Bolt perforating installation method for angle steel tower

Abstract

The invention relates to the technical field of bolt mounting equipment, in particular to an angle steel tower bolt perforation mounting method. By means of autonomous navigation of the installation robot and flexible operation of the mechanical arm, rapid positioning and taking-out of bolts and nuts are achieved, and the risk of manual climbing and operation is reduced. Accurate insertion and preliminary positioning of the bolt are ensured through accurate control of the mechanical arm, then the fastening effect is enhanced by combining impact tightening with the intermittent hammering technology, the fit clearance between the angle steel is effectively eliminated, and the bolt is prevented from loosening. The whole process is highly automatic, personal errors are reduced, and the mounting quality and the working safety are improved.

Description

Technical Field

[0001] The invention relates to the technical field of bolt installation equipment, in particular to a method for installing angle steel tower bolts through holes. Background Art

[0002] Angle steel towers are a common form of steel structure, widely used in the fields of power, communication, broadcasting, transportation, etc., to support wires, cables, antennas and other equipment. In the construction process of angle steel towers, in order to improve the connection strength between the angle steels, rivets or bolts are usually used to connect the angle steels. Bolts are widely used in the assembly of angle steel towers because of their simple installation, easy disassembly and reliable connection strength.

[0003] At present, when workers assemble and build angle steel towers, they usually use ordinary wrenches, adjustable wrenches or electric wrenches to tighten the bolts to achieve the purpose of fixing each angle steel. Since angle steel is affected by various external factors during production and transportation, it is easy to deform slightly. Although these slight deformations will not affect the strength of the angle steel, when they occur at the bolt connection, they will affect the stability of the bolt connection. The two angle steels that originally fit each other have undergone slight deformation, resulting in a gap between the fitting surfaces of the two. This gap is difficult to eliminate when tightening the bolts using the above-mentioned tightening tools, resulting in poor stability of the bolt connection. The poor stability is reflected in the fact that during the subsequent long-term use of the angle steel tower, due to the influence of external natural factors, such as long-term sunlight exposure, the angle steel is easily thermally deformed, and the gap is reduced due to thermal deformation, causing the bolt to lose its preload and loosen. If the gap increases after the thermal deformation ends, the angle steel will still give the bolt a certain preload, thereby preventing the bolt from loosening again. However, if the gap is reduced after the thermal deformation, the bolts will continue to loosen due to factors such as the vibration of the angle steel tower without the effect of pre-tightening force, and eventually lose their locking and fixing function.

[0004] It can be seen that during the initial tightening process of the bolts, the gap between the angle steels at the connection needs to be reduced and eliminated as much as possible to improve the stability of the bolt connection. Summary of the invention

[0005] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a method for installing angle steel tower bolts through holes, which can effectively eliminate the gap between angle steel and bolted joints, thereby improving the stability of the bolted joints.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for installing angle steel tower bolts through holes, comprising the following installation steps:

[0008] S1. Use the installation robot to carry bolts and nuts and crawl on the angle steel tower to the through hole to be fastened;

[0009] S2, driving the hammering part to remove the bolt by means of a mechanical arm connected to the installation robot, and driving the tightening part to remove the nut at the same time;

[0010] S3, using a mechanical arm to drive the hammering part and the tightening part to move to both sides of the through hole to be tightened;

[0011] S4, the robot arm inserts the bolt into the through hole to be fastened, and makes the bolt head press against the hole end of the through hole to be fastened;

[0012] S5, the robot arm aligns the nut with the bolt passing through the through hole to be tightened, the tightening part tightens the nut by impact tightening, and the hammering part intermittently hammers the bolt head;

[0013] S6. When the distance between the bolt head and the nut reaches the set value, stop hammering and tightening, and the tightening of the through hole to be tightened is now completed.

[0014] As a further solution of the present invention, the hammering part includes a bolt clamping device capable of clamping the bolt head, and a hammering assembly capable of hammering the bolt head along the bolt axis and pressing the bolt head onto the angle steel.

[0015] As a further solution of the present invention: the tightening part includes an adaptive sleeve that clamps the nut through the jaws, and the adaptive sleeve is connected to a sleeve opening and closing electromagnetic clutch that drives the jaw opening and closing degree; the adaptive sleeve is transmission-connected to the striking assembly through a flexible impact connector, and the striking assembly drives the adaptive sleeve to produce the impact tightening action.

[0016] As a further solution of the present invention: the hammering part and the tightening part are respectively connected to the ends of the two mechanical arms, and the two mechanical arms can transport the hammering part and the tightening part to corresponding working positions respectively.

[0017] As a further solution of the present invention: the robotic arm has seven degrees of freedom, and the elbow joint of the robotic arm includes two connecting plates, a mounting cavity is formed between the two connecting plates, and the ends of the two swing arms adjacent to the robotic arm are respectively hingedly mounted in the mounting cavity through hinge shafts parallel to each other; gears are coaxially fixed to the two hinge shafts, the two gears are in transmission meshing engagement with each other, and one of the hinge shafts is a driving shaft with rotational power.

[0018] As a further solution of the present invention: the fixed end of the robotic arm is fixedly mounted on a coupler of the mounting robot through a composite clamp, and an angle steel serving as a base is fixed on the coupler; the composite clamp comprises a mounting base that can be abutted against the outer surface of a wing plate of the angle steel, and a limb width adaptive baffle that can be abutted against the outer surface of another wing plate is fixedly mounted on one side of the mounting base; a rotating clamp that can be rotated to the top of the mounting base is installed on the side of the mounting base opposite to the limb width adaptive baffle, and the rotating clamp cooperates with the mounting base and the limb width adaptive baffle to form a clamping cavity for clamping the wing plate abutted by the mounting base.

[0019] As a further solution of the present invention: a mounting groove is concavely provided on the end surface where the mounting base abuts against the angle steel, an electromagnet is installed in the mounting groove, and a telescopic rod is also installed at the electromagnet to enable the battery iron to extend out of the mounting hole and adsorb to the corresponding wing plate.

[0020] As a further solution of the present invention: the robot arm is detachably connected to the hammering part, the tightening part, and the composite clamp through a universal connector.

[0021] As a further solution of the present invention: the installation robot includes a main machine that can crawl on the angle steel tower, and the docking device is arranged on the main machine; a hammering part and a tightening part are installed on the main machine through a universal connector, and an accessory box for containing bolts and nuts is also installed on the main machine.

[0022] As a further solution of the present invention: a telescopic end is also installed on the main machine, and a docking device is installed on the telescopic end.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention realizes the rapid positioning and removal of bolts and nuts through the autonomous navigation of the installation robot and the flexible operation of the mechanical arm, reducing the risk of manual climbing and operation. The precise control of the mechanical arm ensures the accurate insertion and initial positioning of the bolts, and then the impact tightening combined with the intermittent hammering technology not only strengthens the tightening effect, but also effectively eliminates the matching gap between the angle steels and prevents the bolts from loosening. The whole process is highly automated, reducing human errors and improving installation quality and work safety.

[0025] 2. The hammering part of the present invention is responsible for hammering the bolt head during the process of tightening the nut, so that the bolt head fits more tightly on the angle steel; then cooperates with the tightening part to gradually tighten the nut on the bolt by impact tightening. The tightening part continuously rotates the nut to apply pre-tightening force, while the hammering part hammers the bolt head at the right time. The two work together to gradually reduce the matching gap between the angle steels, so as to achieve the effect of tightening the angle steel through the bolt, and effectively improve the stability of the bolt connection.

[0026] 3. The bolt clamping device is responsible for clamping the bolt head to ensure that the bolt will not move or fall off during the hammering process. The design of the bolt clamping device takes into account the bolt heads of different diameters and shapes, improving its versatility and stability. The hammering assembly is the core component that produces the hammering action. It hammers the bolt head along the axial direction of the bolt to press the bolt head against the angle steel, thereby eliminating the gap and improving the stability of the connection.

[0027] 4. The adaptive sleeve in the present invention can tightly clamp the nut through its jaws to ensure that the nut will not fall off or slide during the tightening process, thereby improving the accuracy and stability of tightening. At the same time, the opening and closing degree of the jaws is controlled by the electromagnetic clutch, and adaptive adjustments can be made according to nuts of different sizes, increasing the versatility and flexibility of the tool. The flexible impact connector plays a role in buffering and transmitting power between the adaptive sleeve and the striking assembly, which can absorb part of the impact energy, reduce vibration and noise, and ensure that power is efficiently transmitted to the adaptive sleeve to achieve impact tightening action. The striking assembly is the core component that produces the impact tightening action. Through high-speed rotation and impact, power is transmitted to the adaptive sleeve, thereby driving the nut to rotate and tighten on the bolt.

[0028] 5. The seven-degree-of-freedom robotic arm provides extremely high flexibility and operating range, and can perform complex and varied tasks. This means that the robotic arm can move and rotate in all directions in three-dimensional space to operate the precise coordination of the hammering part and the tightening part.

[0029] 6. The elbow joint of the robot arm is composed of two connecting plates, and a mounting cavity is formed between them. This design enhances the structural strength of the elbow joint and provides protection for its internal mechanism. The ends of the two swing arms are respectively installed in the mounting cavity through parallel hinge axes. This articulation method enables the swing arms to rotate around the hinge axes, thereby realizing the bending and extension of the robot arm.

[0030] 7. Gears are coaxially fixed on the two articulated shafts, and the two gears are in driving engagement with each other. This design enables the rotation of one articulated shaft (active shaft) to drive the rotation of the other articulated shaft, thereby achieving synchronous movement of the elbow joint.

[0031] 8. The mounting base is in contact with the outer surface of one wing plate of the angle steel, while the limb width adaptive baffle is in contact with the outer surface of the other wing plate, so that the composite clamp can adapt to angle steels of different widths, improving its versatility and adaptability. A rotatable rotating clamp is installed on the side of the mounting base opposite to the limb width adaptive baffle. The rotating clamp can be rotated to the top of the mounting base, and cooperates with the mounting base and the limb width adaptive baffle to form a clamping cavity for clamping the wing plate abutted by the mounting base, so that the angle steel can be clamped effectively, ensuring the stability and reliability of the composite clamp.

[0032] 9. While the composite clamp is clamping the angle steel, the stability of the clamping can be further enhanced through the adsorption force of the electromagnet. When the electromagnet is powered on, it will attract the corresponding wing plate, making the clamp more firmly fixed on the angle steel; when the electromagnet is powered off, the clamp can be separated from the angle steel through other mechanisms (such as springs, etc.). Through the composite form of magnetic attraction and mechanical clamping, the clamping efficiency is increased while the reliability of clamping is ensured.

[0033] 10. The main machine is also equipped with an accessory box for holding bolts and nuts, which is convenient for the robot to take the required accessories at any time and improve the working efficiency. The main machine is equipped with a telescopic end, which can be extended or shortened as needed, thereby increasing the flexibility and accessibility of the robot's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the installation tool in the present invention.

[0035] Figure 2 It is a schematic diagram of the structure of the fastening device in the present invention.

[0036] Figure 3 It is a schematic diagram of the operating state of the robot arm in the present invention.

[0037] Figure 4 It is a schematic diagram of the structure of the mechanical arm in the present invention.

[0038] Figure 5 It is a schematic diagram of the structure of the composite clamp in the present invention.

[0039] Figure 6 It is a schematic diagram of the structure of installing the robot in the present invention.

[0040] Figure 7 It is a schematic diagram of the operating status of the installed robot in the present invention.

[0041] In the figure: 1. hammering part; 11. bolt clamping device; 12. hammering assembly; 2. tightening part; 21. adaptive sleeve; 22. sleeve opening and closing electromagnetic clutch; 23. flexible impact connector; 24. striking assembly; 3. mechanical arm; 31. elbow joint; 311. connecting plate; 312. swing arm; 313. gear; 32. compound clamp; 321. mounting base; 3221. electromagnet; 322. limb width adaptive baffle; 323. rotating clamp; 4. main machine; 41. docking device; 42. accessory box; 5. universal connector. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, the hammering part 1 includes a bolt clamping device 11 that can clamp the bolt head, and a hammering assembly 12 that can hammer the bolt head along the axial direction of the bolt and press the bolt head onto the angle steel. The bolt clamping device 11 is responsible for clamping the bolt head to ensure that the bolt does not move or fall off during the hammering process. The hammering assembly 12 is the core component that produces the hammering action. It hammers the bolt head along the axial direction of the bolt to press the bolt head onto the angle steel, thereby eliminating the gap and improving the stability of the connection.

[0044] The tightening part 2 includes an adaptive sleeve 21 that clamps the nut through the jaws, and a sleeve opening and closing electromagnetic clutch 22 that drives the jaw opening and closing is connected to the adaptive sleeve 21; the adaptive sleeve 21 is connected to the striking assembly 24 through a flexible impact connector 23, and the striking assembly 24 drives the adaptive sleeve 21 to produce the impact tightening action. The adaptive sleeve 21 can tightly clamp the nut through its jaws to ensure that the nut will not fall off or slide during the tightening process, thereby improving the accuracy and stability of tightening. The striking assembly 24 is the core component that produces the impact tightening action. Through high-speed rotation and impact, power is transmitted to the adaptive sleeve 21, thereby driving the nut to rotate and tighten on the bolt.

[0045] like Figure 2 and Figure 3 As shown, the fastening device of the present invention includes two mechanical arms 3 that can be fixedly installed on the angle steel tower, the hammering part 1 and the tightening part 2 are respectively connected to the ends of the two mechanical arms 3, and the two mechanical arms 3 can respectively transport the hammering part 1 and the tightening part 2 to corresponding working positions.

[0046] like Figure 4 As shown, the robot arm 3 is a seven-degree-of-freedom robot arm, and the elbow joint 31 of the robot arm 3 includes two connecting plates 311, and a mounting cavity is formed between the two connecting plates 311. The ends of the two swing arms 312 adjacent to the two connecting plates 311 are respectively hingedly mounted in the mounting cavity through hinge shafts parallel to each other. Gears 313 are coaxially fixed to the two hinge shafts, and the two gears 313 are in transmission mesh with each other, and one of the hinge shafts is a driving shaft with rotational power.

[0047] like Figure 5As shown, the fixed end of the mechanical arm 3 is fixedly mounted on the angle steel through a composite clamp 32. The composite clamp 32 includes a mounting base 321 that can be abutted on the outer plate surface of one wing plate of the angle steel, and a limb width adaptive baffle 322 that can be tightly abutted on the outer plate surface of another wing plate is fixedly mounted on one side of the mounting base 321; a rotating clamp 323 that can be rotated to the top of the mounting base 321 is installed on the side opposite to the limb width adaptive baffle 322 on the mounting base 321, and cooperates with the mounting base 321 and the limb width adaptive baffle 322 to form a clamping cavity for clamping the wing plate abutted by the mounting base 321. A mounting groove is recessed on the end surface of the mounting base 321 that abuts the angle steel, and an electromagnet 3221 is installed in the mounting groove. A telescopic rod that allows the battery iron to extend out of the mounting countersunk hole and adsorb to the corresponding wing plate is also installed at the electromagnet 3221. The mechanical arm 3 is detachably connected to the hammering part 1, the tightening part 2, and the composite clamp 32 through a universal connector 5.

[0048] like Figure 6 and Figure 7 As shown, the installation robot includes a main machine 4 that can crawl on the angle steel tower, and the main machine 4 is provided with a docking device 41 and an accessory box 42 for containing bolts and nuts, and a set number of bolts and nuts are contained in the accessory box 42. A plurality of universal connectors 5 are also installed on the main machine 4, and a hammering part 1, a tightening part 2 and a composite clamping claw 32 are installed on the universal connector 5. The main machine 4 is also equipped with a telescopic end, and the docking device 41 is installed on the telescopic end.

[0049] The mounting base 321 is moved to the angle steel by the robot arm 3, and the mounting base 321 is pressed against one side wing plate of the angle steel, and the electromagnet 3221 is driven to adsorb the angle steel, and then the rotating claw 323 is rotated to clamp the wing plate, and at the same time, the telescopic rod is driven to extend to clamp the wing plate between the rotating claw 323 and the electromagnet 3221, so as to improve the stability of the connection.

[0050] When the installation robot of the present invention is used, firstly, bolts and nuts are placed in a certain arrangement in the accessory box 42 of the main machine 4. Then, the hammering part 1 and the tightening part 2 are installed on the main machine 4 through the docking device 41, and at the same time, a mechanical arm 3 is installed on the docking device 41 in the middle of the main machine 4, and both ends of the mechanical arm 3 are installed with composite clamps 32 through universal connectors 5. A pair of mechanical arms 3 are installed on the telescopic end of the main machine 4, and the pair of mechanical arms 3 are only installed with composite clamps 32 at the ends connected to the telescopic end.

[0051] After the preliminary preparations for installing the robot are completed, the installation robot is placed on the angle steel tower. The staff controls the host 4 to crawl on the angle steel tower along the predetermined route, and determines the position of the host 4 through the real-time feedback from the camera on the host 4. When the host 4 climbs to the set position, it stops and remains motionless. Then the two mechanical arms 3 on the telescopic end start to operate, remove the hammering part 1 and the tightening part 2 from the host 4 respectively, and take out the bolts and nuts from the accessory box 42 respectively through the bolt clamping device 11 and the adaptive sleeve 21. Then the two mechanical arms 3 move the hammering part 1 and the tightening part 2 to the position where the clamp is required, and then align the bolt through the through hole on the angle steel and make the bolt head close to the angle steel, and align the nut with the front end of the bolt. The tightening part 2 starts to operate, and the nut gradually moves to the angle steel. When the nut contacts the angle steel, the hammering starts to hammer the bolt head continuously, and the tightening part 2 continues to impact the tightening bolt until the distance between the nut and the bolt head reaches the set distance and stops working. The mechanical arm 3 drives the hammering part 1 and the tightening part 2 to return to the batching box, and takes out the bolts and nuts from the accessory box 42 again to perform the tightening work at the next position. The set distance is usually the sum of the thickness of each angle steel between the bolt head and the nut, or a little larger than the sum. The specific value needs to be determined according to the actual situation on site.

[0052] The mechanical arm 3 installed on the docking device 41 in the middle of the main machine 4 can play an emergency auxiliary role. That is, when a certain mechanical arm 3 on the telescopic end cannot transport the hammering part 1 and the tightening part 2 to the corresponding position due to the problem of angle steel blocking, the mechanical arm 3 in the middle of the main machine 4 extends, and the composite clamp 32 at its end clamps the angle steel; then the composite clamp 32 at the other end separates from the docking device 41 and clamps the angle steel. In the process of grabbing and releasing the two composite clamps 32, the mechanical arm 3 gradually moves to the target position. After reaching the target position, disconnect one of the composite clamps 32 and grab the hammering part 1 or the tightening part 2 through the universal connector 5 to cooperate in completing the tightening work of the target position.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for installing angle steel tower bolts through holes, characterized in that: The installation steps include: S1. Use the installation robot to carry bolts and nuts and crawl on the angle steel tower to the through hole to be fastened; S2, driving the hammering part (1) to remove the bolt and driving the tightening part (2) to remove the nut by means of a mechanical arm (3) connected to the installation robot; S3, using the mechanical arm (3) to drive the hammering part (1) and the tightening part (2) to move to the two sides of the through hole to be tightened; S4, the mechanical arm (3) inserts the bolt into the through hole to be fastened, and makes the bolt head abut against the hole end of the through hole to be fastened; S5, the mechanical arm (3) aligns the nut with the bolt passing through the through hole to be tightened, the tightening part (2) tightens the nut by impact tightening, and the hammering part (1) intermittently hammers the bolt head; S6. When the distance between the bolt head and the nut reaches the set value, stop hammering and tightening, and the tightening of the through hole to be tightened is now completed.

2. The method for installing angle steel tower bolts by perforating holes according to claim 1, characterized in that: The hammering part (1) comprises a bolt clamping device (11) capable of clamping a bolt head, and a hammering assembly (12) capable of hammering the bolt head along the bolt axis and pressing the bolt head onto the angle steel.

3. The method for installing angle steel tower bolts by perforating holes according to claim 2, characterized in that: The tightening part (2) comprises an adaptive sleeve (21) that clamps a nut through a jaw, and a sleeve opening and closing electromagnetic clutch (22) that drives the jaw opening and closing is connected to the adaptive sleeve (21); the adaptive sleeve (21) is transmission-connected to an impact assembly (24) through a flexible impact connector (23), and the impact assembly (24) drives the adaptive sleeve (21) to generate the impact tightening action.

4. A method for installing angle steel tower bolts by perforating holes according to any one of claims 1 to 3, characterized in that: The hammering part (1) and the tightening part (2) are respectively connected to the ends of two mechanical arms (3), and the two mechanical arms (3) can respectively transport the hammering part (1) and the tightening part (2) to corresponding working positions.

5. The method for installing angle steel tower bolts by perforating holes according to claim 4 is characterized in that: The mechanical arm (3) has seven degrees of freedom, and the elbow joint (31) of the mechanical arm (3) includes two connecting plates (311), a mounting cavity is formed between the two connecting plates (311), and the ends of two swing arms (312) adjacent thereto are respectively hingedly mounted in the mounting cavity via hinge shafts parallel to each other; gears (313) are coaxially fixedly connected to the two hinge shafts, the two gears (313) are in transmission mesh with each other, and one of the hinge shafts is a driving shaft with rotational power.

6. The method for installing angle steel tower bolts by perforating holes according to claim 5, characterized in that: The fixed end of the robot arm (3) is fixedly mounted on a coupling device of the mounting robot through a composite clamp (32), and an angle steel as a base is fixed on the coupling device; the composite clamp (32) comprises a mounting base (321) that can abut against the outer surface of a wing plate of the angle steel, and a limb width adaptive baffle (322) that can abut against the outer surface of another wing plate is fixedly mounted on one side of the mounting base (321); a rotating clamp (323) that can rotate to the top of the mounting base (321) is mounted on the side of the mounting base (321) opposite to the limb width adaptive baffle (322), and the rotating clamp (323) cooperates with the mounting base (321) and the limb width adaptive baffle (322) to form a clamping cavity for clamping the wing plate abutted by the mounting base (321).

7. The method for installing angle steel tower bolts by perforating holes according to claim 6, characterized in that: An installation recessed groove is concavely arranged on the end surface of the installation base (321) abutting against the angle steel, an electromagnet (3221) is installed in the installation recessed groove, and a telescopic rod is also installed at the electromagnet (3221) to enable the battery iron to extend out of the installation recessed hole and adsorb to the corresponding wing plate.

8. The method for installing angle steel tower bolts by perforating holes according to claim 7, characterized in that: The mechanical arm (3) is detachably connected to the hammering part (1), the tightening part (2), and the composite clamping claw (32) through a universal connector (5).

9. The method for installing angle steel tower bolts by perforating holes according to claim 8, characterized in that: The installation robot comprises a main machine (4) capable of crawling on an angle steel tower, a docking device (41) being arranged on the main machine (4); a hammering part (1) and a tightening part (2) being installed on the main machine (4) via a universal connector (5), and an accessory box (42) for containing bolts and nuts being also installed on the main machine (4).

10. The method for installing angle steel tower bolts through holes according to claim 9, characterized in that: The main machine (4) is also provided with a telescopic end, and a docking device (41) is provided on the telescopic end.

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