sliding bearing (3006) is arranged on the inner side of the side wall of a supporting rod sliding block (3003) through an upper bearing fixing piece and a lower bearing fixing piece (3005), a hanging lug is arranged on the back of the supporting rod sliding block (3003), the telescopic end of a second electric push rod (2002) is hinged with the hanging lug, and the fixed end of the second electric push rod (2002) is hinged with the inner wall of the rear side of a rectangular hole of a carrying platform (1).

4. The overhead multi-jaw riding chimney removal robot of claim 1, wherein the clamping mechanism (4) comprises a clamping mechanism base (4001), a clamping moving block (4002), a clamping mechanism connecting rod (4003), a clamping mechanism sliding plate (4004), a clamping mechanism connecting plate (4005), a clamping mechanism sliding block (4006) and a supporting plate (4007);

Connecting columns are arranged at four corners of the bottom of a clamping mechanism base (4001), two sliding columns are symmetrically arranged front and back of the top of the clamping mechanism base (4001), two sides of a clamping moving block (4002) are sleeved on the corresponding sliding columns, sliding rails are arranged on the front and back sides of the top of the clamping mechanism base (4001), sliding blocks are arranged at the bottom of a clamping mechanism sliding plate (4004), the left side and the right side of the clamping mechanism base (4001) are respectively and slidably connected with the clamping mechanism sliding plate (4004) through matching of the sliding rails and the sliding blocks, four corners of the clamping moving block (4002) are respectively hinged with the clamping mechanism sliding plate (4004) through clamping mechanism connecting rods (4003), one side of the bottom of the clamping mechanism sliding plate (4004) is hinged with the top of a clamping mechanism connecting plate (4005), the bottom of the clamping mechanism connecting plate (4005) is hinged with a supporting plate (4007), a clamping mechanism sliding block (4006) is arranged in the middle of the clamping mechanism connecting plate (4005), the sliding block (4006) is hinged with the corresponding connecting columns at the bottom of the clamping mechanism base (1), and a conical structure at the bottom of a supporting rod moving core (2004) is hinged with the clamping moving block (4002).

5. The overhead multi-claw riding type chimney dismantling robot is characterized in that the chimney dismantling mechanism comprises a track mechanism (5), a supporting base (6) and a dismantling actuating mechanism, the track mechanism (5) is arranged below the carrying platform (1), the supporting base (6) is connected with the track mechanism (5), the supporting base (6) moves circumferentially on the track mechanism (5), and the dismantling actuating mechanism is connected to the supporting base (6).

6. The overhead multi-claw riding type chimney dismantling robot is characterized in that the track mechanism (5) comprises an inner annular sliding rail (5001), an annular toothed rail (5002), an outer annular sliding rail (5003), an inner annular sliding rail sliding block (5004) and an outer annular sliding rail sliding block (5005), the annular toothed rail (5002) is located between the inner annular sliding rail (5001) and the outer annular sliding rail (5003), the inner annular sliding rail (5001) and the outer annular sliding rail (5003) are used for mounting a supporting base (6), the annular toothed rail (5002) is used for being matched with a gear structure in the supporting base (6), and the supporting base (6) is driven by a motor to move circumferentially.

7. The overhead multi-jaw riding chimney removal robot of claim 6, wherein the support base (6) comprises a base first housing (6001), a base second housing (6002), a rack motor (6003), a motor gear (6004), a ring rack gear (6005), a base third housing (6006);

T-shaped grooves are symmetrically formed in the first base shell (6001), the second base shell (6002) is connected with the first base shell (6001) in a sliding mode through the T-shaped grooves, the third base shell (6006) is arranged at the bottoms of the first base shell (6001) and the second base shell (6002), a circular cylindrical structure is arranged in the lower portion of the carrying platform (1), a circle of tooth-shaped structures are arranged on the inner wall of the circular cylindrical structure, the side wall, close to the carrying platform (1), of the second base shell (6002) is of a tooth-shaped structure, and the tooth-shaped structures on the inner wall of the circular cylindrical structure below the carrying platform (1) are meshed intermittently;

Install rack motor (6003) on base first shell (6001), motor gear (6004) is installed at the axle head of rack motor (6003), and motor gear (6004) meshes with annular rack gear (6005), and annular rack gear (6005) meshes with annular rack (5002).

8. The overhead multi-claw riding type chimney dismantling robot according to claim 7 is characterized in that the supporting base (6) is connected with a quick clamping mechanism (7), wherein the quick clamping mechanism (7) comprises a lock head (7001), a spring (7002), a quick clamping restraint block (7003), a quick clamping restraint rod (7004), a quick clamping mechanism shell (7005), a limit screw (7006), a quick clamping connecting rod (7007), a quick clamping moving block (7008) and a micro push rod (7009);

The base second housing (6002) is provided with a rectangular groove, a quick-clamping moving block (7008) is arranged in the rectangular groove of the base second housing (6002), the quick-clamping moving block (7008) is provided with a small-range displacement space along the T-shaped groove direction of the base first housing (6001), the quick-clamping moving block (7008) is connected with the base first housing (6001) through two micro-motion push rods (7009), and the micro-motion push rods (7009) are arranged in two round holes formed when the base second housing (6002) is connected with the base third housing (6006);

A quick-clamping mechanism shell (7005) is connected in a sliding manner in each tooth groove of the tooth-shaped structure of the side wall of the second base shell (6002), and the outer shape of the quick-clamping mechanism shell (7005) is kept consistent with the tooth groove shape of the tooth-shaped structure of the second base shell (6002); A rectangular groove is formed in the side face of the quick-locking mechanism shell (7005) and hinged to a quick-locking moving block (7008) through a quick-locking connecting rod (7007), the quick-locking mechanism shell (7005) is connected with the inner wall of a tooth socket in a sliding mode through the rectangular groove in the side face of the quick-locking mechanism shell (7005), a connecting hole penetrating up and down is formed in the quick-locking mechanism shell (7005), a quick-locking constraint rod (7004) is arranged in the connecting hole, the quick-locking constraint rod (7004) is of a tubular structure, the bottom of the quick-locking constraint rod (7004) is connected with a base second shell (6002) through threads, the top of the quick-locking constraint rod (7004) is connected with the quick-locking constraint block (7003), a hole communicated with the quick-locking constraint rod (7004) is formed in the quick-locking constraint block (7003), a right-angle trapezoid structure is formed in a tapered end (7001), a round hole is formed in a corresponding face on one side of the right-angle side of the tapered end (7001), a round hole is formed in an extending out mode, a cylindrical rod is inserted into the hole communicated with the outer wall of the quick-locking constraint rod (7004) and the quick-locking constraint block (7003), the bottom of the quick-constraint rod (7004) is connected with one end of the cylindrical rod (7002) through a long-side of the tapered end (7003) through a spring (7003), the rectangular groove of the lock head (7001) is matched with a limit screw (7006) arranged on a shell (7005) of the quick-locking mechanism, so that the limit function of the lock head (7001) is realized.

9. The overhead multi-claw riding type chimney demolition robot of claim 8, wherein the demolition actuator comprises a mechanical arm mechanism (8) and a percussion drill bit (8013), wherein the mechanical arm mechanism (8) comprises a mechanical arm fluted disc (8001), a mechanical arm gear (8002), a first rotating motor (8003), a mechanical arm turntable (8004), a first electric push rod (8005), a first connecting rod (8006), a second electric push rod (8007), a second connecting rod (8008), a third electric push rod (8009), a connecting frame (8010), a third connecting rod (8011) and a second rotating motor (8012);

The mechanical arm fluted disc (8001) is connected to the lower portion of the base third shell (6006) through bolts, teeth are arranged on the circumference of the inner wall of the mechanical arm fluted disc (8001), the mechanical arm fluted disc (8004) is connected to the mechanical arm fluted disc (8001), a rotating motor I (8003) is arranged on the mechanical arm fluted disc (8004), the driving end of the rotating motor I (8003) stretches into a space between the mechanical arm fluted disc (8004) and the mechanical arm fluted disc (8001) and is fixedly connected with a mechanical arm gear (8002), the mechanical arm gear (8002) is meshed with the teeth of the inner wall of the mechanical arm fluted disc (8001), one end of a first connecting rod (8006) is hinged with the mechanical arm fluted disc (8004), the other end of the first connecting rod (8006) is hinged with the middle part of a second connecting rod (8008), one end of the first electric push rod (8005) is hinged with the mechanical arm fluted disc (8004), the other end of the first electric push rod (8007) is hinged with one end of the second electric push rod (8007), the other end of the second electric push rod (8007) is hinged with one end of the second connecting rod (8008), the other end of the second electric push rod (8018) is hinged with the third connecting rod (8011), the other end of the second electric rod (8018) is hinged with the third connecting rod (8011), the other end of the third connecting rod (8018) is hinged with the third connecting rod (8018), one end of the third connecting rod (8018 is hinged with the third connecting rod (8011), the second rotary motor (8012) is connected with the percussion drill bit (8013).

10. A method of removing a overhead multi-claw riding chimney, characterized in that a robot for removing a overhead multi-claw riding chimney according to any one of claims 1-9 is used, comprising the steps of:

S1, dividing the wall surface at the top of a chimney (9) into n equal parts of wall surfaces, and setting two opposite wall surfaces as a group;

s2, lifting the supporting mechanisms corresponding to the first two groups of wall surfaces to separate the supporting mechanisms from the corresponding wall surfaces, and then punching and dismantling the first two groups of wall surfaces through the chimney dismantling mechanisms corresponding to the first two groups of wall surfaces;

S3, finishing the dismantling, namely lowering the first two wall faces to the position after the dismantling is finished by adjusting the angle and the length of the corresponding supporting mechanisms of the first two wall faces, and clamping and fixing the first two wall faces through the clamping mechanism (4);

And S4, sequentially completing the dismantling of the remaining groups of wall surfaces in a mode of S2 and S3, and after completing the dismantling work of all the wall surfaces of the current layer, realizing the integral descent of the robot, and then carrying out the dismantling work of the wall surfaces of the next layer.