Angle steel tower bolt tightening robot

Abstract

The present invention relates to an angle steel tower bolt tightening robot, the robot comprising: a robot frame, an intermediate mechanism and a clamping mechanism arranged on the same side as the robot frame; the clamping mechanism is connected to the robot frame through the intermediate mechanism, the robot frame comprises a track, front foot and rear foot moving cross bars arranged perpendicular to the track, and a middle moving cross bar perpendicular to the track and located between the front foot and rear foot moving cross bars, the front foot moving cross bar, the rear foot moving cross bar and the middle moving cross bar move up and down along the guide rail, the fastening tool is fixed on the middle moving cross bar, the intermediate mechanism comprises an annular guide rail and an inclination electric push rod connected to the annular guide rail, the annular guide rail is perpendicularly connected to the axis of the robot frame, the robot frame rotates along the annular guide rail, the inclination electric push rod drives the robot frame away from or close to the angle steel under the support of the support assembly, the clamping mechanism has an opening and closing structure for clamping the angle steel or releasing the angle steel; the present invention enables the robot to autonomously climb on the tower body and tighten the angle steel tower bolts.

Description

Technical Field

[0001] The invention relates to a robot, in particular to an angle steel tower bolt fastening robot. Background Art

[0002] Tower assembly, a key component of transmission line construction, requires a significant amount of bolt tightening work after the tower materials are hoisted into place, requiring high torque precision. The tightness of the main bolts in angle steel towers plays a crucial role in the tower's vibration resistance and overall structural stability.

[0003] Currently, tightening angle steel tower bolts primarily relies on manual labor using simple tools or electric wrenches. After the line is commissioned, the tightening torque of the angle steel tower's main bolts must be regularly monitored to retighten loose nuts with substandard torques. This retightening is also performed manually. This poses a high risk to workers working at height. Furthermore, such manual work can result in substandard tightening torque, poor torque consistency, and missed tightening, undoubtedly posing a significant safety hazard to subsequent operations.

[0004] Angle steel towers have complex surfaces, and common obstacles include the foot spikes, connecting plates, and bolts used by climbers. Existing climbing robots are not suitable for climbing complex steel structures like angle steel towers, and cannot effectively overcome these obstacles. They have limited or no load capacity, making them unsuitable for tightening bolts on angle steel towers due to structural limitations. Their complex structure and control system, combined with their heavy weight, pose high risks for high-altitude operations.

[0005] Existing climbing robots can be divided into foot-type, wheel-type, track-type, snake-like attachment type and other structural forms.

[0006] (1) Leg-type climbing robot

[0007] Legged robots employing a leg-based climbing structure can flexibly change direction and overcome obstacles on climbing surfaces. Current climbing robots, both domestically and internationally, typically range from two to eight legs, with their feet equipped with vacuum cups, gripping mechanisms, or magnetic devices. The drawback to these robots is that the greater the number of legs, the greater the weight, size, and control complexity of the robot. Bipedal robots, owing to their flexible movement and simple control, have been widely researched and applied. Another example is the four-degree-of-freedom, bipedal wall-climbing robot RAMR1, which utilizes vacuum cups on its feet and can climb relatively smooth and flat surfaces.

[0008] Tokyo Institute of Technology has designed a four-legged robot called NINJA, which uses a valve-controlled multi-sucker rod to enable it to adhere to uneven surfaces. The six-legged climbing robot has three degrees of freedom on each leg, enabling movement, obstacle crossing, and steering. Electromagnetic adsorption mechanisms are installed at the ends of its feet for adsorption to ferromagnetic wall surfaces. Because this robot uses a high-power adsorption mechanism, its overall structural dimensions are large, with a mass of 250 kg. The robot can carry heavier loads and has strong obstacle-crossing capabilities, but its gait is slow and the control is complex.

[0009] (2) Wheeled climbing robot

[0010] Wheeled climbing robots, which rely on friction between their wheels and the wall for propulsion, are fast and maneuverable. They also utilize negative pressure for high speed and ease of control. For example, a research team at the University of Tehran has developed three generations of wheeled climbing robot prototypes (UT-PCR1, UT-PCR2, and UT-PCR3). However, due to the unique structure of the tower, the contact area between the wheeled climbing robot and the tower surface is small, significantly limiting its load capacity. This makes it difficult for the robot to maintain a stable climbing position and hinders its ability to overcome obstacles. Therefore, wheeled climbing robots are not suitable for climbing angle steel towers.

[0011] (3) Tracked climbing robot

[0012] The MINI Climber robot, developed by International Climbing Machines (ICM), consists of suction cups, a vacuum pump, and a sensor module. It adheres to walls through a built-in vacuum system. While capable of climbing various surfaces and surmounting obstacles up to a maximum height of 20 mm, it struggles with complex tower structures.

[0013] (4) Snake-like climbing robot

[0014] Snake-like robots are a very active area of ​​biomimetic robotics research. Most prototypes have demonstrated three-dimensional locomotion capabilities, such as lifting their heads, climbing stairs, and surmounting low obstacles. In recent years, snake-like robot prototypes have become more specialized and diverse, with some already capable of vertically climbing several meters. During climbing, the snake-like robot adheres to the surface of the object by wrapping itself around it, then adopts a specific gait to ascend and descend. The CRS snake-like climbing robot, developed by Shanghai Jiao Tong University, can move upward along an equidistant spiral using an inchworm-like peristaltic gait. The robot propels itself upward in a longitudinal wave pattern through the undulations of some joints, while other joints wrap around the tree trunk, generating friction to offset overall gravity, allowing it to climb along a fixed trajectory. The snake-like robot prototypes developed in recent years by the Biorobotics Laboratory at Carnegie Mellon University are all based on orthogonal connections and employ "adhesion-based" locomotion to surmount obstacles. These prototypes exhibit excellent stability, strong terrain adaptability, and high traction, but their numerous degrees of freedom make control difficult and their speed low. This robot structure is not well-suited for non-circular structures such as angle steel towers.

[0015] The robots in the prior art are not able to effectively overcome obstacles, attach to the tower body of the angle steel tower, or perform fixed-point identification operations. Summary of the Invention

[0016] In view of the fact that the existing technology cannot use robots to climb on transmission line towers to check the bolt conditions, the present invention provides an angle steel tower bolt tightening robot, the robot comprising: a robot frame, an intermediate mechanism 7 provided on the same side as the robot frame, and a clamping mechanism 1; the clamping mechanism 1 is connected to the robot frame via the intermediate mechanism 7;

[0017] The robot structure includes a track 2, a front foot moving crossbar 3 and a rear foot moving crossbar 6 arranged perpendicular to the track 2, and a middle moving crossbar 4 perpendicular to the track 2 and located between the front foot moving crossbar 3 and the rear foot moving crossbar 6. The three crossbars can move up and down along the track 2. The camera 504 and the fastening tool 503 are fixed on the middle moving crossbar 4.

[0018] The intermediate mechanism 7 includes an annular guide rail 704 and an inclination electric push rod 106 connected to the annular guide rail 704. The annular guide rail 704 is vertically connected to the axis of the robot frame. The robot frame rotates along the annular guide rail 704. The inclination electric push rod 106 drives the robot frame away from or close to the angle steel under the support of the support assembly 104.

[0019] The clamping mechanism 1 has an opening and closing structure for clamping or releasing the angle steel.

[0020] Preferably, the front foot moving cross bar 3 and the rear foot moving cross bar 6 both include a rear foot keyway connection part 603, a secondary cross bar that moves synchronously on the track 2, and a main cross bar provided with a power drive mechanism; the axis between the main and secondary cross bars is on the same vertical plane perpendicular to the axis of the track 2, and the channel between the two is a channel connected to the intermediate mechanism 7, and the central axis of the rear foot keyway connection part 603 is perpendicular to the central axis of the secondary cross bar and is installed on the secondary cross bar.

[0021] Preferably, the intermediate mechanism 7 further includes a built-in torque motor 706, a bell-shaped housing 705 with a connection portion connected to the clamping mechanism 1 through the tilt electric push rod 106 at the top, a rectangular connecting rod 708 and a plurality of gears, and the front foot moving cross bar 3 and the rear foot moving cross bar 6 are respectively connected to the rectangular connecting rod 708;

[0022] The output shaft of the torque motor 706 is fixedly connected to the distal gear 701, the idler gear 702 and the fixed gear 703 with an opening on the inner axis of the rectangular connecting rod 708; the distal gear 701 is arranged at the other end of the inner axis of the rectangular connecting rod 708; the shaft of the distal gear 701 passes through the rear foot keyway connection 603.

[0023] Preferably, a gear connecting rod 712 is provided inside the rectangular connecting rod 708 , and the gear connecting rod 712 is connected to the idler gear 702 . The distal gear 701 , the idler gear 702 and the fixed gear 703 are meshed with each other.

[0024] Preferably, the outer side of one end of the distal gear 701 of the rectangular connecting rod 708 is provided with a groove that matches the annular guide rail 704, so that the torque motor 706 drives the rectangular connecting rod 708 to move along the annular guide rail 704; the output shaft of the torque motor 706 is perpendicular to the axis of the cross bar.

[0025] Preferably, the middle moving crossbar 4 includes: screws arranged axially parallel to each other, screw drives, gears and slide rails 203 connected in sequence at both ends of the screws; a stepping motor, a moving part 501 and a fastening tool driving part 502 located at one end of the middle moving crossbar 4;

[0026] Both ends of the fastening tool 503 are fixedly connected to the fastening tool driving member 502 and the moving member 501 respectively. The moving member 501 is movably connected to the lead screw. The camera 504 is arranged inside the moving member 501.

[0027] Preferably, the clamping mechanism 1 includes a power member and a plurality of claws 105 , and the power member is connected to the plurality of claws 105 .

[0028] Preferably, the power member includes a claw 105 driving the motor 102, a motor housing 103, and a flat threaded rotary disc 108;

[0029] One side of the motor housing 103 is provided with a baffle, and the other side is provided with a center plate, and an arc bottom plate is provided at the bottom of the baffle and the center plate;

[0030] The flat threaded turntable 108 is installed on the arc-shaped bottom plate on one side of the motor housing 103, and the other side is fixedly connected to the claw 105 driving the motor 102;

[0031] The flat threaded turntable 108 is provided with threads, and the clamping claws 105 are installed on the threads.

[0032] Preferably, the clamping claw 105 is L-shaped, and a limiting device is provided at one end of the clamping claw 105;

[0033] A plurality of claw guide holes 109 are provided at the bottom of one side of the shell on which the flat threaded mounting plate is mounted. The claws 105 pass through the claw guide holes 109 , and the limiting device is mounted on the thread.

[0034] Preferably, the clamping mechanism 1 further includes a V-shaped clamping portion 111, an adjustment core 112, a plurality of electromagnets 110 and a positioning bolt 113 connected to the central axis of the electromagnet 110;

[0035] The multiple electromagnets 110 are axially and vertically connected, wherein one of the electromagnets 110 is connected to the center plate, and the vertical angles of the multiple electromagnets 110 pass through the adjustment core 112 and are fixedly connected to the apex of the clamping portion 111 .

[0036] Preferably, it further includes an electric push rod tilt frame 107, a limit assembly and a plurality of annular guide rail brackets 101 with an F-shaped tilt angle, the limit assembly includes a limit rod 709 and a limit plate 707, and the limit rod 709 is movably connected to the limit plate 707;

[0037] One end of the electric push rod tilt frame 107 is movably connected to the tilt electric push rod 106, and the other end is in contact with the center plate;

[0038] The limiting rod 709 is V-shaped, and the top of the limiting rod 709 is connected to the center of the fixed gear 703 through the opening of the fixed gear 703;

[0039] One side of the multiple limit plates 707 is movably connected to the two ends of the limit rod 709, and the other side is fixedly connected to the annular guide rail bracket 101. The other end of the annular guide rail bracket 101 is set on both sides of the clamping claw 105 driving the motor 102 and is movably connected to the motor housing 103.

[0040] The present invention has the beneficial effects:

[0041] 1. The present invention provides an angle steel tower bolt tightening robot, the robot comprising: a robot frame, an intermediate mechanism 7 and a clamping mechanism 1 arranged on the same side of the robot frame; the clamping mechanism 1 is connected to the robot frame via the intermediate mechanism 7; the robot frame comprises a track 2, a front foot moving crossbar 3 and a rear foot moving crossbar 6 arranged perpendicular to the track 2, and a middle moving crossbar 4 perpendicular to the track 2 and located between the front foot moving crossbar 3 and the rear foot moving crossbar 6, the front foot moving crossbar 3, the rear foot moving crossbar 6 and the middle moving crossbar 4 move up and down along the track 2 to tighten The fixing tool 503 is fixed on the middle moving cross bar 4; the intermediate mechanism 7 includes an annular guide rail 704 and an inclination electric push rod 106 connected to the annular guide rail 704, the annular guide rail 704 is vertically connected to the axis of the robot frame, the robot frame rotates along the annular guide rail 704, and the inclination electric push rod 106 drives the robot frame away from or close to the angle steel under the support of the support assembly 104; the clamping mechanism 1 has an opening and closing structure for clamping or releasing the angle steel; the present invention enables the robot to automatically climb the transmission tower and detect the condition of the transmission tower.

[0042] 2. Since the robot of the present invention is provided with a clamping mechanism 1 that moves the horizontal bar forward and backward, the clamping mechanism 102 drives the L-shaped clamping claws 105 with reinforcements symmetrically arranged on the flat threaded turntable 108, forming an L-shaped clamp similar to a human arm. With the help of the intermediate mechanism 7, climbing on the tower pole can be easily achieved;

[0043] 3. The climbing robot provided by the present invention, through the intermediate mechanism 7 provided between the crossbar and the clamping mechanism 1, enables the robot to conveniently realize the required movement along the horizontal direction of the tower and to conveniently climb along the longitudinal (vertical) direction of the tower. At the same time, it also drives the intermediate crossbar to move along the horizontal and longitudinal directions of the tower as required, thereby moving the camera 504, the moving part 501, the fastening tool 503 and the fastening tool driving part 502 carried on the intermediate crossbar to the required positions, thereby realizing the operation of the required part of the tower;

[0044] 4. Since the axial direction of the torque motor 706 of the driving mechanism in the intermediate mechanism 7 of the present invention is arranged perpendicular to the axial direction of the crossbar in the robot frame, the horizontal movement along the tower pole can be effectively controlled by controlling the diameter ratio between the annular guide rail 704 and the distal gear 701, while also effectively controlling the load and safety of the robot.

[0045] 5. Since the rear end of the intermediate mechanism 7 is connected to the clamping mechanism 1 via the tilt electric push rod 106, and the intermediate mechanism 7 and the clamping mechanism 1 are respectively provided with a torque motor 706 whose axis is perpendicular to the axis of the crossbar in the robot frame, not only can the torque motor 706 ensure that the clamping force of the clamping mechanism 1 is met, but also the robot has a soft waist function similar to that of the human body, so as to ensure horizontal movement along the tower pole;

[0046] 6. Since the front end of the intermediate mechanism 7 of the present invention is connected to the shaft of the distal gear 701 in the rectangular connecting rod 708 and the channel or keyway located on the same vertical plane between the crossbar, such a keyway connection method not only ensures the safety of the robot of the present invention, but also meets the required load-bearing and dexterity requirements;

[0047] 7. The climbing robot provided by the present invention drives the rotation of the middle cross bar through the rotation positioning of the intermediate mechanism 7 so that the operating platform faces the working surface of the transmission tower. Without changing the movement route of the robot, the operating platform can be switched between two mutually perpendicular working surfaces of the angle steel tower; in conjunction with the scanning device, the working point on the angle steel tower can be identified and positioned, and it has the advantages of simple structure and high positioning accuracy.

[0048] 8. In view of the fact that the robot frame composed of the crossbar, the intermediate mechanism 7 and the clamping mechanism 1 of the present invention provides a safe, convenient and reliable environment for positioning, operating and fixing the intermediate movable crossbar provided on the robot frame.

[0049] 9. The control of the movement of the telescopic movable structure provided by the present invention can realize the autonomous two-way climbing of the robot along the angle steel. It has a simple structure and is easy to control, which solves the problems of the existing climbing robots' complex structure, heavy weight, and complex control system. It also has a strong load capacity and can carry various operating tools to perform angle steel tower bolt tightening operations and maintenance.

[0050] 10. The clamping device of the climbing robot provided by the present invention is connected to the edges of the two right-angled sides of the angle iron by means of an L-shaped clamping claw 105 with a strong member. It has a simple structure and a small contact area. This solves the problem that the clamping device of the climbing robot in the prior art needs to clamp on the two right-angled surfaces of the angle iron over a large area, resulting in poor adaptability to the screw area at the connecting plate position of the diagonal steel tower and a limited clamping range. It achieves effective clamping at locations where there are obstacles on the surface of the connecting plate, foot nails, etc. of the angle steel tower, and has a large clamping range.

[0051] 11. The driving device of the clamping claw 105 provided by the present invention drives the flat threaded turntable 108 to rotate through the intermediate mechanism 7, thereby driving the clamping claw 105 to grasp and release the angle steel, thereby solving the problem of the robot falling off the tower after power failure in the prior art, and realizing the self-locking of the climbing robot when power is off, with simple control and safe and reliable structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a schematic structural diagram of the climbing robot of the present invention mounted on an angle iron frame;

[0053] Figure 2 It is a schematic diagram of the overall structure of the climbing robot of the present invention;

[0054] Figure 3 It is a structural schematic diagram of the telescopic movement mechanism of the climbing robot of the present invention;

[0055] Figure 4 This is a schematic diagram of the structure of the operating components of the climbing robot of the present invention mounted on the middle moving crossbar between the front and rear foot crossbars;

[0056] Figure 5 It is a schematic diagram of the track structure of the climbing robot of the present invention;

[0057] Figure 6 Schematic diagram of the connection between the front foot moving crossbar and the track of the climbing robot of the present invention;

[0058] Figure 7 It is a front structural diagram of the clamping mechanism of the climbing robot of the present invention;

[0059] Figure 8 It is a schematic diagram of the reverse structure of the clamping mechanism of the climbing robot of the present invention;

[0060] Figure 9 Schematic diagram of the rectangular connecting rod structure of the climbing robot of the present invention;

[0061] Figure 10 Schematic diagram of the connection relationship of the driving connecting rods of the climbing robot of the present invention;

[0062] Figure 11 It is a schematic structural diagram of the adjustment support device of the climbing robot of the present invention;

[0063] Figure 12 is a schematic diagram of a state in which the forefoot clamping device of the climbing robot of the present invention moves forward;

[0064] Figure 13 is a schematic diagram of a following state of the rear foot clamping device of the climbing robot of the present invention;

[0065] Figure 14is a schematic diagram of a state where the track group of the climbing robot of the present invention follows;

[0066] Figure 15 This is a schematic diagram showing the gripping and releasing states of the clamping mechanism claws of the climbing robot of the present invention;

[0067] Figure 16 This is a schematic diagram of the climbing robot of the present invention in which the inclination electric push rod drives the intermediate mechanism to move to lift the foot;

[0068] Figure 17 This is a schematic diagram of the position of the driving connecting rod of the climbing robot of the present invention driving the gear set to rotate along the annular guide rail;

[0069] Figure 18 Schematic diagram of the position of the operating plane of the climbing robot of the present invention when switching the working plane along the horizontal direction of the tower;

[0070] In the figure: 1. Clamping mechanism; 2. Track; 3. Front foot moving crossbar; 4. Middle moving crossbar; 5. Operating assembly; 6. Rear foot moving crossbar; 7. Intermediate mechanism; 8. Tower angle iron;

[0071] 101. Annular guide rail bracket; 102. Claw drive motor; 103. Motor housing; 104. Support assembly; 105. Claw; 106. Electric push rod for tilting; 107. Electric push rod for tilting; 108. Flat threaded turntable; 109. Claw guide hole; 110. Electromagnet; 111. Clamping part; 112. Adjustment core; 113. Positioning bolt; 114. Upper positioning hole; 115. Lower positioning hole.

[0072] 201, track plug; 202, rack; 203, slide rail;

[0073] 301, front foot moving crossbar linkage gear; 302, front foot auxiliary moving crossbar; 303, front foot keyway connection; 304, front foot main moving crossbar stepping motor; 305, front foot moving crossbar slide; 306, front foot moving crossbar support lug;

[0074] 401, intermediate moving crossbar linkage gear; 402, intermediate moving crossbar lead screw; 403, intermediate moving crossbar slide rail; 404, intermediate moving crossbar lead screw drive; 405, intermediate moving crossbar slide; 406, intermediate moving crossbar stepper motor;

[0075] 501, moving part; 502, fastening tool driving part; 503, fastening tool; 504, camera;

[0076] 601, hind leg moving crossbar linkage gear; 602, hind leg auxiliary moving crossbar; 603, hind leg keyway connection; 604, hind leg main moving crossbar stepping motor; 605, hind leg moving crossbar slide; 606, hind leg moving crossbar support lug;

[0077] 701, distal gear; 702, idler gear; 703, fixed gear; 704, annular guide rail; 705, bell-shaped housing; 706, torque motor; 707, limit plate; 708, rectangular connecting rod; 709, limit rod; 710, connecting part; 711, moving end; 712, gear connecting rod; 713, fixed end. DETAILED DESCRIPTION

[0078] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0079] Example 1, combined Figure 1 The present invention provides an angle steel tower bolt tightening robot, which comprises: a robot frame, an intermediate mechanism 7 and a clamping mechanism 1 arranged on the same side of the robot frame; the clamping mechanism 1 is connected to the robot frame through the intermediate mechanism 7;

[0080] The robot structure includes a track 2, a front foot moving crossbar 3 and a rear foot moving crossbar 6 arranged perpendicular to the track 2, and a middle moving crossbar 4 perpendicular to the track 2 and located between the front foot moving crossbar 3 and the rear foot moving crossbar 6. The three crossbars can move up and down along the track 2. The camera 504 and the fastening tool 503 are fixed to the middle moving crossbar 4;

[0081] The intermediate mechanism 7 includes an annular guide rail 704 and an inclination electric push rod 106 connected to the annular guide rail 704. The annular guide rail 704 is perpendicularly connected to the axis of the robot frame. The robot frame rotates along the annular guide rail 704. The inclination electric push rod 106, supported by the support assembly 104, drives the robot frame away from or close to the angle steel.

[0082] The clamping mechanism 1 has an opening and closing structure for clamping or releasing the angle steel.

[0083] The front foot moving cross bar 3 and the rear foot moving cross bar 6 both include a rear foot keyway connection part 603, a secondary cross bar that moves synchronously on the track 2, and a main cross bar provided with a power drive mechanism; the axis between the main and secondary cross bars is on the same vertical plane perpendicular to the axis of the track 2, and the channel between the two is a channel connected to the intermediate mechanism 7. The central axis of the rear foot keyway connection part 603 is perpendicular to the central axis of the secondary cross bar and is installed on the secondary cross bar.

[0084] The intermediate mechanism 7 further includes a bell-shaped housing 705 with a built-in torque motor 706, a connection portion at the top thereof connected to the clamping mechanism 1 via the tilt electric push rod 106, a rectangular connecting rod 708, and a plurality of gears. The front foot moving crossbar 3 and the rear foot moving crossbar 6 are respectively connected via the rectangular connecting rod 708.

[0085] The output shaft of the torque motor 706 is fixedly connected to the distal gear 701, the idler gear 702 and the fixed gear 703 with an opening on the inner axis of the rectangular connecting rod 708; the distal gear 701 is arranged at the other end of the inner axis of the rectangular connecting rod 708; the shaft of the distal gear 701 passes through the rear foot keyway connection 603.

[0086] A gear connecting rod 712 is provided inside the rectangular connecting rod 708 . The gear connecting rod 712 is connected to the idler gear 702 . The distal gear 701 , the idler gear 702 and the fixed gear 703 are meshed with each other.

[0087] A groove matching the annular guide rail 704 is provided on the outer side of one end of the distal gear 701 of the rectangular connecting rod 708, so that the torque motor 706 drives the rectangular connecting rod 708 to move along the annular guide rail 704; the output shaft of the torque motor 706 is perpendicular to the axis of the crossbar.

[0088] The middle moving crossbar 4 includes: a lead screw arranged axially parallel to each other, a lead screw drive, a gear and a slide rail 203 connected in sequence at both ends of the lead screw; a stepping motor, a moving part 501 and a fastening tool driving part 502 located at one end of the middle moving crossbar 4;

[0089] The two ends of the fastening tool 503 are fixedly connected to the fastening tool driving member 502 and the moving member 501 respectively. The moving member 501 is movably connected to the lead screw. The camera 504 is arranged inside the moving member 501.

[0090] The clamping mechanism 1 includes a power member and a plurality of claws 105 , and the power member is connected to the plurality of claws 105 .

[0091] The power part includes a claw 105 driving the motor 102, a motor housing 103, and a flat threaded rotary disc 108;

[0092] One side of the motor housing 103 is provided with a baffle, and the other side is provided with a center plate, and an arc bottom plate is provided at the bottom of the baffle and the center plate;

[0093] A flat threaded turntable 108 is mounted on the arc-shaped bottom plate on one side of the motor housing 103, and the other side is fixedly connected to the claw 105 driving the motor 102;

[0094] The flat threaded turntable 108 is provided with threads, and the claws 105 are installed on the threads.

[0095] The clamping claw 105 is L-shaped, and a limit device is provided at one end of the clamping claw 105;

[0096] A plurality of claw guide holes 109 are provided at the bottom of one side of the shell mounting plane thread mounting plate, the claws 105 pass through the claw guide holes 109, and the limiting device is installed on the thread.

[0097] The clamping mechanism 1 further includes a V-shaped clamping portion 111, an adjustment core 112, a plurality of electromagnets 110, and a positioning bolt 113 connected to the central axis of the electromagnet 110;

[0098] The multiple electromagnets 110 are connected axially and vertically, wherein one of the electromagnets 110 is connected to the center plate, and the vertical angles of the multiple electromagnets 110 pass through the adjustment core 112 and are fixedly connected to the apex of the clamping portion 111 .

[0099] It also includes an electric push rod tilt frame 107, a limit assembly and a plurality of annular guide rail brackets 101 with an F-shaped tilt angle. The limit assembly includes a limit rod 709 and a limit plate 707. The limit rod 709 is movably connected to the limit plate 707.

[0100] One end of the electric push rod tilt frame 107 is movably connected to the tilt electric push rod 106, and the other end is fitted with the center plate;

[0101] The limiting rod 709 is V-shaped, and the top of the limiting rod 709 is connected to the center of the fixed gear 703 through the opening of the fixed gear 703;

[0102] One side of the plurality of limit plates 707 is movably connected to the two ends of the limit rod 709, and the other side is fixedly connected to the annular guide rail bracket 101. The other end of the annular guide rail bracket 101 is set on both sides of the clamping claw 105 to drive the motor 102 and is movably connected to the motor housing 103.

[0103] In the present invention, the distal gear 701, the idler gear 702 and the fixed gear 703 are named according to the rectangular connecting rod 708 where the gears are located, close to the lower end of the gears.

[0104] Example 2

[0105] In order to realize a robot technology and product that can autonomously climb, attach to the tower body, lock the working position, identify and locate bolts, and perform fully automatic tightening operations, the present invention mainly solves the following technical problems:

[0106] (1) The existing climbing robot structure is not suitable for climbing rigid structures with complex surface obstacles such as angle steel towers.

[0107] (2) Existing tower climbing robots are unable to effectively attach and lock any part of the angle steel tower, and are unable to carry tools to perform operations on any part of the tower.

[0108] (3) The foot structure of existing tower climbing robots is complex and difficult to control. They cannot effectively clamp on the angle steel tower where there are obstacles such as the connecting plates and foot nails. They also have poor mechanical self-locking properties and are easily loosened under external loads or power failures, resulting in poor safety.

[0109] The present invention provides a technical solution for a single-layer reversible telescopic mechanism for a transmission line tower climbing robot, an overall technical solution for the robot, and a combination of the above. Figure 2 :

[0110] This technical solution mainly includes the following aspects:

[0111] (1 Single-layer reversible telescopic mechanism

[0112] Through the single-layer reversible telescopic mechanism, the robot can realize autonomous two-way climbing along the angle steel. The single-layer reversible telescopic mechanism consists of two rack 202 guide rails and three moving cross bars with independent stepping motors. By coordinating the clamping, loosening and lifting actions of the embracing foot, the robot's guide rail feeding, front foot stepping and rear foot following actions can be combined to realize the robot's climbing operation.

[0113] (2 Encircling Foot

[0114] The design principle of the encircling foot is to clamp the tower body material by forming a circular ring with a support point and two clamping points. As shown in the figure, when the two clamping points are synchronously extended, the diameter of the circle formed by the three points increases. When the short arc of the two clamping points exceeds the width of the angle steel, the clamping mechanism can be smoothly disengaged from the angle steel.

[0115] The encircling foot is driven by a torque motor 706 to rotate the flat thread, which drives the two clamping claws to extend and retract synchronously, realizing the clamping and release functions of the tower body main material. The tilt electric push rod 106 is used for foot lifting movement. The adjustment support seat is mainly involved in the robot climbing operation when the two feet fall on the connecting plate and angle steel positions respectively, adjusting the height of the front and rear feet, thereby ensuring that the robot's working plane is parallel to the main material working plane. The adjustment of the support seat is achieved through the coordinated action of two orthogonal electromagnets 110. The X-axis electromagnet 110 drives the center rod up and down, and the center rod is equipped with two pin holes; the Y-axis electromagnet 110 drives the side pin shaft to be inserted and removed, providing strength support for the current position.

[0116] (3 Rotation and plane positioning mechanism

[0117] The rotation and plane positioning mechanism is mainly used to realize the identification and positioning of the bolts. The movement of the rotation and plane positioning mechanism is realized by the annular guide rail 704 and the gear set with a total rotation ratio of 3:1. The trajectory is 270° clockwise rotation and 90° counterclockwise rotation. Figure 3 and Figure 4 .

[0118] After the working surface is switched, the three movements of the plane scanning mechanism (X / Y / Z) are combined with video recognition to realize the identification and positioning of all bolt positions on the two working surfaces. Figure 5 .

[0119] (1 The single-layer reversible telescopic mechanism greatly simplifies the existing climbing robot's complex structure, heavy weight, and complex control system. It can adapt to climbing steel structures with complex surfaces such as angle steel towers, and has a strong load capacity, which can meet the bolt tightening operation requirements of angle steel towers.

[0120] (2 The design of the embracing foot solves the problems of the current mechanical clamping foot, such as complex structure and difficult control. It also has a large clamping range and can adapt to the clamping of large-section angle steel towers and connecting plates. It has good self-locking performance, safe and reliable structure, and simple control.

[0121] (3 Through the design of the rotation and plane positioning mechanism, combined with video recognition technology, the technical difficulties of positioning and identifying the bolts at the angle steel tower joint plate are solved, with the advantages of simple structure and high positioning accuracy.

[0122] This invention replaces manual labor, enabling the tightening of main bolts during angle steel tower assembly and the measurement, recording, and re-tightening of angle steel tower main bolt tightening torque during line inspection. This significantly improves the efficiency of angle steel tower bolt tightening and inspection testing, reduces labor intensity, and significantly enhances operational safety while ensuring construction quality.

[0123] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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 making creative efforts shall fall within the scope of protection of the present invention.

[0124] The present invention provides an autonomously climbing angle steel tower bolt tightening robot and a control method thereof. Figures 6 to 18 The robot of the present invention includes a robot frame consisting of two parallel tracks 2 and a front foot moving crossbar 3, a middle moving crossbar and a rear foot moving crossbar 6 perpendicular to the tracks 2;

[0125] An intermediate mechanism 7 is provided on one side of the robot frame, and the axis of the distal gear 1001 of the intermediate mechanism is parallel to the front or rear foot moving crossbar 6 .

[0126] Example 3

[0127] The present invention arranges the front foot moving cross bar 3, the rear foot moving cross bar 6 and the middle moving cross bar 4 on the track 2, so that the three cross bars can move on the track 2;

[0128] The track 2 includes: a track plug 201, a rack 202, and a slide rail 203. The rack 202 and the slide rail 203 are connected in parallel with each other and their axes are in a vertical plane. The track plug 201 is provided at both ends of the slide rail 203.

[0129] The forefoot moving crossbar 3 includes: a forefoot moving crossbar linkage gear 301, a forefoot auxiliary moving crossbar 302, a forefoot keyway connection portion 303, a forefoot main moving crossbar stepping motor 304, a forefoot moving crossbar chute 305, and a forefoot moving crossbar lug 306. The main crossbar and the auxiliary crossbar are arranged in parallel, with both ends connected in sequence to the forefoot moving crossbar linkage gear 301, the forefoot moving crossbar lug 306, the forefoot keyway connection portion 303, and the forefoot moving crossbar chute 305, and one end connected to the forefoot main moving crossbar stepping motor 304.

[0130] The middle moving crossbar 4 includes: a middle moving crossbar linkage gear 401, a middle moving crossbar lead screw 402, a middle moving crossbar slide rail 403, a middle moving crossbar lead screw driver 404, a middle moving crossbar slide 405, and a middle moving crossbar stepping motor 406;

[0131] The rear foot moving crossbar 6 includes: a rear foot moving crossbar linkage gear 601, a rear foot auxiliary moving crossbar 602, a rear foot keyway connection portion 603, a rear foot main moving crossbar stepping motor 604, a rear foot moving crossbar chute 605, and a rear foot moving crossbar lug 606. The main crossbar and the auxiliary crossbar are arranged in parallel, with both ends connected in sequence to the rear foot moving crossbar linkage gear 601, the rear foot moving crossbar lug 606, the rear foot keyway connection portion 603, and the rear foot moving crossbar chute 605, and one end connected to the rear foot main moving crossbar stepping motor 604;

[0132] The operating assembly 5 is arranged on the middle moving crossbar 4, and the operating assembly 5 includes: a moving part 501, a fastening tool driving part 502, a fastening tool 503, and a camera 504. The moving part 501 is arranged on the middle moving crossbar 4, and the camera 504 is installed in the moving part 501;

[0133] The intermediate mechanism 7 includes: a distal gear 701, an idler gear 702, a fixed gear 703, an annular guide rail 704, a bell-shaped housing 705, a torque motor 706, a limiting plate 707, a rectangular connecting rod 708, and a limiting rod 709;

[0134] The rectangular connecting rod 708 includes: a connecting portion 710, a movable end 711, a gear connecting rod 712, and a fixed end 713;

[0135] The connecting portion 710, the movable end 711, and the fixed end 713 are connected in sequence, and the gear connecting rod 712 is vertically installed on the movable end 711;

[0136] The clamping mechanism 1 includes: an annular guide rail bracket 101, a claw drive motor 102, a motor housing 103, a support assembly 104, a claw 105, an electric push rod 106, an electric push rod tilt frame 107, a flat threaded turntable 108, a claw guide hole, an electromagnet 110, a clamping portion 111, an adjustment core 112, and a positioning bolt 113;

[0137] The positioning bolt 113 includes an upper positioning hole 114 and a lower positioning hole 115 for moving the magnet;

[0138] The present invention comprises three parts:

[0139] 1. The present invention provides power to the flat thread turntable 108 through the claw drive motor 102, so that the flat thread turntable 108 rotates. Since the limit device of the claw 105 is installed in the flat thread turntable 108, the claw 105 is driven to retract and hold the tower body of the transmission line tower tightly for climbing.

[0140] 2. Since the claw 105 can be extended and retracted, when the claw 105 contracts, the positioning bolt 113 arranged on the side of the plane threaded turntable 108 supports the electric push rod tilt frame 107, supports the tilt electric push rod 106, and the tilt electric push rod 106 pushes the guide rail to move horizontally. The cross bar set on the guide rail is moved by the stepper motor, and can move horizontally on the tower body of the transmission line tower.

[0141] 3. Through the middle moving cross bar 4 set on the guide rail, under the power provided by the step motor, the middle moving cross bar 4 can be translated on the guide rail, and the bolts can be monitored and recorded through the camera 504 set on the middle moving cross bar 4, and the annular guide rail 704 is rotated by the motor to rotate the gear on the rectangular connecting rod 708 set on the annular guide rail 704. The gear drives the cross bar on the guide rail to shift, so that the bolt condition can be checked longitudinally.

[0142] In summary, the climbing robot provided by the present invention can realize autonomous climbing of the main material of the angle steel tower, tower body attachment and working position locking, bolt identification, positioning and fully automatic tightening operations.

[0143] The present invention can replace manual labor to achieve the tightening construction of the main material bolts in the angle steel tower assembly construction phase, and the measurement, recording and re-tightening of the tightening torque of the main material bolts of the angle steel tower in the line operation and inspection phase. The present invention can greatly improve the operating efficiency of the angle steel tower bolt tightening construction and operation and inspection testing, reduce the labor intensity of personnel, and greatly improve the safety of the operation while ensuring the construction quality. Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0147] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A robot for tightening angle steel tower bolts, comprising: A robot frame, an intermediate mechanism (7) and a clamping mechanism (1) arranged on the same side as the robot frame; the clamping mechanism (1) is connected to the robot frame via the intermediate mechanism (7); The robot frame comprises a track (2), a front foot moving crossbar (3), a rear foot moving crossbar (6), and a middle moving crossbar (4) perpendicular to the track (2) and located between the front foot moving crossbar (3) and the rear foot moving crossbar (6); The front foot moving crossbar (3) and the rear foot moving crossbar (6) are both arranged perpendicular to the track (2); The operating assembly (5) is arranged on the middle moving crossbar (4), and the operating assembly (5) comprises: a moving part (501), a fastening tool driving part (502), a fastening tool (503) and a camera (504); the moving part (501) is arranged on the middle moving crossbar (4), and the camera (504) is installed in the moving part (501); The front foot moving crossbar (3), the rear foot moving crossbar (6) and the middle moving crossbar (4) move up and down along the track (2), and the fastening tool (503) is fixed on the middle moving crossbar (4); The front foot moving crossbar (3) and the rear foot moving crossbar (6) each include a rear foot keyway connecting portion (603), a secondary crossbar that moves synchronously on the track (2), and a main crossbar provided with a power drive mechanism; a channel between the main crossbar and the secondary crossbar is a channel connected to the intermediate mechanism (7); the central axis of the rear foot keyway connecting portion (603) is perpendicular to the central axis of the secondary crossbar and is mounted on the secondary crossbar; The intermediate mechanism (7) includes an annular guide rail (704) and an inclination electric push rod (106) connected to the annular guide rail (704), wherein the annular guide rail (704) is vertically connected to the axis of the robot frame, and the robot frame rotates along the annular guide rail (704), and the inclination electric push rod (106) drives the robot frame away from or close to the angle steel under the support of the support assembly; The clamping mechanism (1) has an opening and closing structure for clamping or releasing the angle steel; The intermediate mechanism (7) further comprises a rectangular connecting rod (708), a distal gear (701), an idler gear (702), a fixed gear (703) with an opening, and a bell-shaped housing (705), wherein the front foot moving crossbar (3) and the rear foot moving crossbar (6) are respectively connected to the rectangular connecting rod (708); The bell-shaped housing (705) has a built-in torque motor (706), and a top end is provided with a connection portion connected to the clamping mechanism (1) via the tilt electric push rod (106); The output shaft of the torque motor (706) is fixedly connected to the fixed gear (703) with an opening; the distal gear (701) is arranged at one end on the inner side of the axis of the rectangular connecting rod (708); the shaft of the distal gear (701) passes through the rear foot keyway connection portion (603); A gear connecting rod (712) is provided inside the rectangular connecting rod (708), and the gear connecting rod (712) is connected to the idler gear (702). The distal gear (701), the idler gear (702) and the fixed gear (703) are meshed with each other.

2. The angle steel tower bolt tightening robot according to claim 1, It is characterized by: A groove matching the annular guide rail (704) is provided on the outer side of one end of the rectangular connecting rod (708), so that the torque motor (706) drives the rectangular connecting rod (708) to move along the annular guide rail (704); the output shaft of the torque motor (706) is perpendicular to the axial direction of the rear foot moving cross bar (6).

3. The angle steel tower bolt tightening robot according to claim 1, characterized in that: The middle moving crossbar (4) comprises: an middle moving crossbar linkage gear (401), an middle moving crossbar lead screw (402), an middle moving crossbar slide rail (403), an middle moving crossbar lead screw drive (404), an middle moving crossbar slide groove (405) and an middle moving crossbar stepping motor (406); The moving member (501) is movably connected to the intermediate moving crossbar screw (402).

4. The angle steel tower bolt tightening robot according to claim 2, characterized in that: The clamping mechanism (1) comprises a power member and a plurality of clamping claws (105), wherein the power member is connected to the plurality of clamping claws (105).

5. The angle steel tower bolt tightening robot according to claim 4, characterized in that: The power component comprises a claw drive motor (102), a motor housing (103) and a flat threaded rotary disc (108); One side of the motor housing (103) is provided as a baffle, and the other side is provided as a center plate, and an arc-shaped bottom plate is provided at the bottom of the baffle and the center plate; The plane threaded rotary disc (108) is mounted on the arc-shaped bottom plate on one side of the motor housing (103), and the other side is fixedly connected to the claw drive motor (102); The plane threaded turntable (108) is provided with a thread, and the clamping claw (105) is mounted on the thread.

6. The angle steel tower bolt tightening robot according to claim 5, characterized in that: The clamping claw (105) is L-shaped, and a limiting device is provided at one end of the clamping claw (105); A plurality of claw guide holes (109) are provided at the bottom of one side of the housing on which the flat threaded turntable is mounted, the claws (105) pass through the claw guide holes (109), and the limiting device is mounted on the thread.

7. The angle steel tower bolt tightening robot according to claim 6, characterized in that: The clamping mechanism (1) further comprises a V-shaped clamping portion (111), an adjustment core (112), a plurality of electromagnets (110), and a positioning bolt (113) connected to the central axis of the electromagnet (110); The multiple electromagnets (110) are axially vertically connected, one of the electromagnets (110) is connected to the center plate, and the vertical angles of the multiple electromagnets (110) pass through the adjustment core (112) and are fixedly connected to the apex of the clamping portion (111).

8. The angle steel tower bolt tightening robot according to claim 6, characterized in that: The clamping mechanism further comprises an electric push rod tilting frame (107), a limiting assembly and a plurality of annular guide rail brackets (101) with F-shaped tilting angles, the limiting assembly comprising a limiting rod (709) and a limiting plate (707), the limiting rod (709) being movably connected to the limiting plate (707); One end of the electric push rod tilt frame (107) is movably connected to the tilt electric push rod (106), and the other end is in contact with the center plate; The limiting rod (709) is V-shaped, and the top of the limiting rod (709) is connected to the center of the fixed gear (703) through the opening of the fixed gear (703); one end of the annular guide rail bracket (101) is arranged on both sides of the claw drive motor (102) and is movably connected to the motor housing (103).

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