A bolt fastening device for an angle steel tower and a mounting robot

Abstract

The present application relates to the technical field of angle steel tower bolt fastening, in particular to an angle steel tower bolt fastening device and installation robot. The first end of the driving shaft is designed as a square prism shape, which is matched with the shape of the dismounting hole to ensure stable connection. The positioning pin hole and elastic pin on the side wall are designed to allow the driving shaft and the nut fastening sleeve to form a detachable elastic clamping, and the elastic pin is connected to the guide pin through wedge surface matching. When the guide pin is pushed, the front end of the elastic pin extends and inserts into the positioning groove, realizing fastening connection. When replacing the nut fastening sleeve, the unlocking part moves reversely by pushing the guide pin, so that the elastic pin is retracted into the positioning pin hole, thereby releasing the clamping and facilitating the replacement of the sleeve. Therefore, under the joint action of the feeding part, the fastening part and the elastic clamping, various bolts of different specifications can be carried out fastening work, and the replacement process is quick and convenient, effectively improving the work efficiency.

Description

Technical Field

[0001] This invention relates to the field of angle steel tower climbing robot technology, specifically to an angle steel tower bolt fastening device and installation robot. Background Technology

[0002] Tower erection, a major component of power transmission line construction, involves a significant workload and requires high torque precision after the tower materials are hoisted into place. The tightness of the main bolts on angle steel towers plays a crucial role in the tower's vibration resistance and overall structural stability.

[0003] Currently, the tightening of bolts on angle steel towers mainly relies on manual operation using simple tools or electric wrenches. After the line is put into operation, the tightening torque of the main bolts of the angle steel towers needs to be monitored regularly to retighten any loose nuts with unacceptable torque. This retightening is also done manually. Workers in high-altitude environments face high risks; moreover, such manual operations may result in defects such as substandard tightening torque, inconsistent tightening torque, and incomplete tightening, which undoubtedly poses significant safety hazards for later operation.

[0004] To address the aforementioned issue of substandard tightening, patent CN112873217A proposes a robot for tightening angle steel tower bolts. This robot includes a robot frame, an intermediate mechanism on the same side of the robot frame, and a clamping mechanism. The clamping mechanism is connected to the robot frame via the intermediate mechanism. The robot frame includes a track, front and rear foot moving crossbars perpendicular to the track, and a middle moving crossbar perpendicular to the track and located between the front and rear foot moving crossbars. The front, rear, and middle moving crossbars move up and down along the guide rail. The tightening tool is fixed on the middle moving crossbar. The intermediate mechanism includes a ring guide rail and an angled electric actuator connected to the ring guide rail. The ring guide rail is perpendicular to the axis of the robot frame. The robot frame rotates along the ring guide rail, and the angled electric actuator, supported by a support assembly, moves the robot frame away from or towards the angle steel. The clamping mechanism has an opening and closing structure for clamping or releasing the angle steel. This patent achieves autonomous climbing of the robot on the tower body and compliant tightening of angle steel tower bolts through the cooperation of the various structures described above.

[0005] During the actual installation of angle steel towers, different bolt specifications are used in different locations. This means that when retightening the bolts, it is not only necessary to tighten them to the required standard, but also to carry multiple sizes of bolt wrenches to inspect various bolt specifications during a single climb. However, the existing technologies mentioned above only carry one size of wrench at a time, leading to multiple wrench changes during the climb, which seriously affects the progress of the retightening work.

[0006] This shows that the current bolt tightening robots for angle steel towers need further improvement to meet the requirements of high-efficiency operation. Summary of the Invention

[0007] To avoid and overcome the technical problems existing in the prior art, this invention provides an angle steel tower bolt fastening device and a climbing robot. The fastening device of this invention can adapt to the fastening of bolts of various specifications, effectively improving work efficiency.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] An angle steel tower bolt fastening device includes a feeding part arranged at the head end of the main unit for placing multiple nut fastening sleeves of different specifications, and a fastening part installed at the head end of the main unit by a multi-degree-of-freedom robotic arm that can drive the nut fastening sleeves to rotate. The multi-degree-of-freedom robotic arm can drive the fastening part to move to the target nut and complete the fastening work of the nut. The rotating end of the fastening part can form a detachable elastic snap-fit ​​with the pre-set disassembly and assembly holes at each nut fastening sleeve.

[0010] As a further embodiment of the present invention: the fastening part includes a drive shaft, the first end of which is a square prism shape matching the shape of the disassembly hole, and a positioning pin hole is recessed in the side wall of the first end. An elastic pin that can elastically extend and retract along the radial direction of the drive shaft is arranged in the positioning pin hole. A positioning groove is opened in the hole wall of the disassembly hole for inserting the hemispherical front end of the elastic pin that extends out of the positioning pin hole. A directional hole communicating with the positioning pin hole is opened coaxially at the first end of the drive shaft. A guide pin is slidably fitted in the directional hole along the axial direction. A spring-loaded guide is compressed between the tail end of the guide pin and the bottom of the directional hole. The first end of the guide pin and the tail end of the elastic pin abut against each other under the pushing action of the spring-loaded guide to form a wedge surface fit, so as to drive the front end of the elastic pin to extend out of the positioning pin hole. Furthermore, an unlocking part is arranged at the part removal point of the drive shaft for replacing the nut fastening sleeve, which can move the guide pin in the opposite direction to release the elastic engagement of the elastic pin.

[0011] As a further embodiment of the present invention: the feeding unit includes a support base and a turntable rotatably arranged on the support base. The turntable has multiple cylindrical cavities. Each nut fastening sleeve is coaxially placed into a cylindrical cavity in sequence. The support base is provided with a cover plate that simultaneously covers each cylindrical cavity. The cover plate at the material picking point has a picking hole that can be coaxial with each cylindrical cavity during the rotation of the turntable. The multi-degree-of-freedom robotic arm guides the drive shaft to carry the nut fastening sleeve coaxially through the picking hole and insert the nut fastening sleeve into the cylindrical cavity. Each cylindrical cavity has a through hole at its bottom end. The support base is equipped with an unlocking telescopic rod arranged coaxially with the picking hole. The unlocking telescopic rod can pass through the through hole, the cylindrical cavity of the nut fastening sleeve, the disassembly hole and the directional hole in sequence from bottom to top in the vertical direction, and push the guide pin to produce the reverse movement. The unlocking telescopic rod constitutes the unlocking part.

[0012] As a further embodiment of the present invention: the drive shaft is coaxially connected to the motor shaft of the rotary motor via a flexible connecting part. Limiting pins are vertically fixed to both sides of the first end of the motor shaft. The tail end of the drive shaft is coaxially recessed with a vibration hole, and waist-shaped collision holes are opened through the opposite hole walls of the vibration hole. The length direction of the waist-shaped collision holes is parallel to the axial direction of the drive shaft. The motor shaft is coaxially and clearance-fitted into the vibration hole, and the two limiting pins are respectively clearance-fitted into the corresponding waist-shaped collision holes. Flexible return springs are sleeved on the outer sides of the motor shaft and the drive shaft, and the two ends of the flexible return springs are coaxially fixed to the motor shaft and the drive shaft, respectively.

[0013] As a further embodiment of the present invention, the invention includes a main unit with two sets of angle steel climbing feet arranged along the direction of the main angle steel member. Each angle steel climbing foot can generate a linear reciprocating motion along the length of the main angle steel member under the driving action of the linear drive unit, so as to cooperate with the closing and clamping action of the angle steel climbing foot to complete the climbing.

[0014] As a further embodiment of the present invention: the angle steel climbing foot includes a mounting base, on which are arranged a pressing part for pressing against the outer wall of the main angle steel member and a clamping part for generating a closing clamping action along the cross-sectional direction of the main angle steel member, and the pressing part and the clamping part exert force on each other and clamp the main angle steel member, characterized in that the pressing part includes a pressing telescopic rod arranged on the mounting base and extending toward the main angle steel member, a hinge seat is installed on the telescopic end of the pressing telescopic rod, and two clamping plates are hinged on the hinge seat, the two clamping plates can open and close with each other to cooperate to form a V-shaped clamping opening that presses against the V-shaped outer wall of the main angle steel member, and a closing component is arranged on the moving path of the hinge seat away from the main angle steel member, which can keep the V-shaped clamping opening closed to reduce the spatial volume of the two clamping plates;

[0015] The closing assembly includes two sliders fixedly installed on the force-applying ends of the two clamping plates, and a control plate arranged on the mounting base and located at the end of the hinge base away from the main angle steel material's movement path. The control plate has two symmetrically opened sliding grooves, which cooperate with each other to form a figure-eight shape with the opening direction opposite to that of the V-shaped clamp. The sliders slide in the sliding grooves to close the two clamping plates. The force-applying ends of the two clamping plates are connected to each other with elastic reset members that can open the two clamping plates. Limiting blocks fixed to the hinge base to limit the maximum opening angle are also arranged on the opening path of the two clamping plates.

[0016] As a further embodiment of the present invention: the clamping part includes two sets of clamping arms that cooperate with each other to complete a double-arm semi-encircling clamping action from both sides of the angle steel main member. The clamping arm includes a push rod and hook-shaped clamping claws that are hinged to the push rod via a hinge shaft. The front end of the clamping claws forms a clamping end for clamping the edge of the same side wing plate of the angle steel main member. A clamping drive part is also arranged at the hinge of the clamping claws and the push rod to drive the clamping claws to open and close in order to cooperate in completing the clamping action. A clamping drive part is also arranged at the push rod to pull the two clamping claws toward the angle steel main member and make the two clamping ends press against the edges of the two wing plates of the angle steel main member after the clamping claws have completed the clamping action.

[0017] The retraction drive unit includes a flipping telescopic rod mounted on the back of the gripper. A hook rod and a push rod that move synchronously are mounted on the telescopic end of the flipping telescopic rod. A stop pin that engages with the hook rod is mounted on the eccentric part of the push rod's hinge axis. The front end of the push rod abuts against the eccentric part of the push rod's hinge axis. The hook rod can actively engage the stop pin during the retraction of the flipping telescopic rod to make the gripper flip open. The front end of the push rod actively pushes the push rod during the extension of the flipping telescopic rod to make the gripper flip and close in the opposite direction. A stop block is also arranged on the push rod to block the tail of the gripper during the gripper's rotation to cooperate with the push rod and limit the gripper's flip and close angle. The stop pin is mounted on the side of the stop block, and the front end of the push rod abuts against the upper surface of the stop block.

[0018] The clamping drive unit includes a linear guide groove on the mounting base, in which a push rod is arranged; a driven rack is mounted on the push rod, and a drive gear is mounted at the opening of the guide groove, which meshes with the driven rack to drive the push rod to reciprocate in the linear guide groove.

[0019] As a further aspect of the present invention: the mounting base is hinged to the base via a hinge shaft, and a pitch adjustment assembly is arranged between the mounting base and the base to drive the mounting base to rotate around its hinge shaft to adjust the pitch angle between the clamping arm and the main angle steel member along their length direction; the pitch adjustment assembly includes positioning plates fixed on both sides of the mounting base, and each of the two positioning plates has a waist-shaped guide hole that is parallel to each other and inclined towards the length direction of the main angle steel member; the base has two parallel directional grooves, and a directional block is bridged between the two directional grooves, and the directional block is synchronously slidably arranged in the two directional grooves; positioning pins are symmetrically arranged on both sides of the directional block, and the two positioning pins are respectively inserted into the waist-shaped guide holes on the corresponding sides; a pitch telescopic rod is arranged on the base, and the directional block is installed on the telescopic end of the pitch telescopic rod, and the pitch telescopic rod can push the positioning pin to slide back and forth along the length direction of the waist-shaped guide hole to adjust the pitch angle.

[0020] As a further embodiment of the present invention: the linear drive unit includes a linear guide rail mounted on the main frame and extending along the length of the angle steel main material, and a slide for fixing the base is slidably mounted on the linear guide rail; a linear rack is mounted on the linear guide rail, and a drive gear is mounted on the slide; the drive gear and the linear rack are driven by meshing with each other through steering wheels; there are two sets of steering wheels symmetrically arranged between the drive gear and the linear rack, and each steering wheel is rotatably mounted on the slide through a backlash elimination assembly; the backlash elimination assembly includes a limiting groove formed on the slide and sealed at both ends, the groove length direction is parallel to the length direction of the linear rack, a bearing block is slidably arranged in the limiting groove, a gear shaft is fixedly mounted on the bearing block, and the steering wheel is coaxially rotatably mounted on the gear shaft; a backlash elimination elastic element is also installed in the limiting groove to push the steering wheel to move between the drive gear and the linear rack.

[0021] As a further embodiment of the present invention, the torso frame is also equipped with a ground-based laser rangefinder for detecting the distance from the ground, a phase-separated laser rangefinder for detecting the distance between the two angle steel climbing feet, and a battery pack for providing power.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. The drive shaft's tip is designed as a square prism to match the shape of the mounting and dismounting holes, ensuring a stable connection. The locating pin hole and elastic pin design on the side wall allow for a detachable, elastic snap-fit ​​connection between the drive shaft and the nut fastening sleeve. The elastic pin is connected to the guide pin via a wedge-shaped fit. When the guide pin is pushed, the front end of the elastic pin extends and inserts into the locating groove, achieving a secure connection. When changing the nut fastening sleeve, the unlocking part pushes the guide pin in the opposite direction, causing the elastic pin to retract back into the locating pin hole, thus releasing the snap-fit ​​and facilitating sleeve replacement. Therefore, through the combined action of the feeding part, the fastening part, and the elastic snap-fit, it can carry various bolts of different specifications for fastening work, and the replacement process is quick and convenient, effectively improving work efficiency.

[0024] 2. The feeding section adopts a turntable design with multiple cylindrical cavities for storing nut fastening sleeves of different specifications. The turntable's rotation aligns the sleeves sequentially with the picking holes, facilitating material handling by the multi-degree-of-freedom robotic arm. The cover plate design ensures the sealing of the cylindrical cavities, and the staggered arrangement of the cavities and picking holes prevents the nut fastening sleeves from accidentally slipping out of the cavities. Simultaneously, the placement of the picking holes allows the robotic arm to accurately pick up materials during the turntable's rotation.

[0025] 4. The tensioning telescopic rod is installed on the mounting base and can be extended or retracted as needed to approach or move away from the main angle steel member, allowing the pressing part to flexibly adapt to angle steel members of different positions and sizes. Simultaneously, a hinged seat is installed on the telescopic end of the tensioning telescopic rod. Two clamping plates hinged on the hinged seat open and close to each other to form a V-shaped clamp, which can precisely cover the V-shaped outer wall surface of the main angle steel member. The retracting component is arranged on the movement path of the hinged seat away from the main angle steel member. Its main function is to close and maintain the V-shaped clamp in the non-working state, thereby reducing the spatial volume of the two clamping plates. This effectively avoids the risk of the clamping plates colliding with the inclined members or other obstacles on the main angle steel member when the angle steel climbing foot moves or adjusts its position, improving the obstacle-crossing ability and convenience of use.

[0026] 5. The two slides arranged symmetrically in a figure-eight shape on the control panel can cause the two clamping plates to close naturally when the slider slides in the slides. This not only simplifies the closing process, but also ensures the stability of the clamping plates in the closed state under the guidance of the slides.

[0027] 6. The gripper of the present invention is hinged to the push rod via a hinge shaft and can rotate around the hinge shaft. This double-arm semi-encircling design allows the clamping part to clamp from both sides of the angle steel main material at the same time, increasing the stability and firmness of the clamping.

[0028] 7. Tilting Telescopic Rod and Synchronous Moving Components: The retraction drive unit uses a tilting telescopic rod as its power source, with a hook and a push rod installed on its telescopic end for synchronous movement. This design allows the telescopic rod's extension and retraction to simultaneously drive the hook and push rod to perform corresponding movements.

[0029] 8. When the telescopic boom retracts, the hook rod actively engages the stop pin, causing the grippers to flip and open around the hinge axis. During the extension of the telescopic boom, the push rod pushes the push rod along its axis, causing the grippers to flip and close in the opposite direction. In this extension and retraction process, the push rod and hook rod alternately act as the driving force, one primary and one secondary, applying force to the push rod, which in turn acts on the grippers, allowing for precise control of the gripper's flip angle. When dealing with angle steel of different sizes, adjusting the extension of the telescopic boom controls the distance between the two gripper ends, thus enabling the gripping of angle steel with varying opening degrees. The push rod's extension and retraction, after determining the opening degree of the gripping ends, pulls the grippers back and presses them against the edge of the angle steel, completing a double-arm semi-encircling clamping action from both sides of the angle steel.

[0030] 9. The combined action of the retracting drive unit and the clamping drive unit allows the clamps arranged on both sides of the mounting base to tighten and open as much as possible; thus, when open, they can clamp angle steel main materials of different sizes; when the clamps tighten, they form an M shape, minimizing the spatial volume of the clamping part, so as to effectively reduce the risk of collision with the diagonal members, foot spikes or other obstacles on the angle steel main material when the climbing foot moves, thereby improving the safety and convenience of use.

[0031] 10. The stop block, in conjunction with the top rod, restricts the tilting and clamping angle of the grippers, ensuring that the grippers can accurately clamp onto the edge of the flange of the angle steel main material. Simultaneously, a stop pin is installed on the side of the stop block, abutting against the front end of the top rod, further enhancing the stability and reliability of the structure.

[0032] 11. When the angle steel climbing foot needs to move along the length of the main angle steel member, the motor drives the drive gear to rotate. The rotation of the drive gear is transmitted to the linear rack through the steering wheel. Since the linear rack is fixed, the drive gear slides along the linear guide rail. The steering wheel plays a crucial role in the transmission process. They not only transmit torque but also, through the backlash-eliminating elastic element installed in the limiting groove, push the bearing block and steering wheel between the drive gear and the linear rack, thereby eliminating the gap between them and maintaining close contact with the drive gear and the linear rack to eliminate transmission backlash and effectively improve transmission stability. Attached Figure Description

[0033] Figure 1 This is a diagram showing the initial climbing state of the climbing robot in this invention.

[0034] Figure 2 This is a diagram showing the climbing state of the climbing robot in this invention during a single climbing cycle.

[0035] Figure 3 This is a diagram showing the secondary climbing state of the climbing robot in this invention.

[0036] Figure 4 This is a diagram showing the climbing robot's three climbing states in this invention.

[0037] Figure 5 This is a schematic diagram of the back structure of the host in this invention.

[0038] Figure 6 This is a schematic diagram of the abdominal structure of the host computer in this invention.

[0039] Figure 7 This is a schematic diagram of the linear drive unit in this invention.

[0040] Figure 8 This is a cross-sectional view of the gap-eliminating component in this invention.

[0041] Figure 9This is a schematic diagram of the structure of some gap-eliminating components in this invention.

[0042] Figure 10 This is a schematic diagram of the climbing foot structure in this invention.

[0043] Figure 11 This is a diagram showing the state of the climbing foot when it performs a retracting and clamping action in this invention.

[0044] Figure 12 This is a diagram showing the state of the climbing foot retracted to its minimum position space in this invention.

[0045] Figure 13 This is a schematic diagram of the pitch adjustment component in this invention.

[0046] Figure 14 This is a schematic diagram of the structure of the pressing part in this invention.

[0047] Figure 15 This is a schematic diagram of the clamping arm in this invention.

[0048] Figure 16 This is a schematic diagram of the fastening device in this invention.

[0049] Figure 17 This is a schematic diagram of the structure of the first telescopic rod in this invention.

[0050] Figure 18 This is a schematic diagram of the fastening part in this invention.

[0051] Figure 19 This is a cross-sectional view of the fastening part in this invention.

[0052] Figure 20 This is a schematic diagram of the feeding section in this invention.

[0053] Figure 21 This is a front view of the feeding section in this invention.

[0054] In the diagram: 1. Main unit; 11. Torso frame; 12. Battery pack; 13. Handle; 14. Controller; 15. Separate laser rangefinder; 16. Ground laser rangefinder; 17. Linear drive unit; 171. Linear guide rail; 1712. Slide; 1713. Linear rack; 1714. Drive gear; 1715. Steering wheel; 1716. Backlash elimination assembly; 17161. Limiting groove; 17162. Bearing block; 17163. Gear shaft; 17164. Fixing plate; 17165. Backlash elimination elastic element; 17166. Positioning bolt; 1717. Sliding encoder; 1718 1. Encoding gear; 2. Angle steel climbing foot; 21. Pitch adjustment assembly; 211. Mounting base; 212. Positioning plate; 213. Waist-shaped guide hole; 214. Base; 215. Orientation block; 216. Positioning pin; 217. Pitch telescopic rod; 22. Clamping part; 221. Gripper; 222. Clamping end; 2221. Pressure sensor; 223. Tilting telescopic rod; 224. Hook rod; 225. Push rod; 226. Push rod; 2261. Driven rack; 227. Stop block; 2271. Stop pin; 23. Pressing part; 231. Pressing telescopic rod; 232. Hinge seat; 233. Clamping part 234. Plate; 235. Slider; 236. Elastic reset component; 237. Control plate; 238. Slide groove; 239. Limit block; 30. Fastening device; 31. Feeding part; 311. Support base; 312. Turntable; 313. Cylindrical cavity; 314. Cover plate; 3141. Material picking hole; 32. Fastening part; 321. Rotary motor; 3211. Limit pin; 322. Drive shaft; 3221. Vibration hole; 3222. Waist-shaped collision hole; 323. Positioning pin hole; 324. Elastic pin; 325. Orientation hole; 326. Spring guide component; 327. Guide pin; 328. Unlocking part; 3 281. Unlocking telescopic rod; 329. Flexible return spring; 33. Nut fastening sleeve; 331. Disassembly / assembly hole; 332. Guide groove; 34. Multi-degree-of-freedom robotic arm; 341. First telescopic rod; 3411. Fixing sleeve; 3412. First sliding rod; 3413. First rack; 3414. Bearing seat; 3415. First bearing; 3416. First drive motor; 3417. Second drive motor; 3418. Second telescopic rod; 3419. Third drive motor; 34120. Third telescopic rod; 40. Angle steel main material; 41. Foot nail; 42. Diagonal member; 43. Connecting plate. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Please see Figures 1 to 21 The climbing robot of this invention includes a main unit 1 and climbing legs mounted on the main unit 1. The climbing robot completes the climbing action on the angle steel tower through the cooperation between the angle steel climbing legs 2 and the main unit 1.

[0057] 1. Host

[0058] like Figures 1-6 As shown, the main unit 1 includes a rectangular torso frame 11, a battery pack 12 that provides power to the entire climbing robot, a handle 13 for easy manual handling, a controller 14 that controls the operation of all electrical components, a linear drive unit 17 that fixes and moves the climbing feet, a phase-separated laser rangefinder 15 that measures the distance between the two angle steel climbing feet 2, and a ground-based laser rangefinder 16 that detects the distance from the ground.

[0059] 1.1 Linear Drive Unit

[0060] like Figures 5-7 As shown, the linear drive unit 17 includes a linear guide rail 171 mounted on the torso frame 11 and extending along the length of the angle steel main member 40. A slide block 1712 for fixing the climbing foot base 214 is slidably mounted on the linear guide rail 171. There are two linear guide rails 171, which are arranged side by side, and the slide block 1712 is slidably arranged on the two linear guide rails 171. A linear rack 1713 is mounted on one of the linear guide rails 171, and a drive gear 1714 is mounted on the slide block 1712. The drive gear 1714 is driven by a drive motor mounted on the slide block 1712. The drive gear 1714 and the linear rack 1713 are meshed and transmitted to each other through steering wheels 1715. There are two sets of steering wheels 1715, which are symmetrically arranged between the drive gear 1714 and the linear rack 1713. By rotating the drive gear 1714, the climbing feet mounted on the slide 1712 can move on the torso frame 11, thereby enabling the inchworm to crawl.

[0061] 1.2, Gap Elimination Components

[0062] like Figures 7-9As shown, each steering wheel 1715 is rotatably mounted on the slide block 1712 via a backlash elimination assembly 1716. The backlash elimination assembly 1716 includes a limiting groove 17161 formed on the slide block 1712 and sealed at both ends. The length direction of the limiting groove 17161 is parallel to the length direction of the linear rack 1713, and the length direction of the limiting groove 17161 is parallel to the length direction of the linear guide rail 171. A bearing block 17162 is slidably arranged in the limiting groove 17161, and a gear shaft 17163 is fixedly mounted on the bearing block 17162. The steering wheel 1715 is coaxially rotatably mounted on the gear shaft 17163. The top ends of both bearings are internally threaded sections. A fixing plate 17164 has a waist-shaped hole. The fixing plate 17164 is sleeved on the two internally threaded sections through the waist-shaped hole, and at this time, the length direction of the waist-shaped hole is parallel to the length direction of the linear guide rail 171. Bolts are threaded onto the threaded section to movably mount the fixing plate 17164 onto the two gear shafts 17163. Furthermore, under the action of the fixing plate 17164, even if the bearing block 17162 tends to slide to the outermost end of the limiting groove 17161, the fixing plate 17164 will still tighten the two steering wheels 1715, ensuring they are always engaged with the drive gear 1714 and the linear rack 1713.

[0063] A backlash-eliminating elastic element 17165 is also installed in the limiting groove 17161 to move the steering wheel 1715 between the drive gear 1714 and the linear rack 1713. The backlash-eliminating elastic element 17165 is a return spring pressed between the end of the limiting groove 17161 and the support block 17162. The end of the limiting groove 17161 pressed by the return spring has a threaded hole. The front end of the positioning bolt 17166 passes through the threaded hole, the return spring, and the through hole on the support block 17162, and abuts against the other end of the groove. At this time, the positioning bolt 17166 is threadedly connected to the threaded hole, and its front end is a smooth rod, which is coaxially and slidably connected to the through hole on the support block 17162. The backlash-eliminating component 1716 not only eliminates the backlash of the spur gear transmission and avoids lateral movement during reverse motion, but also reduces transmission error, making the climbing distance of the climbing body closer to the theoretical distance.

[0064] A sliding encoder 1717 is also installed on the slide 1712, and an encoder gear 1718 is coaxially fixed to the rotating end of the sliding encoder 1717. The encoder gear 1718 meshes with the linear rack 1713 to transmit the real-time sliding position of the slide 1712 on the torso frame 11 to the controller 14, thereby achieving precise control of the sliding state.

[0065] 2. Angle steel climbing feet

[0066] like Figures 10-15As shown, the angle steel climbing foot 2 includes a mounting base 211 equipped with a pressing part 23 and a clamping part 22. The mounting base 211 is hinged to the base 214 via a hinge shaft, and in use, the axis of the hinge shaft on the base 214 is parallel to the length direction of the angle steel main member 40. A pitch adjustment assembly 21 is arranged between the mounting base 211 and the base 214, which drives the mounting base 211 to rotate about its hinge shaft to adjust the pitch angle between the clamping arm and the length direction of the angle steel main member 40.

[0067] 2.1 Pitch Adjustment Components

[0068] like Figure 13 As shown, the pitch adjustment assembly 21 includes positioning plates 212 fixed on both sides of the mounting base 211. Each positioning plate 212 has parallel, waist-shaped guide holes 213 that are inclined towards the length of the angle steel main member 40. The base 214 has two parallel directional grooves, with a directional block 215 bridging between them. The directional block 215 is synchronously slidably arranged in the two directional grooves. Positioning pins 216 are symmetrically arranged on both sides of the directional block 215, and each positioning pin 216 is inserted into the corresponding waist-shaped guide hole 213. A pitch telescopic rod 217 is arranged on the base 214. The pitch telescopic rod 217 is actually a screw-nut structure. A threaded hole is started on the directional block 215, and the screw is threaded into the threaded hole. A motor drives the screw, thereby changing the position of the positioning pin 216 in the length direction of the waist-shaped guide hole 213, thus achieving adjustment of the pitch angle of the base 214 relative to the length of the angle steel main member 40.

[0069] 2.2, Pressing Part

[0070] like Figure 11 , Figure 12 and Figure 14 As shown, the pressing part 23 includes a pressing telescopic rod 231 arranged on the mounting base 211 and extending toward the angle steel main member 40. The pressing telescopic rod 231 uses a telescopic motor. There are two sets of telescopic motors, respectively arranged on both sides of the mounting base 211, for connecting the hinge seat 232. The hinge seat 232 is installed on the telescopic ends of the two telescopic motors, and two clamping plates 233 are symmetrically hinged on the hinge seat 232. The two clamping plates 233 can open and close to each other to form a V-shaped clamping opening that presses against the V-shaped outer wall surface of the angle steel main member 40. The V-shaped clamping surface formed by the V-shaped clamping opening can cover the V-shaped outer wall surface of the angle steel main member 40. Even when a connecting plate 43 is attached to the outer wall of the angle steel main member 40, the V-shaped clamping surface can still cover the outer plate surface of the connecting plate 43, thereby pressing against the angle steel main member 40 for subsequent clamping operations.

[0071] A retractable assembly is arranged on the moving path of the hinge seat 232 away from the main angle steel member 40, which can keep the V-shaped clamp closed to reduce the spatial volume of the two clamping plates 233. The retractable assembly includes two sliders 234 respectively fixedly installed on the force-applying ends of the two clamping plates 233, and a control plate 236 arranged on the mounting base 211 and located at the end of the moving path of the hinge seat 232 away from the main angle steel member 40. The control plate 236 has two symmetrically opened sliding grooves 2361, which cooperate with each other to form a figure-eight shape with the opening direction opposite to that of the V-shaped clamp. The sliders 234 slide in the sliding grooves 2361 to close the two clamping plates 233.

[0072] The two clamping plates 233 are connected to each other at the force-applying ends by an elastic reset member 235 that can open the two clamping plates 233. The elastic reset member 235 is a reset spring. A limiting block 237 fixed to the hinge seat 232 is also arranged on the opening path of the two clamping plates 233 to limit the maximum opening angle, which is 90 degrees.

[0073] 2.3 Clamping Part

[0074] like Figure 11 , Figure 12 and Figure 15 As shown, the clamping part 22 includes two sets of clamping arms that cooperate with each other to complete a double-arm semi-encircling clamping action from both sides of the angle steel main member 40. The clamping arms include push rods 226 and hook-shaped grippers 221 hinged to push rods 226 via hinge shafts. The front end of the grippers 221 forms a clamping end 222 for clamping the edge of the same side wing plate of the angle steel main member 40. A pressure sensor 2221 is also arranged at the clamping end 222 to detect the clamping pressure. In order to improve the stability of clamping, the clamping pressure needs to be greater than a certain value during each clamping. A closing drive part is also arranged at the hinge of the grippers 221 and push rods 226 to drive the grippers 221 to open and close in order to complete the closing action. The closing drive part includes a flip telescopic rod 223 mounted on the arch back of the grippers 221. A hook rod 224 and a push rod 225 that move synchronously are mounted on the telescopic end of the flip telescopic rod 223. A stop pin 2271 is installed at the eccentric position of the hinge shaft of the push rod 226, which engages with the hook end of the hook rod 224. The front end of the push rod 225 abuts against the eccentric position of the hinge shaft of the push rod 226. During the retraction of the flip telescopic rod 223, the hook rod 224 can actively hook the stop pin 2271 to cause the gripper 221 to flip and open. During the extension of the flip telescopic rod 223, the front end of the push rod 225 actively pushes the push rod 226 to cause the gripper 221 to flip and close in the opposite direction. A stop block 227 is also arranged on the push rod 226 to block the tail of the gripper 221 during the rotation of the gripper 221, thereby cooperating with the push rod 225 to limit the flip and close angle of the gripper 221. The stop pin 2271 is installed on the side of the stop block 227, and the front end of the push rod 225 abuts against the upper surface of the stop block 227.

[0075] A clamping drive unit is also provided at the push rod 226, which, after the grippers 221 have completed their retraction action, pulls the two grippers 221 toward the angle steel main member 40 and presses the two clamping ends 222 against the edges of the two wing plates of the angle steel main member 40. The clamping drive unit includes a linear guide groove 332 formed on the mounting base 211, in which the push rod 226 is arranged. A driven rack 2261 is mounted on the body of the push rod 226, and a drive gear is mounted at the opening of the guide groove 332, which meshes with the driven rack 2261 to drive the push rod 226 to reciprocate in the linear guide groove 332. When the drive gear rotates, it drives the push rod 226 to reciprocate in the linear guide groove 332 through meshing with the driven rack 2261, so that the clamping drive unit can precisely control the moving distance and speed of the push rod 226, thereby achieving precise adjustment of the clamping force of the grippers 221.

[0076] 3. Fastening equipment

[0077] like Figures 11-21 As shown, the fastening device 3 includes a feeding section 31 located at the head end of the main unit 1 for placing multiple nut fastening sleeves 33 of different specifications, and a fastening section 32 mounted at the head end of the main unit 1 via a multi-degree-of-freedom robotic arm 34 that can drive the nut fastening sleeves 33 to rotate. The multi-degree-of-freedom robotic arm 34 can drive the fastening section 32 to move to the target nut and complete the fastening work of the nut, and the rotating end of the fastening section 32 can form a detachable elastic snap-fit ​​with the preset disassembly and assembly holes 331 at each nut fastening sleeve 33.

[0078] 3.1 Fastening parts

[0079] like Figure 18 and Figure 19 As shown, the fastening part 32 includes a drive shaft 322. The first end of the drive shaft 322 is a square prism shape that matches the shape of the disassembly hole 331. A positioning pin hole 323 is recessed on the side wall of the first end. An elastic pin 324 that can elastically extend and retract along the radial direction of the drive shaft 322 is arranged in the positioning pin hole 323. A positioning groove is opened on the hole wall of the disassembly hole 331 for inserting the hemispherical front end of the elastic pin 324 that protrudes from the positioning pin hole 323. The first end of the drive shaft 322 is designed as a square prism to match the shape of the disassembly hole 331, ensuring a stable connection. The design of the positioning pin hole 323 and the elastic pin 324 on the side wall allows for a detachable elastic snap-fit ​​between the drive shaft 322 and the nut fastening sleeve 33.

[0080] The drive shaft 322 has a coaxially formed directional hole 325 at its head end, communicating with the positioning pin hole 323. A guide pin 327 is slidably fitted axially within the directional hole 325. A return spring, acting as a spring-loaded guide 326, is compressed between the tail end of the guide pin 327 and the bottom of the directional hole 325. The head end of the guide pin 327 and the tail end of the elastic pin 324 abut against each other under the pushing action of the spring-loaded guide 326, forming a wedge-shaped fit to drive the front end of the elastic pin 324 out of the positioning pin hole 323. The elastic pin 324 is connected to the guide pin 327 via the wedge-shaped fit. When the guide pin 327 is pushed, the front end of the elastic pin 324 extends and inserts into the positioning groove, achieving a tight connection. The spring-loaded pin used here is a sphere, with one side inserted into the positioning groove, and the head ends of the guide pin 327 on the opposite side abut against each other to form a wedge-shaped fit.

[0081] The drive shaft 322 also has an unlocking part 328 at the point where the nut fastening sleeve 33 can be replaced. This part allows the guide pin 327 to move in the opposite direction to release the elastic pin 324 from its elastic engagement. When replacing the nut fastening sleeve 33, the unlocking telescopic rod 3281 pushes the guide pin 327 to move in the opposite direction, causing the elastic pin 324 to retract back into the positioning pin hole 323, thereby releasing the engagement and facilitating sleeve replacement.

[0082] 3.2 Material Supply Department

[0083] like Figure 20 and Figure 21 As shown, the feeding unit 31 includes a support base 311 and a turntable 312 rotatably arranged on the support base 311. The turntable 312 has multiple cylindrical cavities 313. Each nut fastening sleeve 33 is sequentially and coaxially placed into a cylindrical cavity 313. A cover plate 314 is arranged on the support base 311, simultaneously covering each cylindrical cavity 313. The cover plate 314 at the material picking point has a material picking hole 3141 that is coaxial with each cylindrical cavity 313 during the rotation of the turntable 312. A multi-degree-of-freedom robotic arm 34 guides the drive shaft 322 to carry the nut fastening mechanism. The sleeve 33 is coaxially passed through the material receiving hole 3141 and the nut fastening sleeve 33 is inserted into the cylindrical cavity 313. Each cylindrical cavity 313 has a through hole at its bottom end. The support base 311 is equipped with a telescopic motor that is coaxially arranged with the material receiving hole 3141 as the unlocking telescopic rod 3281. The unlocking telescopic rod 3281 can pass through the through hole, the cylindrical cavity of the nut fastening sleeve 33, the disassembly hole 331 and the directional hole 325 in the vertical direction from bottom to top, and push the guide pin 327 to produce the reverse movement. The unlocking telescopic rod 3281 constitutes the unlocking part 328.

[0084] The feeding section 31 adopts a turntable 312 design, with multiple cylindrical cavities 313 for storing nut fastening sleeves 33 of different specifications. The rotation of the turntable 312 aligns each sleeve sequentially with the picking hole 3141, facilitating material handling by the multi-degree-of-freedom robotic arm 34. The cover plate 314 ensures the sealing of the cylindrical cavities 313, and the staggered arrangement of each cylindrical cavity 313 with the picking hole 3141 prevents the nut fastening sleeve 33 from accidentally slipping out of the cylindrical cavity 313. Simultaneously, the picking hole 3141 allows the robotic arm to accurately pick up materials during the rotation of the turntable 312. During material handling and nut fastening, the positions of the drive shaft 322 and the nut fastening sleeve 33 are calibrated in real time using a camera, ensuring accurate part handling based on the positioning structure and positioning to the target nut to complete its reset and fastening action.

[0085] The drive shaft 322 is coaxially connected to the motor shaft of the rotary motor 321 via a flexible connecting part. Limiting pins 3211 are vertically fixed to both sides of the first end of the motor shaft. A vibration hole 3221 is coaxially recessed at the tail end of the drive shaft 322, and a waist-shaped collision hole 3222 is formed through the opposite walls of the vibration hole 3221. The length direction of the waist-shaped collision hole 3222 is parallel to the axial direction of the drive shaft 322. The motor shaft is coaxially and clearance-fitted into the vibration hole 3221, and the two limiting pins 3211 are respectively clearance-fitted into the corresponding waist-shaped collision holes 3222. Flexible return springs 329 are sleeved on the outer sides of the motor shaft and drive shaft 322, and both ends of the flexible return springs 329 are coaxially fixed to the motor shaft and drive shaft 322, respectively. A flexible connection is used between the drive shaft 322 and the rotary motor 321. The design of the flexible return spring 329 and the waist-shaped impact hole 3222 absorbs vibrations and impacts during motor operation, protecting the drive shaft 322 and the motor from damage. A force gauge is also installed on the rotary motor 321 to monitor the magnitude of the nut's warning force in real time. Once the nut's warning force reaches the set value, tightening of the nut stops, and the current nut re-tightening operation is complete. The design of the limit pin 3211 and the waist-shaped impact hole 3222 restricts the relative displacement between the drive shaft 322 and the motor shaft, while allowing for a certain degree of axial and radial offset, improving the system's stability and durability.

[0086] 3.3 Multi-degree-of-freedom robotic arm

[0087] like Figure 16As shown, the multi-degree-of-freedom robotic arm 34 includes a first telescopic rod 341. The first telescopic rod 341 includes a fixed sleeve 3411 fixed to the head end of the main unit 1. A first slide rod 3412 is coaxially slidably connected within the fixed sleeve 3411, and a first rack 3413 is mounted on the first slide rod 3412. An opening is provided on the fixed sleeve 3411, and a first gear is driven and connected to a drive motor mounted on the fixed sleeve 3411. The first gear meshes with the first rack 3413 through the opening, thereby driving the first slide rod 3412 to extend and retract along the length of the main unit 1. Multiple first bearings 3415 are evenly distributed circumferentially at both ends of the fixed sleeve 3411, and each first bearing 3415 is fixedly mounted on the fixed sleeve 3411 via a bearing seat 3414. The outer surface of each bearing rolls against the first slide rod 3412 to improve the smoothness of the slide of the first slide rod 3412.

[0088] A first drive motor 3416 is mounted on the telescopic end of the first slide rod 3412, and the axial direction of the first drive motor 3416 is parallel to the length direction of the first slide rod 3412. A second drive motor 3417 is mounted on the rotating end of the first drive motor 3416, and the axis of the second drive motor 3417 is parallel to the axis of the first drive motor 3416. A second telescopic rod 3418 with a telescopic direction perpendicular to its axial direction is mounted on the drive shaft 322 of the second drive motor 3417, and the structure of the second telescopic rod 3418 is the same as that of the first telescopic rod 341.

[0089] A third drive motor 3419 is coaxially mounted at the telescopic end of the second telescopic rod 3418, and the axial direction of the third drive motor 3419 is parallel to the telescopic direction of the second telescopic rod 3418. A third telescopic rod 34120 is mounted at the rotating end of the third drive motor 3419, and the telescopic direction of the third telescopic rod 34120 is parallel to the axial direction of the third drive motor 3419. The third telescopic rod 34120 can be a telescopic rod with the same structure as the first telescopic rod 341, or it can be a telescopic cylinder, or it can be a belt drive structure. The rotary motor 321 in the clamping part is mounted on the telescopic end of the third telescopic rod 34120.

[0090] The multi-degree-of-freedom robotic arm 34 can drive the drive shaft 322 to pick up and put away the nut fastening sleeve 33.

[0091] Referring to the figure, the nut re-tightening process in this invention is as follows:

[0092] 1) In the initial state, the host 1 is aligned with the angle steel main member 40 by manual handling. Then, the controller 14 drives the extension of the clamping telescopic rod 231, causing the slider 234 and the slide groove 2361 to push away from each other. The two clamping plates 233 open under the action of the return spring, which acts as an elastic reset element 235, and under the limiting action of the limiting block 237, the two clamping plates 233 open to the maximum angle and press against the outer wall surface of the angle steel main member 40. Next, the push rod 226 is driven to extend to an appropriate length, and then the flip telescopic rod 223 is driven to extend, so that the two grippers 221 gradually unfold from the M-shape with the smallest spatial volume ratio and unfold to a predetermined angle. Then, the servo motor drives the drive gear to pull back the grippers 221 in the opposite direction, and the two grippers 221 press against the edge of the angle steel wing plate to complete the double-arm semi-encircling clamping action from both sides of the angle steel main member 40.

[0093] 2) The two climbing feet on the main unit 1 clamp the angle steel in accordance with the action in step 1, so that the main unit 1 is placed parallel to the angle steel main material 40.

[0094] 3) When the main unit 1 needs to climb upwards, the operation is reversed according to step 1, causing the upper climbing foot to separate from the angle steel main member 40. At the same time, the pitch angle detector on the main unit 1 is used to measure the pitch angle of the main unit 1. After losing a climbing foot support point, the main unit 1 will generate a pitch angle under the action of gravity. If the detected pitch angle is sufficient to prevent the climbing foot, which has detached from the main unit 1 and retracted to its minimum spatial volume, from colliding with the inclined bar 42 or foot spike 41 when it rises under the action of the linear drive unit 17, then the linear drive unit 17 is directly activated to raise the climbing foot. Otherwise, the pitch adjustment component 21 on the lower climbing foot needs to be adjusted to adjust the main unit 1 until the climbing foot detached from the main unit 1 does not collide with the inclined bar 42 or foot spike 41 when it rises under the action of the linear drive unit 17. During the climbing foot's ascent, the distance between the two climbing feet is monitored in real time by the phase-separated laser rangefinder 15. When the distance reaches the set value, the climbing foot stops rising. Then, adjust the main unit 1 and the main angle steel member 40 to be parallel to each other by using the pitch adjustment component 21 on the lower climbing foot, and at the same time operate the upper climbing foot according to the contents of step 1 so that the climbing foot is placed on the main angle steel member 40.

[0095] 4) When the main unit 1 needs to continue climbing, release the bottom climbing feet, and then adjust the pitch angle of the main unit 1 using the pitch adjustment component 21 on the upper climbing feet until the lower climbing feet, which are detached from the main unit 1 and retracted to their minimum volume, do not collide with the inclined bar 42 or the foot spikes 41 when they rise under the action of the linear drive unit 17. Next, drive the main unit 1 upward by the linear drive unit 17 to drive the lower climbing feet upward. When the distance between the two climbing feet is shortened to the set distance, the linear drive unit 17 stops operating. Then, adjust the main unit 1 to be parallel to the angle steel main member 40 using the pitch adjustment component 21 on the upper climbing feet, and at the same time, operate the lower climbing feet as described in step 1 so that the climbing feet are placed on the angle steel main member 40.

[0096] 5) Follow the steps in steps 3 and 4 to operate host 1 and the climbing feet until host 1 reaches the target position. Conversely, if host 1 needs to descend, the same principle applies.

[0097] 6) After the host machine 1 climbs to the target position, the nuts on the angle steel tower are retightened using the fastening device 3. First, the nut pattern is determined by a photograph of the nut taken by the camera. Then, the turntable 312 is rotated, moving the corresponding nut fastening sleeve 33 to the material receiving hole 3141. Next, under the guidance of the multi-degree-of-freedom robotic arm 34 and the camera's machine vision, the drive rod is aligned with the disassembly / assembly hole 331 at the material receiving hole 3141. The front end of the drive rod is then inserted into the disassembly / assembly hole 331, forming a snap-fit. The nut fastening sleeve 33 is then removed from the turntable 312 and, under the guidance of the camera's machine vision, aligned with the nut to be tightened. The rotary motor 321 is started to begin tightening the nut, while simultaneously observing the reading on the force gauge. When the reading exceeds the set value, the tightening action stops, and the current nut retightening is complete. The retightening of other nuts is then performed.

[0098] 7) When the nut fastening sleeve 33 needs to be replaced, the multi-degree-of-freedom robotic arm 34 and the camera machine vision work together to insert the nut fastening sleeve 33 into the cylindrical cavity 313 of the hole, with a certain drop gap between the bottom of the nut fastening sleeve 33 and the bottom of the cylindrical cavity 313. Then, the telescopic motor, which acts as the unlocking telescopic rod 3281, extends, pushing the guide pin 327 upwards to produce the reverse movement. The ball loses its guiding support, and under the action of gravity, the nut fastening sleeve 33 pushes the ball out of the positioning groove and falls into the cylindrical cavity 313. Then, the telescopic motor retracts, and the guide pin 327 moves downwards simultaneously, pushing the ball out of the positioning pin hole 323 again. Finally, the replacement of the nut fastening sleeve 33 can be completed according to step 6, and the re-tightening of nuts of different specifications can be performed.

[0099] The working part on the main unit 1 can also be other torque wrenches, cameras, or even welding heads, depending on the site conditions. As a functional component for performing precise operations, the working part can be installed at any position on the main unit 1, or even form an integral structure with the main unit 1 or a structure that is easy to assemble and disassemble relative to the main body, which will not be elaborated here.

[0100] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An installation robot, characterized in that, The system includes a main unit (1) and an angle steel tower bolt fastening device. The main unit (1) is equipped with two sets of angle steel climbing feet (2) arranged along the direction of the main angle steel member (40). Each angle steel climbing foot (2) can generate a linear reciprocating motion along the length direction of the main angle steel member (40) under the driving action of the linear drive unit (17) to cooperate with the closing and clamping action of the angle steel climbing foot (2) to complete the climbing. The angle steel climbing foot (2) includes a mounting base (211). The mounting base (211) is equipped with a pressing part (23) for pressing against the outer wall surface of the main angle steel member (40) and a clamping part (22) for generating a closing and clamping action along the cross-sectional direction of the main angle steel member (40). The pressing part (23) and the clamping part are arranged in a manner that is consistent with the design of the main angle steel member (40). (22) The opposing forces and clamping of the angle steel main material (40) are applied to each other. The pressing part (23) includes a clamping telescopic rod (231) arranged on the mounting base (211) and extending toward the angle steel main material (40). A hinge seat (232) is installed on the telescopic end of the clamping telescopic rod (231). Two clamping plates (233) are hinged on the hinge seat (232). The two clamping plates (233) can open and close to each other to form a V-shaped clamping opening that clamps the V-shaped outer wall of the angle steel main material (40). A folding component is arranged on the moving path of the hinge seat (232) away from the angle steel main material (40) to make the V-shaped clamping opening close and remain closed to reduce the spatial volume of the two clamping plates (233). The closing assembly includes two sliders (234) fixedly mounted on the force-applying ends of the two clamping plates (233), and a control plate (236) arranged on the mounting base (211) and located at the end of the movement path of the hinge base (232) away from the main angle steel member (40). The control plate (236) is symmetrically provided with two sliding grooves (2361), which cooperate with each other to form a figure-eight shape with the opening direction opposite to the opening direction of the V-shaped clamp. The sliders (234) slide in the sliding grooves (2361) to close the two clamping plates (233). The force-applying ends of the two clamping plates (233) are connected to each other with elastic reset members (235) that can open the two clamping plates (233). Limiting blocks (237) fixed to the hinge base (232) are also arranged on the opening path of the two clamping plates (233) to limit the maximum opening angle. The angle steel tower bolt fastening equipment includes a feeding part (31) arranged at the head end of the main unit (1) for placing multiple nut fastening sleeves (33) of different specifications, and a fastening part (32) installed at the head end of the main unit (1) by a multi-degree-of-freedom robotic arm (34) and capable of driving the nut fastening sleeves (33) to rotate. The multi-degree-of-freedom robotic arm (34) can drive the fastening part (32) to move to the target nut and complete the fastening work of the nut. The rotating end of the fastening part (32) can form a detachable elastic snap-fit ​​with the pre-set disassembly and assembly holes (331) at each nut fastening sleeve (33).

2. An installation robot according to claim 1, characterized in that, The fastening part (32) includes a drive shaft (322). The first end of the drive shaft (322) is a square prism shaped to match the disassembly hole (331) on the nut fastening sleeve (33). A positioning pin hole (323) is recessed on the side wall of the first end. An elastic pin (324) that can elastically extend and retract along the radial direction of the drive shaft (322) is arranged in the positioning pin hole (323). A positioning groove is opened on the hole wall of the disassembly hole (331) for inserting the hemispherical front end of the elastic pin (324) that extends out of the positioning pin hole (323). A directional hole (324) communicating with the positioning pin hole (323) is opened coaxially at the first end of the drive shaft (322). 5) A guide pin (327) is slidably fitted along the axial direction inside the directional hole (325); a spring-loaded guide (326) is compressed between the tail end of the guide pin (327) and the bottom of the directional hole (325); the head end of the guide pin (327) and the tail end of the elastic pin (324) abut against each other under the pushing action of the spring-loaded guide (326) to form a wedge surface fit, so as to drive the front end of the elastic pin (324) to extend out of the positioning pin hole (323); and the part of the drive shaft (322) that takes the nut fastening sleeve (33) is also provided with an unlocking part (328) that can make the guide pin (327) move in the opposite direction to release the elastic locking of the elastic pin (324).

3. An installation robot according to claim 2, characterized in that, The feeding unit (31) includes a support base (311) and a turntable (312) rotatably arranged on the support base (311). The turntable (312) has multiple cylindrical cavities (313). Each nut fastening sleeve (33) is placed coaxially into the cylindrical cavity (313) in sequence. The support base (311) is provided with a cover plate (314) that covers each cylindrical cavity (313) at the same time. The cover plate (314) located at the material picking point has a picking hole (3141) that can be coaxial with each cylindrical cavity (313) during the rotation of the turntable (312). The multi-degree-of-freedom robotic arm (34) guides the drive shaft (322) to carry The nut fastening sleeve (33) passes coaxially through the material extraction hole (3141) and inserts the nut fastening sleeve (33) into the cylindrical cavity (313); each cylindrical cavity (313) has a through hole at its bottom end, and the support base (311) is equipped with an unlocking telescopic rod (3281) arranged coaxially with the material extraction hole (3141). The unlocking telescopic rod (3281) can pass through the through hole, the cylindrical cavity of the nut fastening sleeve (33), the disassembly hole (331) and the orientation hole (325) in the vertical direction from bottom to top, and push the guide pin (327) to produce the reverse movement. The unlocking telescopic rod (3281) constitutes the unlocking part (328).

4. An installation robot according to claim 3, characterized in that, The drive shaft (322) is coaxially connected to the motor shaft of the rotary motor (321) through a flexible connection. The two ends of the motor shaft are vertically fixed with limit pins (3211). The tail end of the drive shaft (322) is coaxially recessed with a vibration hole (3221). The opposite holes of the vibration hole (3221) are all provided with waist-shaped collision holes (3222). The length direction of the waist-shaped collision holes (3222) is parallel to the axial direction of the drive shaft (322). The motor shaft is coaxially and clearance-fitted into the vibration hole (3221). The two limit pins (3211) are respectively clearance-fitted into the corresponding waist-shaped collision holes (3222). The outer sides of the motor shaft and the drive shaft (322) are fitted with flexible return springs (329). The two ends of the flexible return springs (329) are coaxially fixed to the motor shaft and the drive shaft (322).

5. An installation robot according to claim 1, characterized in that, The clamping part (22) includes two sets of clamping arms that cooperate with each other to complete a double-arm semi-encircling clamping action from both sides of the angle steel main member (40). The clamping arms include a push rod (226) and hook-shaped clamping claws (221) that are hinged to the push rod (226) via a hinge shaft. The front end of the clamping claws (221) forms a clamping end (222) for clamping the edge of the same side wing plate of the angle steel main member (40). A clamping drive part is also arranged at the hinge of the clamping claws (221) and the push rod (226) to drive the clamping claws (221) to open and close in order to cooperate in completing the clamping action. A clamping drive part is also arranged at the push rod (226) that can pull the two clamping claws (221) toward the angle steel main member (40) and make the two clamping ends (222) press against the edges of the two wing plates of the angle steel main member (40) after the clamping action is completed. The retraction drive unit includes a flip telescopic rod (223) mounted on the arch of the gripper (221). A hook rod (224) and a push rod (225) are mounted on the telescopic end of the flip telescopic rod (223), moving synchronously. A stop pin (2271) is mounted on the eccentric part of the push rod (226) at its hinge axis, engaging with the hook rod (224). The front end of the push rod (225) abuts against the eccentric part of the hinge axis of the push rod (226). The hook rod (224) can actively engage the stop pin (2271) during the retraction of the flip telescopic rod (223) to make the gripper (224) move synchronously. 21) The top rod (225) actively pushes the push rod (226) during the extension of the telescopic rod (223) to make the gripper (221) perform a reverse flipping and clamping action; a stop (227) is also arranged on the push rod (226) to block the tail of the gripper (221) during the rotation of the gripper (221) in cooperation with the top rod (225) to limit the flipping and clamping angle of the gripper (221); the stop pin (2271) is installed on the side of the stop (227), and the front end of the top rod (225) abuts against the upper end face of the stop (227); The clamping drive unit includes a linear guide groove (332) on the mounting base (211), and a push rod (226) is arranged in the linear guide groove (332). A driven rack (2261) is mounted on the rod of the push rod (226), and a drive gear is installed at the opening of the guide groove (332) to mesh with the driven rack (2261) to drive the push rod (226) to slide back and forth in the linear guide groove (332).

6. An installation robot according to claim 5, characterized in that, The mounting base (211) is hinged to the base (214) via a hinge shaft, and a pitch adjustment assembly (21) is arranged between the mounting base (211) and the base (214) to drive the mounting base (211) to rotate around its hinge shaft to adjust the pitch angle between the clamp arm and the angle steel main member (40) in the length direction; the pitch adjustment assembly (21) includes positioning plates (212) fixed on both sides of the mounting base (211), and both positioning plates (212) are provided with waist-shaped guide holes (213) that are parallel to each other and inclined towards the length direction of the angle steel main member (40); the base (214) is provided with two parallel directional grooves, and a directional block (215) is bridged between the two directional grooves, and the directional block (215) is synchronously slidably arranged in the two directional grooves; positioning pins (216) are symmetrically arranged on both sides of the directional block (215), and the two positioning pins (216) are respectively inserted into the waist-shaped guide holes (213) on the corresponding sides; A pitch telescopic rod (217) is arranged on the base (214), and a guide block (215) is installed on the telescopic end of the pitch telescopic rod (217). The pitch telescopic rod (217) can push the positioning pin (216) to slide back and forth along the length of the waist-shaped guide hole (213) to adjust the pitch angle.

7. An installation robot according to claim 6, characterized in that, The linear drive unit (17) includes a linear guide rail (171) mounted on the main frame (11) of the host (1) and extending along the length of the angle steel main member (40). A slide (1712) for fixing the base (214) is slidably mounted on the linear guide rail (171). A linear rack (1713) is mounted on the linear guide rail (171), and a drive gear (1714) is mounted on the slide (1712). The drive gear (1714) and the linear rack (1713) are driven by meshing with each other through steering wheels (1715). There are two sets of steering wheels (1715) symmetrically arranged between the drive gear (1714) and the linear rack (1713). Each steering wheel (1715) is connected by a backlash elimination assembly (1716). The backlash elimination assembly (1716) is rotatably mounted on the slide (1712); the backlash elimination assembly (1716) includes a limiting groove (17161) opened on the slide (1712) and sealed at both ends. The groove length direction of the limiting groove (17161) is parallel to the length direction of the linear rack (1713). A bearing block (17162) is slidably arranged in the limiting groove (17161). A gear shaft (17163) is fixedly mounted on the bearing block (17162). The steering wheel (1715) is coaxially rotatably mounted on the gear shaft (17163). A backlash elimination elastic element (17165) is also installed in the limiting groove (17161) to push the steering wheel (1715) to move between the drive gear (1714) and the linear rack (1713).

8. An installation robot according to claim 7, characterized in that, The torso frame (11) is also equipped with a ground laser rangefinder (16) for detecting the distance from the ground, a phase laser rangefinder (15) for detecting the distance between the two angle steel climbing feet (2), and a battery pack (12) for providing power.

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