Gun holding mechanism for ultrahigh pressure water jet robot
                                                                 ZHANG Jianxin1, LIU Bing2, SHI Lujing1
(1.Basic Experimental Training Centre, Tianjin SinoGerman University of Applied Sciences, Tianjin 300350,China;2.School of Mechatronis and Rail Transit, Zhejiang Fashion Institute of Technology, Ningbo 315211, China）

Abstract: Aiming at the safety and efficiency of ultrahigh pressure water jet, the clamping and swinging mechanism of ultrahigh pressure water gun was designed. Based on the mechanism of concrete demolition，the crankrocker type water gun swaying mechanism was designed and its kinematic characteristics was established. According to the optimum target distance and swaying angle, the swing mechanism was optimized. Based on the fluid mechanics, the relationship between jet force and pressure, flow and target distance was established. Appling finite element analysis method, the stress of the clamping device was worked out. The results indicate that the clamping device can realize the clamping reliably, the crankrocker mechanism can improve the demolition efficiency. The experiment show that this mechanism can improve the efficiency and safety of demolition remarkably.

Key words: ultrahigh pressure water jet; concrete demolition; finite element method (FEM); crankrocker; kinematic characteristic