Bolt fastening device and bolt fastening climbing work platform having the same

Abstract

The application discloses a bolt fastening device and a bolt fastening climbing operation platform with the device, the bolt fastening device comprises a working arm and a self-adaptive bolt fastening head, the self-adaptive bolt fastening head comprises a fastening motor, a fastening rod is arranged on an output shaft of the fastening motor, a fastening sleeve is installed on the fastening rod, a clamping arm is hingedly arranged on the fastening sleeve, a clamping arm sleeve is further arranged, and a locking mechanism is arranged on the side of the fastening motor. The bolt fastening climbing operation platform comprises the bolt fastening device and a climbing operation platform, and the bolt fastening device is installed on the climbing operation platform through the working arm. The bolt fastening device and the bolt fastening climbing operation platform can adapt to bolts of different specifications.

Description

Technical Field

[0001] This invention relates to the field of bolt fastening of angle steel towers, and more specifically to a bolt fastening device and a bolt fastening climbing platform having the device. Background Technology

[0002] like Figure 37 As shown, an angle steel tower is a tower built primarily of angle steel (a). Since adjacent angle steels are connected by connecting plates, there are many bolts on the angle steel tower for connection and fastening. To ensure the stability of the angle steel tower, the bolts on the tower need to be tightened frequently to ensure the reliability of the bolt connection. Since angle steel towers are generally quite tall, it is inconvenient for people to climb them, so machine operation is usually used. In the prior art, for example, Chinese invention patent application with publication number CN113649796A discloses a maintenance robot with online bolt retightening function, including a main unit and an angle steel clamping assembly arranged on the main unit; a bolt retightening device for retightening bolts is arranged at the head end of the main unit, the bolt retightening device includes an extension arm and a working head fixed on the extension arm, the extension arm includes a bottom frame fixed on the main unit, a rotating assembly for driving the working head to generate a rotating motion and a planar displacement assembly for driving the working head to generate a fixed-point operation are installed on the bottom frame; a sleeve auxiliary replacement box is also fixed on the main unit to facilitate high-altitude sleeve replacement operation with the working head, and both the sleeve auxiliary replacement box and the bolt retightening device are fixed at the head end of the main unit.

[0003] Because multiple bolt sizes are installed on the same angle steel tower, different sized sleeves are installed in the sleeve auxiliary changing box to allow for retightening of bolts of different sizes. When tightening bolts of different sizes, the bolt tightening device simply replaces the sleeve with the appropriate size from the sleeve auxiliary changing box. However, this bolt tightening device cannot adapt to different bolt sizes independently; different sized sleeves are required to retighten different bolt sizes. The addition of the sleeve auxiliary changing box undoubtedly increases the weight of the entire maintenance robot, making climbing more difficult and less flexible. Furthermore, changing different sized sleeves is time-consuming and labor-intensive, resulting in low work efficiency.

[0004] Furthermore, in the prior art, for example, Chinese utility model patent publication number CN215967318U discloses a bolt re-tightening device and a climbing robot using the device. The bolt re-tightening device includes an extension arm and a working head fixed to the extension arm. The extension arm includes a bottom frame fixed to the main unit, on which a rotating component for driving the working head to rotate and a planar displacement component for driving the working head to perform a fixed-point operation are mounted. In practical applications, the rotating component and planar displacement component drive the working head to the nut, thereby tightening the nut. However, in practical applications, the movement position of the movable end of the extension arm cannot be detected, thus failing to effectively ensure that the working head can accurately move to a specific position, affecting the normal tightening of the nut. Summary of the Invention

[0005] The technical problem to be solved by this invention is:

[0006] The existing bolt fastening devices cannot adapt to the technical problem of bolts of different specifications.

[0007] The present invention solves the above-mentioned technical problems through the following technical means:

[0008] A bolt fastening device includes a working arm and an adaptive bolt fastening head disposed at the movable end of the working arm. The adaptive bolt fastening head includes a fastening motor, a fastening rod disposed on the output shaft of the fastening motor, a fastening sleeve coaxially mounted on the fastening rod, and a locking arm hinged to the fastening sleeve. The first end of the locking arm faces the opening of the fastening sleeve. The device also includes a locking arm sleeve disposed outside the fastening sleeve. When the fastening sleeve moves axially inward toward the locking arm sleeve, the locking arm sleeve can press against the outer side of the locking arm, causing its first end to swing inward. When the fastening sleeve moves axially outward toward the locking arm sleeve, the first end of the locking arm swings outward.

[0009] In practical application, the bolt tightening device of this invention uses a working arm to move the adaptive bolt tightening head to the bolt requiring tightening. The tightening sleeve is then placed on the bolt, and it moves axially inward towards the inside of the clamping arm sleeve. Simultaneously, the clamping arm sleeve presses against the outer side of the clamping arm, causing its first end to swing inward until the inner bolt is clamped. After clamping, the tightening motor continuously drives the tightening rod to rotate forward, thereby rotating the tightening sleeve to achieve the bolt tightening operation. After tightening, the clamping arm gradually disengages from the clamping arm sleeve and opens outward, thus loosening the bolt and completing the bolt tightening operation. Compared to existing technologies, the clamping arm's opening and closing action can adapt to the re-tightening operation of bolts of different specifications, exhibiting strong adaptability and a wide range of applications.

[0010] In the optimized configuration, the working arm includes a base, on which a first bracket is rotatably mounted. The first bracket is provided with a first linear reciprocating mechanism and a first detection mechanism capable of detecting the moving position of the movable end of the first linear reciprocating mechanism. The movable end of the first linear reciprocating mechanism is provided with a second bracket, on which a second linear reciprocating mechanism and a second detection mechanism capable of detecting the moving position of the movable end of the second linear reciprocating mechanism are provided. The adaptive bolt fastening head is provided at the movable end of the second linear reciprocating mechanism and is parallel to the moving direction of the movable end of the second linear reciprocating mechanism.

[0011] In practical applications, the base can be used to mount the working arm in the working position. When the first support rotates, it can drive the first linear reciprocating mechanism, the first detection mechanism, the second support, the second linear reciprocating mechanism, and the second detection mechanism to rotate together. When the movable end of the first linear reciprocating mechanism moves, it can drive the second support, the second linear reciprocating mechanism, and the second detection mechanism to move. When the movable end of the second linear reciprocating mechanism moves, it can drive the tool mounted on the movable end of the second linear reciprocating mechanism to move to the working position. During the actual operation, the first detection mechanism and the second detection mechanism can detect the moving position of the movable end of the first linear reciprocating mechanism and the moving position of the movable end of the second linear reciprocating mechanism, respectively, thus obtaining the moving position of the working arm's movable end and ensuring that the working arm can work normally.

[0012] In the optimized configuration, a turntable is rotatably mounted on the base, the first bracket is disposed on the turntable, and a turntable drive motor is also disposed on the base.

[0013] In practical applications, the turntable can be driven by a turntable drive motor to rotate, thereby moving the movable end of the working arm to the working position, resulting in a wide working range.

[0014] The optimized first linear reciprocating mechanism includes a fifth slider mounted on a first support, a reciprocating component, and a reciprocating component driving mechanism. The reciprocating component is slidably mounted on the fifth slider via a fourth guide rail. The reciprocating component driving mechanism includes a reciprocating component driving motor mounted on the first support. The output shaft of the reciprocating component driving motor is provided with a reciprocating gear, and the reciprocating component is provided with a reciprocating rack that meshes with the reciprocating gear.

[0015] In an optimized configuration, the first detection mechanism includes a first encoder mounted on the first support, the first encoder being connected to the reciprocating gear.

[0016] In practical applications, the reciprocating component drive motor drives the reciprocating gear to rotate, which in turn drives the reciprocating component to reciprocate through the reciprocating rack. During this process, the rotation speed of the reciprocating gear can be detected by the first encoder, thereby obtaining the moving position of the reciprocating component. Its structure is simple and the detection is convenient.

[0017] The optimized second linear reciprocating mechanism includes a movable block slidably mounted on the second bracket, and a second lead screw rotatably mounted on the second bracket. The movable block is threadedly connected to the second lead screw, and a lead screw drive is also provided on the second bracket.

[0018] In an optimized configuration, the second detection mechanism includes a second encoder mounted on the second bracket, the second encoder being connected to the second lead screw.

[0019] In practical applications, the lead screw drive can drive the second lead screw to rotate, which in turn drives the movable block to move back and forth. During this process, the second encoder can detect the rotation speed of the second lead screw, and thus obtain the moving position of the movable block. The overall structure is simple and the detection is convenient.

[0020] In the optimized configuration, the angle between the rotation axis of the first support and the moving direction of the first linear reciprocating mechanism is 45°, the moving direction of the second linear reciprocating mechanism is perpendicular to the moving direction of the first linear reciprocating mechanism, and the rotation axis of the first support, the moving direction of the first linear reciprocating mechanism, and the moving direction of the second linear reciprocating mechanism are located in the same plane.

[0021] In practical applications, the working arm can be installed on a climbing work platform. When the climbing work platform climbs the angle steel, the rotation axis of the first support is directly opposite the middle edge of the angle steel tower. The second linear reciprocating mechanism can swing to both sides of the angle steel under the drive of the first support. Since the angle between the rotation axis of the first support and the movement direction of the first linear reciprocating mechanism is 45°, and the movement direction of the second linear reciprocating mechanism is perpendicular to the movement direction of the first linear reciprocating mechanism, the rotation axis of the first support, the movement direction of the first linear reciprocating mechanism, and the movement direction of the second linear reciprocating mechanism are all in the same plane. When the second linear reciprocating mechanism swings to both sides of the angle steel, the movement direction of the movable end of the second linear reciprocating mechanism is perpendicular to the side of the angle steel, so as to vertically approach or move away from the side of the angle steel, which is convenient for bolt tightening and other related operations.

[0022] In the optimized configuration, the fastening rod is a threaded rod, and the fastening sleeve is threadedly mounted on the fastening rod. A locking mechanism is provided on the side of the fastening motor. The locking mechanism can lock or release the clamping arm sleeve. When the clamping arm sleeve is locked, the fastening sleeve can move axially relative to the clamping arm sleeve without rotating.

[0023] In practical applications, the adaptive bolt tightening head can be moved to the bolt to be tightened via the working arm. The tightening sleeve is placed on the bolt, and the locking mechanism locks the clamping arm sleeve, preventing it from rotating. The tightening motor drives the tightening rod to rotate forward, with the direction of rotation being the same as when the bolt is tightened. Since the tightening sleeve cannot rotate relative to the clamping arm sleeve, under the action of the thread, the tightening sleeve can only move axially towards the inside of the clamping arm sleeve. At the same time, the clamping arm sleeve presses against the outside of the clamping arm, causing its first end to swing inward until it clamps the inner bolt. After clamping, the locking mechanism releases the clamping arm sleeve, and the tightening motor continues to drive the tightening rod to rotate forward, thereby causing the tightening sleeve and clamping arm sleeve to rotate together to achieve the bolt tightening operation. After tightening, the locking mechanism locks the clamping arm sleeve, and the tightening motor drives the tightening rod to rotate in reverse. The tightening rod pushes the tightening sleeve out of the clamping arm sleeve, and at the same time, the clamping arm gradually separates from the clamping arm sleeve and opens outward, thereby loosening the bolt and completing the bolt tightening operation. Compared to existing technologies, the retraction and extension of the clamping arm can accommodate the re-tightening operation of bolts of different specifications, making it highly adaptable and applicable to a wide range of situations.

[0024] In the optimized configuration, the fastening sleeve is provided with a mounting groove parallel to the axial direction of the fastening sleeve, and the clamping arm is located in the mounting groove; a swing guide mechanism is provided between the clamping arm and the mounting groove.

[0025] The optimized swing guide mechanism includes a guide groove disposed on the side wall of the mounting groove and a guide protrusion disposed on the side of the clamping arm. The guide protrusion slides in conjunction with the guide groove, and the guide protrusion can slide in the guide groove when the clamping arm swings around its hinge axis.

[0026] The swing guide mechanism formed by the sliding cooperation between the guide protrusion and the guide groove can guide the swing of the clamping arm, thereby ensuring that the swing of the clamping arm is relatively smooth, stable and reliable.

[0027] In an optimized configuration, an elastic body is provided between the locking arm and the fastening sleeve, the elastic body enabling the locking arm to have a tendency to open outward.

[0028] In an optimized configuration, a clamping protrusion is provided on the inner side of the first end of the clamping arm; a wedge-shaped protrusion is provided on the outer side of the clamping arm, and the thickness of the wedge-shaped protrusion gradually decreases from the first end to the second end of the clamping arm.

[0029] When the fastening sleeve moves axially into the clamping arm sleeve, the clamping arm sleeve can press against the wedge-shaped protrusion on the outside of the clamping arm, thereby causing its first end to swing inward to achieve clamping. Its overall structure is simple and its operation is reliable.

[0030] In an optimized configuration, the inner wall of the fastening sleeve is provided with several positioning ridges parallel to the axial direction of the fastening sleeve, and the positioning ridges are evenly distributed along the circumference of the fastening sleeve.

[0031] When the bolt is large, the clamping arm does not directly act on the bolt when it opens. In this case, the bolt edge can be clamped by the groove formed between the positioning edges, thereby achieving the clamping and tightening operation.

[0032] The optimized design includes an anti-rotation step on the outer side of the locking arm sleeve, and the locking mechanism includes an electric push rod arranged parallel to the side of the fastening motor. The piston rod of the electric push rod can extend and block the outside of the anti-rotation step to prevent rotation, or retract and disengage from the anti-rotation step.

[0033] In practical applications, the piston rod of the electric actuator extends outward to block the outside of the anti-rotation step to achieve anti-rotation, or retracts and disengages from the anti-rotation step. Its structural principle is relatively simple and its operation is reliable.

[0034] In the optimized configuration, the fastening rod can drive the fastening sleeve to rotate. The clamping arm sleeve includes a rotor located on the inner side and a stator located on the outer side. The rotor is sleeved on the outer side of the fastening sleeve. A clamping arm sleeve push-pull mechanism is provided on the side of the fastening motor. The movable end of the clamping arm sleeve push-pull mechanism is connected to the stator. The clamping arm sleeve push-pull mechanism can drive the clamping arm sleeve to move axially back and forth.

[0035] In practical applications, after the fastening sleeve is placed on the bolt, the clamping arm push-pull mechanism pushes the clamping arm to move. Under the action of the rotor of the clamping arm, the clamping arms swing inward and retract, thereby clamping the bolt. The fastening sleeve and rotor are driven to rotate by the fastening motor and fastening rod. At this time, the rotor can rotate relative to the stator, thereby realizing the bolt fastening operation. After the fastening is completed, the clamping arm push-pull mechanism pulls the clamping arm to move, and the rotor gradually disengages from each clamping arm. Each clamping arm opens, thereby loosening the bolt. Its overall structure and principle are relatively simple, and the operation is reliable.

[0036] The present invention also discloses a bolt-fastening climbing work platform, including the bolt-fastening device described above, and a climbing work platform, wherein the bolt-fastening device is mounted on the climbing work platform via a working arm.

[0037] In practical applications, the bolt tightening climbing platform of this invention can be used for climbing and bolt tightening operations on angle steel towers. The climbing platform is placed on the angle steel of the angle steel tower, and the bolts on the angle steel can be tightened by the bolt tightening device. Compared with the prior art, the tightening and retracting action of the clamping arm can adapt to the tightening operation of bolts of different specifications, and it has strong adaptability and wide application range.

[0038] The optimized bolt fastening device is slidably mounted on the climbing work platform.

[0039] The advantages of this invention are:

[0040] 1. In practical application, the bolt tightening device of this invention allows the adaptive bolt tightening head to be moved to the bolt requiring tightening via the working arm. The tightening sleeve is then placed on the bolt, and it moves axially inward towards the inside of the clamping arm sleeve. Simultaneously, the clamping arm sleeve presses against the outer side of the clamping arm, causing its first end to swing inward until the inner bolt is clamped. After clamping, the tightening motor continuously drives the tightening rod to rotate forward, thereby rotating the tightening sleeve to achieve the bolt tightening operation. After tightening, the clamping arm gradually disengages from the clamping arm sleeve and opens outward, thus loosening the bolt and completing the bolt tightening operation. Compared to existing technologies, the clamping arm's opening and closing action can adapt to the re-tightening operation of bolts of different specifications, exhibiting strong adaptability and a wide range of applications.

[0041] 2. In practical applications, the base can be used to install the working arm in the working position. When the first support rotates, it can drive the first linear reciprocating mechanism, the first detection mechanism, the second support, the second linear reciprocating mechanism, and the second detection mechanism to rotate together. When the movable end of the first linear reciprocating mechanism moves, it can drive the second support, the second linear reciprocating mechanism, and the second detection mechanism to move. When the movable end of the second linear reciprocating mechanism moves, it can drive the tool installed on the movable end of the second linear reciprocating mechanism to move to the working position. During the actual operation, the first detection mechanism and the second detection mechanism can respectively detect the moving position of the movable end of the first linear reciprocating mechanism and the moving position of the movable end of the second linear reciprocating mechanism, thus obtaining the moving position of the working arm's movable end and ensuring that the working arm can work normally.

[0042] 3. In practical applications, the turntable can be driven by a turntable drive motor to rotate, thereby moving the movable end of the working arm to the working position, resulting in a wide working range.

[0043] 4. In practical applications, the reciprocating component drive motor drives the reciprocating gear to rotate, which in turn drives the reciprocating component to reciprocate through the reciprocating rack. During this process, the rotation speed of the reciprocating gear can be detected by the first encoder, thereby obtaining the moving position of the reciprocating component. Its structure is simple and the detection is convenient.

[0044] 5. In practical applications, the lead screw drive can drive the second lead screw to rotate, which in turn drives the movable block to move back and forth. During this process, the second encoder can detect the rotation speed of the second lead screw, and thus obtain the moving position of the movable block. The overall structure is simple and the detection is convenient.

[0045] 6. In practical applications, the working arm can be installed on a climbing work platform. When the climbing work platform climbs the angle steel, the rotation axis of the first support is directly opposite the middle edge of the angle steel tower. The second linear reciprocating mechanism can swing to both sides of the angle steel under the drive of the first support. Since the angle between the rotation axis of the first support and the movement direction of the first linear reciprocating mechanism is 45°, and the movement direction of the second linear reciprocating mechanism is perpendicular to the movement direction of the first linear reciprocating mechanism, the rotation axis of the first support, the movement direction of the first linear reciprocating mechanism, and the movement direction of the second linear reciprocating mechanism are all in the same plane. When the second linear reciprocating mechanism swings to both sides of the angle steel, the movement direction of the movable end of the second linear reciprocating mechanism is perpendicular to the side of the angle steel, so as to vertically approach or move away from the side of the angle steel, facilitating bolt tightening and other related operations.

[0046] 7. In practical applications, the adaptive bolt tightening head can be moved to the bolt to be tightened via the working arm. The tightening sleeve is placed on the bolt to be tightened, and the locking mechanism locks the clamping arm sleeve, preventing it from rotating. The tightening motor drives the tightening rod to rotate forward, with the direction of rotation being the same as when the bolt is tightened. Since the tightening sleeve cannot rotate relative to the clamping arm sleeve, under the action of the thread, the tightening sleeve can only move axially towards the inside of the clamping arm sleeve. At the same time, the clamping arm sleeve presses against the outside of the clamping arm, causing its first end to swing inward until it clamps the inner bolt. After clamping, the locking mechanism releases the clamping arm sleeve, and the tightening motor continues to drive the tightening rod to rotate forward, thereby causing the tightening sleeve and clamping arm sleeve to rotate together to achieve the bolt tightening operation. After tightening, the locking mechanism locks the clamping arm sleeve, and the tightening motor drives the tightening rod to rotate in reverse. The tightening rod pushes the tightening sleeve out of the clamping arm sleeve. At the same time, the clamping arm gradually separates from the clamping arm sleeve and opens outward, thereby loosening the bolt and completing the bolt tightening operation. Compared to existing technologies, the retraction and extension of the clamping arm can accommodate the re-tightening operation of bolts of different specifications, making it highly adaptable and applicable to a wide range of situations.

[0047] 8. The swing guide mechanism formed by the sliding cooperation between the guide protrusion and the guide groove can guide the swing of the clamping arm, thereby ensuring that the swing of the clamping arm is relatively smooth, stable and reliable.

[0048] 9. When the fastening sleeve moves axially into the clamping arm sleeve, the clamping arm sleeve can press against the wedge-shaped protrusion on the outside of the clamping arm, thereby causing its first end to swing inward to achieve clamping. Its overall structure is simple and its operation is reliable.

[0049] 10. When the bolt size is large, the clamping arm does not directly act on the bolt when it opens. In this case, the bolt edge can be clamped by the groove formed between the positioning edges, thereby realizing the clamping and tightening operation.

[0050] 11. In practical applications, the piston rod of the electric actuator extends outward to block the outside of the anti-rotation step to achieve anti-rotation, or retracts and disengages from the anti-rotation step. Its structural principle is relatively simple and its operation is reliable.

[0051] 12. In practical applications, after the fastening sleeve is placed on the bolt, the clamping arm push-pull mechanism pushes the clamping arm to move. Under the action of the rotor of the clamping arm, the clamping arms swing inward and retract, thereby clamping the bolt. The fastening sleeve and rotor are driven to rotate by the fastening motor and fastening rod. At this time, the rotor can rotate relative to the stator, thereby realizing the bolt fastening operation. After the fastening is completed, the clamping arm push-pull mechanism pulls the clamping arm to move, and the rotor gradually disengages from each clamping arm. Each clamping arm opens, thereby loosening the bolt. Its overall structure and principle are relatively simple, and the operation is reliable.

[0052] 13. In practical applications, the bolt tightening climbing platform of the present invention can be used for climbing and bolt tightening operations on angle steel towers. The climbing platform is placed on the angle steel of the angle steel tower, and the bolts on the angle steel can be tightened by the bolt tightening device. Compared with the prior art, the tightening operation of the clamping arm can adapt to the tightening operation of bolts of different specifications. It has strong adaptability and wide application range. Attached Figure Description

[0053] Figure 1 This is a perspective view of the bolt-fastening climbing work platform in an embodiment of the present invention;

[0054] Figure 2-4 This is a perspective view of the general-purpose host in an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the general-purpose host with some components hidden in an embodiment of the present invention;

[0056] Figure 6 This is a three-dimensional schematic diagram of the gripper structure in an embodiment of the present invention;

[0057] Figure 7 This is a front view of the gripper structure in an embodiment of the present invention;

[0058] Figure 8 This is a schematic diagram of the flipping hook claw turning outward in an embodiment of the present invention;

[0059] Figure 9 This is a three-dimensional schematic diagram of the clamping device in an embodiment of the present invention;

[0060] Figure 10 This is a schematic diagram of the installation of the gripper structure and the V-shaped clamping block telescopic device in an embodiment of the present invention;

[0061] Figure 11 This is a schematic diagram showing the two gripper structures arranged in a cross configuration in an embodiment of the present invention;

[0062] Figure 12 This is a schematic diagram of the extension and retraction of the V-shaped clamping block in an embodiment of the present invention;

[0063] Figure 13 This is a schematic diagram of the clamping device clamping angle steel of different sizes in an embodiment of the present invention;

[0064] Figure 14 This is a schematic diagram of the obstacle avoidance mechanism of the clamping device in an embodiment of the present invention;

[0065] Figure 15 This is a three-dimensional schematic diagram of the V-shaped clamping block telescopic device in an embodiment of the present invention;

[0066] Figure 16 This is a perspective view of a clamping device capable of pitch adjustment in an embodiment of the present invention;

[0067] Figure 17 This is a three-dimensional schematic diagram of a pitch-adjustable clamping device (with hidden mounting base) in an embodiment of the present invention;

[0068] Figure 18 This is a schematic diagram of the pitch adjustment of the clamping device in an embodiment of the present invention;

[0069] Figure 19 This is a perspective view of the tilt adjustment mechanism in an embodiment of the present invention;

[0070] Figure 20 This is a perspective view of the hidden tilt angle adjustment mechanism of the swing plate in an embodiment of the present invention;

[0071] Figure 21 This is a perspective view of the tilt angle adjustment mechanism of the hidden swing plate and fixed plate in an embodiment of the present invention;

[0072] Figure 22 This is a perspective view of the bolt fastening device in an embodiment of the present invention;

[0073] Figure 23 , 25 This is a perspective view of the working arm in an embodiment of the present invention;

[0074] Figure 24 for Figure 1 A magnified view of part A in the image;

[0075] Figure 26 , 27 This is a schematic diagram of the first bracket's rotation axis directly opposite the angle steel edge in an embodiment of the present invention;

[0076] Figure 28 , 29 This is a perspective view of the adaptive bolt fastening head in an embodiment of the present invention;

[0077] Figure 30This is a side view of the adaptive bolt fastening head in an embodiment of the present invention;

[0078] Figure 31 for Figure 30 BB section view;

[0079] Figure 32-36 This is a schematic diagram of bolt fastening the climbing angle steel of the climbing work platform in an embodiment of the present invention;

[0080] Figure 37 This is a schematic diagram of an angle steel tower in the prior art;

[0081] Among them, the components are: angle steel-a; general-purpose main unit-1; main unit frame-11; first mounting ear-111; controller-112; battery pack-113; industrial computer-114; fixed gripper pitch seat-12; second mounting ear-121; first pitch drive mechanism-13; first pitch drive motor-131; pitch angle detection encoder-132; gripper mounting slide seat-14; working tool mounting slide seat-15; main unit guide rail-16; first reciprocating drive mechanism-17; first drive motor-171; first belt-172; first reciprocating pulley-173; gripper sliding position detection encoder-174; first connector-175; second reciprocating drive mechanism-18; second drive motor-181; second belt-182; second reciprocating pulley-183; working tool sliding position detection encoder-184; second connector-185.

[0082] V-shaped clamp telescopic device-2; First mounting bracket-21; Second guide rail-211; V-shaped clamp-22; Second slider-221; Telescopic nut-222; V-groove-223; Telescopic detection mechanism-23; Encoder-231; Second pulley-232; Second synchronous belt-233; First lead screw-24; First pulley-241; First synchronous belt-242; Telescopic drive motor-25;

[0083] Work arm-3; Base-31; Fourth slider-311; Turntable-312; Turntable drive motor-313; First bracket-32; First base plate-321; Second base plate-322; Second side plate-323; First linear reciprocating mechanism-33; Fifth slider-331; Reciprocating component-332; Fourth guide rail-333; Reciprocating component drive motor-334; Reciprocating gear-335; Reciprocating rack-336; First detection mechanism-34; Second bracket-35; Second linear reciprocating mechanism-36; Moving block-361; Second lead screw-362; Lead screw drive component-363; Second detection mechanism-37; Tilt adjustment mechanism-4; Fixed plate-41; Base plate-411; First side plate-412; Pitch axis-413; Third guide rail-4 14; Through hole - 415; Swing plate - 42; Pitch slide groove - 421; Slot plate - 422; Tilt angle detection mechanism - 43; Second pitch drive mechanism - 44; Push-pull block - 441; Pitch slide pin - 442; Third slider - 443; Second pitch drive motor - 444; Pitch drive screw - 445; Adaptive bolt fastening head - 5; Second mounting bracket - 51; Fastening motor - 52; Fastening rod - 521; Fastening sleeve - 53; Mounting groove - 531; Clamping arm - 532; Guide groove - 533; Guide protrusion - 534; Clamping protrusion - 535; Wedge protrusion - 536; Positioning ridge - 537; Clamping arm sleeve - 54; Anti-rotation step - 541; Pressure plate - 542; Limiting ring - 543; Locking mechanism - 55; Piston rod - 551;

[0084] Clamping device - 6; Gripper fixing plate - 61; First slider - 611; Pull wire sensor - 612; Clamping slide plate - 62; Flipping hook - 621; First guide rail - 622; Open guide groove - 623; Rotating frame - 624; Gripper - 625; Inward flipping limit part - 626; Outward flipping limit part - 627; Supporting clamping block - 628; Flipping drive mechanism - 63; Hook drive component - 631; Telescopic pin - 632; Electric push rod - 633; ​​Slide plate drive mechanism - 64; Tension sensor - 641; Mounting base - 65; Hydraulic pump - 651; Two-way reversing valve - 652; Hydraulic cylinder - 653; Linkage mechanism - 66; Linkage gear - 661; Linkage rack - 662. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, 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.

[0086] like Figure 1As shown, a bolt-fastening climbing work platform includes a climbing work platform and a bolt-fastening device, wherein the bolt-fastening device is installed on the climbing work platform via a working arm 3.

[0087] Specifically, the climbing platform can employ existing technology, such as a climbing robot capable of climbing angle steel towers. In this embodiment, for example... Figure 1 As shown, the climbing platform includes a universal main unit 1, a V-shaped clamping block telescopic device 2, a tilt adjustment mechanism 4, and clamping devices 6. The universal main unit 1 is equipped with at least two clamping devices 6, at least one of which can reciprocate along the universal main unit 1, such as... Figure 1 As shown, in this embodiment, two clamping devices 6 are provided, one above the other. The upper clamping device 6 can slide up and down along the universal host 1.

[0088] like Figure 9 As shown, the clamping device 6 includes a mounting base 65 and a pair of clamping claw structures. The clamping claw structures include a clamping claw fixing plate 61, on which a clamping slide plate 62 is slidably mounted. A flipping hook 621 is hinged to the first end of the clamping slide plate 62. A flipping drive mechanism 63 is provided between the flipping hook 621 and the clamping slide plate 62. A slide plate drive mechanism 64 is provided on the clamping claw fixing plate 61, which can drive the clamping slide plate 62 to reciprocate linearly. The two clamping claw fixing plates 61 are mounted on the mounting base 65, and the sliding directions of the two clamping slide plates 62 are perpendicular, that is, the two clamping slide plates 62 are arranged perpendicularly to each other. The ends of the two flipping hooks 621 are both bent towards the middle.

[0089] Specifically, such as Figure 2 , 3 As shown, the universal host 1 includes a host frame 11, a fixed gripper pitch seat 12, a first pitch drive mechanism 13, a gripper mounting slide seat 14, a working tool mounting slide seat 15, a host guide rail 16, a first reciprocating drive mechanism 17, and a second reciprocating drive mechanism 18.

[0090] like Figure 4 As shown, a fixed gripper pitch seat 12 is hinged to the end of the main frame 11. A clamping device 6 is provided on the fixed gripper pitch seat 12. The fixed gripper pitch seat 12 has a rectangular plate structure. Specifically, the mounting base 65 of the clamping device 6 located below is mounted on the fixed gripper pitch seat 12. The hinge axis of the fixed gripper pitch seat 12 is perpendicular to the length direction of the main frame 11. The main frame 11 is also provided with a first pitch drive mechanism 13 capable of driving the fixed gripper pitch seat 12 to swing.

[0091] Specifically, such as Figure 4As shown, the main frame 11 is a rectangular frame structure. A pair of first mounting ears 111 are provided at the ends of the main frame 11. A pair of second mounting ears 121 are provided on the fixed gripper pitch seat 12. The second mounting ears 121 are located inside the first mounting ears 111. A first pitch drive motor 131 is provided between one of the first mounting ears 111 and the second mounting ears 121. Specifically, the first pitch drive motor 131 is installed inside the second mounting ear 121, and the output shaft of the first pitch drive motor 131 is fixedly connected to the first mounting ear 111 outside the second mounting ear 121.

[0092] like Figure 4 As shown, a pitch angle detection encoder 132 is disposed between the first mounting ear 111 and the second mounting ear 121. Specifically, the first mounting ear 111 and the second mounting ear 121 are rotatably connected by a bearing and a shaft. The pitch angle detection encoder 132 is disposed inside the second mounting ear 121 and is fixedly connected to the outer first mounting ear 111 to detect the pitch angle of the fixed gripper pitch seat 12 relative to the main frame 11. The pitch angle detection encoder 132 is coaxially disposed with the first pitch drive motor 131.

[0093] like Figure 3 As shown, a gripper mounting slide seat 14 and a tool mounting slide seat 15 are slidably mounted on the belly of the main frame 11. In practical applications, the gripper mounting slide seat 14 and the tool mounting slide seat 15 are used to mount the clamping device 6 and the tool, respectively. In this embodiment, the tool is a bolt fastening device. The sliding directions of both the gripper mounting slide seat 14 and the tool mounting slide seat 15 are parallel to the length direction of the main frame 11. The tool mounting slide seat 15 is located between the gripper mounting slide seat 14 and the fixed gripper tilt seat 12. The gripper mounting slide seat 14 is equipped with the clamping device 6. Specifically, the mounting seat 65 of the clamping device 6 located above is mounted on the gripper mounting slide seat 14. Alternatively, the gripper mounting slide seat 14 can be positioned between the tool mounting slide seat 15 and the fixed gripper tilt seat 12 to allow the tool mounting slide seat 15 to be mounted at the front end or middle of the main frame 11.

[0094] Specifically, such as Figure 3 As shown, a pair of mainframe guide rails 16 are provided on the mainframe frame 11. The gripper mounting slide seat 14 and the tool mounting slide seat 15 are slidably mounted on the mainframe guide rails 16 via four sliders. Both the gripper mounting slide seat 14 and the tool mounting slide seat 15 are rectangular plate structures.

[0095] like Figure 5As shown, a first reciprocating drive mechanism 17 is provided on the main frame 11. The first reciprocating drive mechanism 17 includes a first drive motor 171 and a first belt 172, both mounted on the main frame 11. The gripper mounting slide seat 14 is connected to the first belt 172 via a first connector 175. The first connector 175 is bolted to the gripper mounting slide seat 14 and includes two clamping plates connected by screws to clamp the first belt 172 between the two clamping plates.

[0096] like Figure 5 As shown, a first reciprocating pulley 173 is provided on the main frame 11. The first drive motor 171 and the first reciprocating pulley 173 are respectively located at both ends of the main frame 11. The first belt 172 is wound around the first drive motor 171 and the first reciprocating pulley 173. A gripper sliding position detection encoder 174 is also provided on the main frame 11, and the gripper sliding position detection encoder 174 is connected to the first reciprocating pulley 173. The rotation axis of the first drive motor 171 is parallel to the rotation axis of the first reciprocating pulley 173, and the rotation axis of the first drive motor 171 is perpendicular to the hinge axis of the fixed gripper pitch seat 12.

[0097] like Figure 5 As shown, a second reciprocating drive mechanism 18 is provided on the main frame 11. The second reciprocating drive mechanism 18 includes a second drive motor 181 and a second belt 182 mounted on the main frame 11. The working tool mounting slide seat 15 is connected to the second belt 182 via a second connector 185. The second connector 185 has the same structure and connection method as the first connector 175. A second reciprocating pulley 183 is provided on the main frame 11. The second drive motor 181 and the second reciprocating pulley 183 are located at opposite ends of the main frame 11. The second belt 182 is wound around the second drive motor 181 and the second reciprocating pulley 183. A working tool sliding position detection encoder 184 is also provided on the main frame 11 and is connected to the second reciprocating pulley 183. The rotation axis of the second drive motor 181 is parallel to the rotation axis of the second reciprocating pulley 183, and the rotation axis of the second drive motor 181 is perpendicular to the hinge axis of the fixed gripper pitch seat 12.

[0098] Furthermore, such as Figure 2As shown, the back of the main frame 11 is also equipped with a controller 112, a battery pack 113, and an industrial computer 114. When facing a curved object, the pitch angle of the fixed gripper pitch seat 12 relative to the main frame 11 can be adjusted by the first pitch drive mechanism 13, thereby adjusting the pitch position of the fixed gripper pitch seat 12 relative to the main frame 11 to meet actual climbing needs. Compared with the prior art, this main frame structure is relatively simple, pitch adjustment is convenient and reliable, and it has a wide range of applications. In practical applications, the tool mounting slide seat 15 is used to mount tools, such as bolt fastening devices. The tool mounting slide seat 15 is set between the gripper mounting slide seat 14 and the fixed gripper pitch seat 12, providing good stability during operation. Furthermore, the gripper mounting slide seat 14 and the tool mounting slide seat 15 can also be driven to reciprocate by a motor and a gear and rack mechanism. The number of tool mounting slide seats 15 is set according to actual needs, and the number of bolt fastening devices mounted on each tool mounting slide seat 15 is set according to actual needs.

[0099] Combination Figure 6 , 7 The gripper structure includes a gripper fixing plate 61, a clamping slide plate 62, a flipping drive mechanism 63, and a slide plate drive mechanism 64.

[0100] Combination Figure 6 , 7 A clamping slide plate 62 is slidably mounted on the clamping claw fixing plate 61. A flipping hook 621 is hinged to the first end of the clamping slide plate 62. A flipping drive mechanism 63 is provided between the flipping hook 621 and the clamping slide plate 62. A slide plate drive mechanism 64 is provided on the clamping claw fixing plate 61, which can drive the clamping slide plate 62 to slide back and forth in a straight line.

[0101] Specifically, in combination Figure 6 , 7 The clamping plate 61 is inclinedly provided with a first slider 611, and the clamping slide plate 62 is provided with a first guide rail 622. The first guide rail 622 is slidably installed in the first slider 611, and the first guide rail 622 and the clamping slide plate 62 are installed together in parallel by screws.

[0102] like Figure 6As shown, the flipping hook 621 includes a rotating frame 624 and a gripper 625 mounted on the rotating frame 624. The rotating frame 624 has a strip-shaped structure. The first end of the rotating frame 624 is hinged to the end of the first guide rail 622 and the clamping slide plate 62. An inward flipping limiting part 626 is provided on the inner side of the first end of the rotating frame 624. When the rotating frame 624 is flipped inward to be parallel to the first guide rail 622 and the clamping slide plate 62, the inward flipping limiting part 626 abuts against the inner side of the end of the first guide rail 622 and the clamping slide plate 62. An outward flipping limiting part 627 is provided on the outer side of the first end of the rotating frame 624. When the rotating frame 624 is flipped outward to be perpendicular to the first guide rail 622 and the clamping slide plate 62, the outward flipping limiting part 627 abuts against the outer side of the end of the first guide rail 622 and the clamping slide plate 62.

[0103] like Figure 6 As shown, each rotating frame 624 is equipped with a pair of grippers 625 by screws. The two grippers 625 are parallel and are inwardly curved sheet-like structures. The two grippers 625 are located on both sides of the rotating frame 624. A support block 628 is installed between the ends of the two grippers 625 by screws. When the flipping hook 621 grips an object, the inner side of the support block 628 is in direct contact with the object being gripped. Furthermore, the rotating frame 624 has several mounting holes along its length. The grippers 625 can be installed in different mounting holes by screws to adjust the position of the grippers 625 on the rotating frame 624.

[0104] The flipping drive mechanism 63 can drive the flipping hook 621 to flip inward or outward. For example... Figure 7 As shown, the flipping drive mechanism 63 includes a telescopic member disposed on the outside of the flipping claw 621. The telescopic member is perpendicular to the hinge axis of the flipping claw 621. The telescopic member is installed parallel to the outside of the rotating frame 624. The movable end of the telescopic member points to the first end of the rotating frame 624. When the movable end of the telescopic member extends, it can press against the outside of the clamping slide plate 62 so that the flipping claw 621 flips inward.

[0105] like Figure 7 As shown, the telescopic component includes a telescopic pin 632 slidably mounted on the outside of the flipping claw 621. Specifically, the telescopic pin 632 is slidably mounted in the outward flipping limiting part 627. The telescopic pin 632 is parallel to the rotating frame 624. It also includes an electric push rod 633 disposed on the outside of the flipping claw 621. The telescopic end of the electric push rod 633 is connected to the telescopic pin 632. The electric push rod 633 can drive the telescopic pin 632 to telescopically slide. The end of the telescopic pin 632 is chamfered. When the telescopic pin 632 is extended, it can press against the outside of the clamping slide plate 62, so that the flipping claw 621 flips inward.

[0106] Furthermore, such as Figure 10As shown, the clamping slide plate 62 is provided with an open guide groove 623 that cooperates with the telescopic pin 632 on the outside. When the telescopic pin 632 is extended, it can slide in the open guide groove 623. Alternatively, the open guide groove 623 can be opened on the outside of the first guide rail 622 that is installed together with the clamping slide plate 62.

[0107] Combination Figure 7 , 8 The flipping drive mechanism 63 further includes a hook drive member 631 disposed between the flipping hook 621 and the clamping slide plate 62. The hook drive member 631 enables the flipping hook 621 to flip outward. In this embodiment, the hook drive member 631 is a tension spring, and a connecting lug is provided on the outward flipping limiting part 627. The two ends of the tension spring are respectively connected to the connecting lug and the clamping slide plate 62. Alternatively, depending on actual needs, the hook drive member 631 can also be a push rod, a tension rope, etc.

[0108] like Figure 7 As shown, the skateboard drive mechanism 64 includes a hydraulic rod disposed on the gripper fixing plate 61. The hydraulic rod is parallel to the length direction of the gripper fixing plate 61, and the piston rod of the hydraulic rod points to the first end of the clamping skateboard 62. The piston rod of the hydraulic rod and the clamping skateboard 62 are connected by a tension sensor 641.

[0109] like Figure 7 As shown, a pull-wire sensor 612 is provided on the gripper fixing plate 61. The pull-wire traction end of the pull-wire sensor 612 is connected to the clamping slide plate 62. The pull-wire of the pull-wire sensor 612 is parallel to the sliding direction of the clamping slide plate 62. The pull-wire sensor 612 can detect the extension and retraction position of the clamping slide plate 62. Alternatively, the pull-wire sensor 612 is installed at the end of the hydraulic rod.

[0110] In practical application, the gripper structure of this invention allows the clamping slide plate 62 to slide towards its first end, and the flipping drive mechanism 63 to drive the flipping hook 621 to flip outward, thus detaching it from the clamped object. Because the flipping hook 621 flips outward relative to the clamping slide plate 62, it can avoid obstacles on the surface of the object when the gripper structure moves along the axial direction of the object to be clamped, exhibiting strong obstacle avoidance capability. When clamping is required, the flipping drive mechanism 63 drives the flipping hook 621 to flip inward, causing it to retract inward. The clamping slide plate 62 slides towards its second end, and the flipping hook 621 gradually approaches until it clamps the object surface, achieving clamping. Compared to existing technologies, because the flipping drive mechanism 63 acts between the flipping hook 621 and the clamping slide plate 62, it provides a stable and reliable clamping drive for the flipping hook 621, resulting in better clamping stability and reliability. Furthermore, the clamping force and clamping speed are increased by 4-5 times.

[0111] In practical applications, when the movable end of the telescopic component retracts, under the action of the hook drive 631, the flipping hook 621 flips outward around the clamping slide plate 62. Therefore, when the gripper structure moves along the axial direction of the object to be clamped, the outwardly flipping hook 621 can avoid obstacles on the surface of the object to be clamped, demonstrating strong obstacle avoidance capability. When clamping is required, the movable end of the telescopic component extends and presses against the outside of the clamping slide plate 62, overcoming the force of the hook drive 631, causing the flipping hook 621 to flip inward. The clamping slide plate 62 slides towards its second end, and the flipping hook 621 gradually approaches until it clamps the surface of the object, thus achieving clamping. Its structural principle is relatively simple, and its operation is reliable.

[0112] The open guide groove 623 provides stable guidance for the telescopic pin 632, ensuring accurate movement along the predetermined trajectory and reliable operation. The hydraulic rod, relying on hydraulic action, provides strong power for the movement of the clamping slide plate 62, thereby ensuring stable clamping and high reliability. In practical applications, the pull-wire sensor 612 can detect the extension / retraction position of the clamping slide plate 62, thus obtaining the clamping stroke of the clamping slide plate 62. This allows for corresponding adjustments to the movement of the clamping slide plate 62 based on the detection structure, ensuring that the clamping slide plate 62 can accurately move to the predetermined position.

[0113] Combination Figure 9 , 10 The mounting base 65 serves to provide mounting positions for other components. Its shape is not limited to a specific form; in this embodiment, the mounting base 65 is a rectangular frame structure. Furthermore, the mounting base 65 is equipped with a hydraulic pump 651, a two-way directional valve 652, and a hydraulic cylinder 653. The hydraulic pump 651 is connected to the hydraulic cylinder 653 at one end via an oil pipe, and to the two-way directional valve 652 at the other end, for outputting high-pressure hydraulic oil to the two-way directional valve 652. The two channels of the two-way directional valve 652 are respectively connected to two hydraulic rods via oil pipes. The two-way directional valve 652 can control the hydraulic oil output direction of each channel, thereby controlling the extension or retraction of the two hydraulic rods. The hydraulic cylinder 653 is used to store hydraulic oil.

[0114] like Figure 11 As shown, a linkage mechanism 66 is provided between the two clamping slide plates 62, allowing the two clamping slide plates 62 to extend and retract synchronously via the linkage mechanism 66. Specifically, the linkage mechanism 66 includes a pair of meshing linkage gears 661 rotatably mounted on the gripper fixing plate 61. The two linkage gears 661 are of the same specification, and each of the two clamping slide plates 62 is provided with a linkage rack 662 parallel to the sliding direction of the clamping slide plate 62. The two linkage racks 662 mesh with the corresponding linkage gears 661.

[0115] Combination Figure 9 , 10The V-shaped clamp telescopic device 2 includes a first mounting frame 21, a V-shaped clamp 22, a telescopic detection mechanism 23, a first lead screw 24, and a telescopic drive motor 25. Figure 9 As shown, the first mounting frame 21 is mounted on the mounting base 65 via a clamping plate 61. A V-shaped clamping block 22 is slidably mounted on the first mounting frame 21. The V-shaped clamping block 22 is located between two flipping hooks 621 and is perpendicular to the two flipping hooks 621. The angle between the sliding direction of the V-shaped clamping block 22 and the sliding direction of the two clamping slide plates 62 is 45°. The first mounting frame 21 is also provided with a telescopic detection mechanism 23 that can detect the telescopic sliding stroke of the V-shaped clamping block 22.

[0116] The first mounting bracket 21 serves to provide mounting positions for the remaining components of the V-shaped clamping block telescopic device 2. It is not limited to a specific shape; it only needs to be able to accommodate the components as required, allowing them to fit together and achieve their respective functions. For example... Figure 15 As shown, the first mounting bracket 21 is provided with a pair of parallel second guide rails 211, and the V-shaped clamp 22 is slidably mounted on the corresponding second guide rails 211 by a pair of second sliders 221. Figure 15 As shown, a first lead screw 24 is rotatably mounted on the first mounting bracket 21, and a telescopic nut 222 that cooperates with the first lead screw 24 is provided on the V-shaped clamp 22. A telescopic drive motor 25 that can drive the first lead screw 24 to rotate is also provided on the first mounting bracket 21.

[0117] Furthermore, such as Figure 15 As shown, the V-shaped clamping block 22 is provided with two telescopic nuts 222, which are located at opposite ends of the V-shaped clamping block 22. The second slider 221 is installed inside the two telescopic nuts 222. Two first lead screws 24 are arranged in parallel and threadedly connected to their corresponding telescopic nuts 222. Each first lead screw 24 has a first pulley 241 at its end, and a first synchronous belt 242 is wound around the two first pulleys 241. The aforementioned pair of gripper structures is located between the two first lead screws 24. Figure 15 As shown, the telescopic drive motor 25 is a right-angle motor. The right-angle motor drives one of the first lead screws 24 to rotate, which in turn drives the other first lead screw 24 to rotate synchronously through the first synchronous belt 242.

[0118] like Figure 15 As shown, the telescopic detection mechanism 23 includes an encoder 231 mounted on the first mounting bracket 21, and the encoder 231 is linked to the first lead screw 24. Figure 15As shown, the encoder 231 has a second pulley 232 on its rotating shaft and the first lead screw 24, and a second synchronous belt 233 is wound around the two second pulleys 232. Alternatively, the encoder 231 and the first lead screw 24 are coaxially arranged, and the rotating shaft of the encoder 231 and the first lead screw 24 are connected by a coupling.

[0119] In practical applications, the extension / retraction position of the V-shaped clamp 22 is obtained based on the data detected by the encoder 231, thereby controlling the rotation of the extension / retraction drive motor 25 to ensure that the V-shaped clamp 22 extends or retracts into place. Furthermore, the V-shaped clamp 22 is provided with a V-groove 223, and a buffer pad, made of rubber, is provided in the V-groove 223. Figure 12 As shown in the left figure, the two flipping claws 621 clamp onto the two edges of the angle steel, while the V-shaped clamping block 22 rests against the outer middle edge of the angle steel, thus achieving a stable clamping. Figure 12 As shown in the right figure, a connecting plate is provided on the outer side of the angle steel to fit against its outer surface. The connecting plate is also a right-angle structure. At this time, the two flipping claws 621 are respectively clamped at the two edges of the angle steel, and the V-shaped clamping block 22 is pressed against the middle edge of the outer side of the connecting plate, thereby achieving a stable clamping. Figure 13 The diagram shows a clamping device holding angle steel of different specifications. For example... Figure 14 As shown, foot nails are vertically installed on both sides of the angle steel. At this time, the two flipping claws 621 flip outward, thus avoiding the foot nails. When the clamping device moves along the length of the angle steel under the action of external force, such as the action of the climbing robot, the V-shaped clamping block 22 disengages from the angle steel, and the two flipping claws 621 can also avoid the foot nails, ensuring smooth movement and avoiding interference.

[0120] In practical application, the clamping device 6 of the present invention has two clamping slide plates 62 sliding towards their respective first ends. The flipping drive mechanism 63 drives the flipping claws 621 to flip outward. The two flipping claws 621 are in an open posture, which can release the clamped object. Since the flipping claws 621 are flipped outward relative to the clamping slide plates 62, when the clamping device moves along the axial direction of the object to be clamped, the outward flipping claws 621 can avoid obstacles on the surface of the object to be clamped, such as foot nails on the surface of angle steel, and have strong obstacle avoidance ability. When clamping is required, the flipping drive mechanism 63 drives the flipping claws 621 to flip inward, the two flipping claws 621 retract inward, and the two clamping slides 62 slide towards their respective second ends. The flipping claws 621 will gradually approach until they clamp onto the surface of the object to achieve clamping. Compared with the prior art, since the flipping drive mechanism 63 acts between the flipping claws 621 and the clamping slides 62, it can provide a stable and reliable clamping drive for the flipping claws 621, thus its clamping stability and reliability are better.

[0121] The linkage mechanism 66 ensures that the two clamping slides 62 extend and retract synchronously and move in unison, thus avoiding clamping deviations caused by asynchronous movements and affecting clamping. In actual operation, when one of the clamping slides 62 slides, it drives the linkage gear 661 meshing with it to rotate through the linkage rack 662. Since the two gears are meshed and have the same specifications, the other gear drives the other linkage rack 662 and the clamping slide 62 to move, thereby achieving synchronous linkage. Its overall structure and principle are relatively simple and its operation is reliable.

[0122] In practical applications, the clamping device 6 clamps the object to be climbed, and the V-shaped clamp 22 is used to hold the object in place. The V-shaped clamp 22 works in conjunction with the two flipping claws 621 to achieve a stable clamping. In practical applications, the telescopic detection mechanism 23 can detect the telescopic sliding stroke of the V-shaped clamp 22, thereby obtaining the accurate telescopic distance of the V-shaped clamp 22. This ensures that the V-shaped clamp 22 can extend or retract accurately, thus ensuring that the V-shaped clamp 22 is fully extended and presses against the object to be climbed, ensuring a stable clamping. When the V-shaped clamp 22 retracts, it can retract fully, so that when the claws and V-shaped clamp 22 move along the length of the object to be climbed, they can move away from the surface of the object, avoiding interference with obstacles on the surface of the object to be climbed, thus ensuring good safety.

[0123] In practical applications, when the telescopic drive motor 25 is working, it drives the first lead screw 24 to rotate. The rotation of the first lead screw 24 drives the telescopic nut 222 to reciprocate, thus achieving the telescopic movement of the V-shaped clamp 22. The first synchronous belt 242 effectively ensures that the two first lead screws 24 rotate synchronously, thereby achieving synchronous movement of the two telescopic nuts 222 and ensuring the stable telescopic movement of the V-shaped clamp 22. In practical applications, the encoder 231, linked to the first lead screw 24, can detect the rotation speed of the first lead screw 24, thereby obtaining the telescopic amount of the V-shaped clamp 22. This allows for real-time detection of the position of the V-shaped clamp 22, facilitating control of the rotation of the first lead screw 24 based on the detection results, ensuring that the V-shaped clamp 22 is fully extended or retracted. In practical applications, the buffer pad can be made of rubber or similar materials to ensure that the V-groove 223 of the V-shaped clamp 22 avoids damage to the surface of the object being climbed, providing good safety.

[0124] Furthermore, in this embodiment, the clamping device 6 located above can also achieve pitch adjustment, specifically, as shown below. Figure 16 , 17 As shown, the clamping device 6 located above also includes a tilt adjustment mechanism 4, which includes a fixed plate 41, a swing plate 42, a tilt detection mechanism 43, and a second pitch drive mechanism 44.

[0125] like Figure 16 , 17As shown, the fixed plate 41 is mounted on the mounting base 65, and a swing plate 42 is oscillatingly mounted on the fixed plate 41. The system also includes an angle detection mechanism 43, which detects the angle of oscillation of the swing plate 42 relative to the fixed plate 41. Two gripper fixing plates 61 are mounted on the swing plate 42, and the first mounting bracket 21 of the V-shaped clamping block telescopic device 2 is mounted on the gripper fixing plates 61. The two clamping slide plates 62 are arranged crosswise, with the flipping hook 621 and the swing plate 42 located on either side of the intersection of the two clamping slide plates 62. The angle between the swing axis of the swing plate 42 and the sliding direction of the two clamping slide plates 62 is 45°. The swing axis of the swing plate 42 is perpendicular to the V-shaped clamping block 22 of the V-shaped clamping block telescopic device 2.

[0126] Specifically, in combination Figure 19 , 20 The fixed plate 41 includes a base plate 411 and first side plates 412 disposed on both sides of the base plate 411. The two first side plates 412 are arranged in parallel and perpendicular to the base plate 411. The swing plate 42 is swing-mounted between the two first side plates 412.

[0127] Combination Figure 20 , 21 The fixed plate 41 is provided with a pitch axis 413, and the swing plate 42 is rotatably mounted on the pitch axis 413. Specifically, a pair of pitch axes 413 are coaxially arranged, located inside the first ends of the two first side plates 412, and the pitch axes 413 are perpendicular to the first side plates 412. Figure 20 , 21 The tilt detection mechanism 43 includes an encoder installed inside the swing plate 42. The encoder is coaxially arranged with the pitch axis 413, and the encoder's rotating shaft is connected to one of the pitch axes 413.

[0128] Combination Figure 20 , 21 The fixed plate 41 is provided with a second pitch drive mechanism 44, which can drive the swing plate 42 to swing relative to the fixed plate 41. Specifically, in conjunction with Figure 20 , 21 The second pitch drive mechanism 44 includes a push-pull block 441 slidably mounted on the fixed plate 41. The push-pull block 441 has a T-shaped structure. The sliding direction of the push-pull block 441 is perpendicular to the swing axis of the swing plate 42. A pitch sliding pin 442 is provided on the side of the push-pull block 441. A pitch sliding groove 421 is provided on the swing plate 42 to slide with the pitch sliding pin 442. The angle between the pitch sliding groove 421 and the sliding direction of the push-pull block 441 is greater than 0° and less than 90°.

[0129] Furthermore, in combination Figure 20 , 21 The fixed plate 41 is provided with a pair of third guide rails 414, which are parallel to the first side plate 412. Each end of the push-pull block 441 is provided with a third slider 443, which slides in a one-to-one correspondence with the third guide rails 414.

[0130] Combination Figure 20 , 21 A pair of pitch sliding pins 442 are coaxially arranged and symmetrically distributed on both sides of the push-pull block 441. The pitch sliding groove 421 corresponds one-to-one with the pitch sliding pin 442. Specifically, the pitch sliding pin 442 is cylindrical in shape with an external thread at its inner end for installation in the end face of the push-pull block 441. A slot is provided at the outer end face of the pitch sliding pin 442 for screwing the pitch sliding pin 442 into the threaded hole on the end face of the push-pull block 441.

[0131] Combination Figure 20 , 21 The inner side of the swing plate 42 is provided with a pair of groove plates 422. The groove plates 422 have an L-shaped cross-section and are bolted to the swing plate 42. The two groove plates 422 are symmetrically distributed on both sides of the swing plate 42. The groove plates 422 are located inside the first side plate 412 and are perpendicular to the swing plate 42. The pitch slide 421 is located on the groove plate 422. Figure 19 As shown, a mounting ear 423 is provided on each side of the first end of the swing plate 42. The mounting ear 423 is perpendicular to the swing plate 42 and is rotatably mounted on the pitch axis 413. The mounting ear 423 corresponds one-to-one with the pitch axis 413 and is located inside the first side plate 412.

[0132] Combination Figure 20 , 21 The second pitch drive mechanism 44 includes a second pitch drive motor 444 mounted on a fixed plate 41 and a pitch drive screw 445 rotatably mounted on the fixed plate 41. The second pitch drive motor 444 is a right-angle geared motor. The pitch drive screw 445 is parallel to the sliding direction of the push-pull block 441. The second pitch drive motor 444 can drive the pitch drive screw 445 to rotate. The pitch drive screw 445 and the push-pull block 441 are connected by a threaded drive.

[0133] Furthermore, such as Figure 20As shown, a through hole 415 is provided in the middle of the base plate 411, and the second pitch drive motor 444 is located in the through hole 415. The second pitch drive motor 444 is tilted with its shaft as the axis of rotation, and the pitch drive screw 445 is located inside the base plate 411. In this embodiment, the second pitch drive motor 444 is controlled to operate according to the tilt angle detected by the encoder to ensure that the tilt angle is adjusted to a predetermined size, meeting the actual tilt angle adjustment requirements.

[0134] like Figure 18 As shown, in practical applications, the swing plate 42 can swing relative to the fixed plate 41 to adjust the tilt angle of the two gripper structures, i.e. Figure 18 The state shown in the right figure meets the turning requirements of the climbing robot when actually climbing curved objects. During this process, the tilt angle of the swing plate 42 relative to the fixed plate 41 can be detected by the tilt angle detection mechanism 43, thereby determining whether the tilt angle of the swing plate 42 meets the requirements. Based on the detection results, the tilt angle of the swing plate 42 can be adjusted to meet the tilt angle requirements and improve the tilt angle adjustment accuracy. Compared with the prior art, this tilt angle adjustment mechanism can accurately detect the tilt angle and ensure the tilt angle adjustment accuracy.

[0135] The encoder has a simple structure, is easy to install, and provides relatively accurate and reliable detection results, meeting the actual tilt angle detection requirements of the tilt adjustment mechanism. During actual operation, the push-pull block 441 reciprocates, causing the pitch slide pin 442 to move along with it. Since the pitch slide pin 442 and the pitch slide groove 421 are slidably fitted together, and the pitch slide groove 421 is tilted relative to the sliding direction of the push-pull block 441, the movement of the pitch slide pin 442 can drive the swing plate 42 to swing through the pitch slide groove 421. Its structure is simple and the drive is reliable. During actual operation, the second pitch drive motor 444 drives the pitch drive screw 445 to rotate, thereby causing the push-pull block 441 to reciprocate. The overall structure and principle are relatively simple, the operation is reliable, and self-locking can be achieved through the pitch drive screw 445, making the structure relatively stable.

[0136] In this embodiment, the bolt fastening device includes a working arm 3 and an adaptive bolt fastening head 5, and the bolt fastening device is mounted on the climbing work platform via the working arm 3. Specifically, as shown... Figure 23 , 24 As shown, the working arm 3 includes a base 31, a first support 32, a first linear reciprocating mechanism 33, a first detection mechanism 34, a second support 35, a second linear reciprocating mechanism 36, and a second detection mechanism 37.

[0137] like Figure 23As shown, a first bracket 32 ​​is rotatably mounted on the base 31. The first bracket 32 ​​is provided with a first linear reciprocating mechanism 33 and a first detection mechanism 34 capable of detecting the moving position of the movable end of the first linear reciprocating mechanism 33. A second bracket 35 is provided at the movable end of the first linear reciprocating mechanism 33. A second linear reciprocating mechanism 36 and a second detection mechanism 37 capable of detecting the moving position of the movable end of the second linear reciprocating mechanism 36 are provided on the second bracket 35.

[0138] like Figure 25 , 27 As shown, specifically, the base 31 is a plate-shaped structure. In actual application, the base 31 can be installed on the tool mounting slide seat 15 to realize the sliding of the entire working arm 3, thereby facilitating its movement to the working position. It has a wide range of applications.

[0139] like Figure 23 As shown, a turntable 312 is rotatably mounted on the base 31. Alternatively, in practical applications, the base 31 can be omitted, and a tool mounting slide 15 can be used instead, with the turntable 312 directly rotatably mounted on the tool mounting slide 15. The first bracket 32 ​​is disposed on the turntable 312, and a turntable drive motor 313 is also disposed on the base 31. Specifically, a worm gear rotates on the base 31, the turntable 312 is coaxially mounted on the worm gear, and a worm is disposed on the output shaft of the turntable drive motor 313. The worm meshes with the worm gear to drive the turntable 312 to rotate.

[0140] like Figure 23 , 24 As shown, the turntable 312 is disc-shaped, and the first support 32 includes a first base plate 321, a second base plate 322, and two second side plates 323. The included angle between the first base plate 321 and the second base plate 322 is 45°. The second side plates 323 are curved. The two ends of the first base plate 321 and the second base plate 322 are connected by the two second side plates 323 respectively. The first base plate 321 is mounted on the turntable 312.

[0141] Combination Figure 23-25 The first linear reciprocating mechanism 33 includes a fifth slider 331 disposed on the first bracket 32, and also includes a reciprocating component 332 and a reciprocating component driving mechanism. The reciprocating component 332 is slidably mounted on the fifth slider 331 via a fourth guide rail 333. The reciprocating component 332 is elongated.

[0142] Specifically, in combination Figure 23-25The fourth guide rail 333 is provided in a pair, and the two fourth guide rails 333 are respectively provided on both sides of the reciprocating member 332 and parallel to the reciprocating member 332. The fifth slider 331 is provided in a pair, and is respectively installed on the inner side of the two second side plates 323. The two fourth guide rails 333 are slidably installed between the corresponding fifth slider 331. The fourth guide rails 333 and the reciprocating member 332 are parallel to the second base plate 322.

[0143] Combination Figure 23-25 The reciprocating component drive mechanism includes a reciprocating component drive motor 334 mounted on the first bracket 32. The output shaft of the reciprocating component drive motor 334 is provided with a reciprocating gear 335, and the reciprocating component 332 is provided with a reciprocating rack 336 that meshes with the reciprocating gear 335.

[0144] like Figure 23 , 24 As shown, the first detection mechanism 34 includes a first encoder mounted on the first bracket 32. The first encoder is connected to the reciprocating gear 335. Specifically, the reciprocating drive motor 334 and the first encoder are respectively mounted on two second side plates 323.

[0145] like Figure 23 As shown, the second linear reciprocating mechanism 36 includes a movable block 361 slidably mounted on the second bracket 35. The second bracket 35 provides mounting positions for the remaining components and is not limited to a specific shape; the second bracket 35 is perpendicular to the reciprocating component 332. Furthermore, guide posts can be provided on the second bracket 35, and guide sleeves that slide with the guide posts can be provided on the movable block 361 to achieve guidance; alternatively, a guide rail can be provided on the second bracket 35, and a slider that slides with the guide rail can be provided on the movable block 361 to achieve guidance. The portion of the movable block 361 located outside the second bracket 35 has a right-angled U-shaped cross-section.

[0146] like Figure 23 As shown, it also includes a second lead screw 362 rotatably mounted on the second bracket 35. A movable block 361 is threadedly connected to the second lead screw 362, and the portion of the movable block 361 extending into the second bracket 35 engages with the second lead screw 362. A lead screw drive 363 is also provided on the second bracket 35. The lead screw drive 363 includes a motor located on one side of the second bracket 35, and the output shaft of the motor is linked to the end of the second lead screw 362 via a belt drive mechanism. Figure 23 As shown, the second detection mechanism 37 includes a second encoder mounted on the second bracket 35. The second encoder is coaxially mounted with the second lead screw 362, and the rotating shaft of the second encoder is connected to the second lead screw 362.

[0147] like Figure 23 , 26 As shown, the angle between the rotation axis of the first support 32 and the moving direction of the first linear reciprocating mechanism 33 is 45°, and the moving direction of the second linear reciprocating mechanism 36 is perpendicular to the moving direction of the first linear reciprocating mechanism 33. The rotation axis of the first support 32, the moving direction of the first linear reciprocating mechanism 33, and the moving direction of the second linear reciprocating mechanism 36 are located in the same plane.

[0148] In practical applications, when the first support 32 rotates, it drives the first linear reciprocating mechanism 33, the first detection mechanism 34, the second support 35, the second linear reciprocating mechanism 36, and the second detection mechanism 37 to rotate together. When the movable end of the first linear reciprocating mechanism 33 moves, it drives the second support 35, the second linear reciprocating mechanism 36, and the second detection mechanism 37 to move. When the movable end of the second linear reciprocating mechanism 36 moves, it drives the tool mounted on the movable end of the second linear reciprocating mechanism 36 to move to the working position. During actual operation, the first detection mechanism 34 and the second detection mechanism 37 can respectively detect the moving position of the movable end of the first linear reciprocating mechanism 33 and the moving position of the movable end of the second linear reciprocating mechanism 36, thus obtaining the moving position of the movable end of the working arm and ensuring that the working arm can work normally. Furthermore, four fourth sliders 311 can also be set on the base 31. In practical applications, the base 31 can be slidably mounted on the main guide rail 16 through the four fourth sliders 311. The base 31 is located between the upper and lower clamping devices 6, which facilitates the movement of the entire working arm and provides a wider working range. In practical applications, the turntable drive motor 313 drives the turntable 312 to rotate, thereby moving the movable end of the working arm to the working position, resulting in a wide working range. In practical applications, the reciprocating component drive motor 334 drives the reciprocating gear 335 to rotate, which in turn drives the reciprocating component 332 to reciprocate via the reciprocating rack 336. During this process, the rotation speed of the reciprocating gear 335 can be detected by the first encoder, thus determining the moving position of the reciprocating component 332. Its structure is simple and detection is convenient. In practical applications, the lead screw drive component 363 drives the second lead screw 362 to rotate, thereby driving the movable block 361 to reciprocate. During this process, the second encoder can detect the rotation speed of the second lead screw 362, thus determining the moving position of the movable block 361. The overall structure is simple and detection is convenient.

[0149] Combination Figure 26 , 27In practical applications, the rotation axis of the first support 32 is directly opposite the middle edge of the angle steel of the angle steel tower. The second linear reciprocating mechanism 36, driven by the first support 32, can swing to both sides of the angle steel. Since the angle between the rotation axis of the first support 32 and the moving direction of the first linear reciprocating mechanism 33 is 45°, and the moving direction of the second linear reciprocating mechanism 36 is perpendicular to the moving direction of the first linear reciprocating mechanism 33, the rotation axis of the first support 32, the moving direction of the first linear reciprocating mechanism 33, and the moving direction of the second linear reciprocating mechanism 36 are all located in the same plane. Therefore, when the second linear reciprocating mechanism 36 swings to both sides of the angle steel, the moving end of the second linear reciprocating mechanism 36 moves perpendicular to the side of the angle steel, allowing it to move perpendicularly towards or away from the side of the angle steel, facilitating bolt tightening and other related operations. Figure 28 , 29 As shown, the adaptive bolt fastening head 5 includes a second mounting bracket 51, a fastening motor 52, a fastening sleeve 53, a clamping arm sleeve 54, and a locking mechanism 55. Figure 22 As shown, the adaptive bolt fastening head 5 is mounted on the movable block 361 of the working arm 3 via the second mounting bracket 51, and the axis of the fastening sleeve 53 is parallel to the moving direction of the movable block 361.

[0150] Combination Figure 30 , 31 The fastening motor 52 is located in the second mounting bracket 51. A fastening rod 521 is provided on the output shaft of the fastening motor 52. A fastening sleeve 53 is coaxially installed on the fastening rod 521 by means of threads. A clamping arm 532 is hinged on the fastening sleeve 53. The first end of the clamping arm 532 faces the opening of the fastening sleeve 53.

[0151] like Figure 31 As shown, the clamping arm sleeve 54 is disposed outside the fastening sleeve 53. When the fastening sleeve 53 moves axially inward toward the clamping arm sleeve 54, the clamping arm sleeve 54 can press against the outer side of the clamping arm 532, causing its first end to swing inward. When the fastening sleeve 53 moves axially outward toward the clamping arm sleeve 54, the first end of the clamping arm 532 swings outward. A locking mechanism 55 is disposed on the side of the fastening motor 52, and the locking mechanism 55 is disposed on the second mounting bracket 51. The locking mechanism 55 can lock or release the clamping arm sleeve 54. When the clamping arm sleeve 54 is locked, the fastening sleeve 53 can move axially relative to the clamping arm sleeve 54 without rotating. Specifically, in conjunction with... Figure 28 , 29 In this embodiment, the main function of the second mounting bracket 51 is to provide mounting positions for other components. It is not limited to a specific structure. In this embodiment, the second mounting bracket 51 is a cuboid frame structure. The fastening motor 52 is installed in the middle of the frame, parallel to the length direction of the frame, and the fastening rod 521 extends from the end of the frame.

[0152] Combination Figure 28 , 31 The first end of the fastening sleeve 53 is a cylindrical portion with an open end, and the second end of the fastening sleeve 53 is a prism portion with a threaded hole at the end, which is threaded to the fastening rod 521. The outer diameter of the cylindrical portion is larger than the radial dimension of the prism portion, and the cross-section of the prism portion is a regular polygon, such as a regular quadrilateral, regular pentagon, or regular hexagon. Correspondingly, the clamping arm sleeve 54 has a regular polygonal hole in the middle for axial sliding engagement with the prism portion. The prism portion and the clamping arm sleeve 54 can only slide relative to each other axially and cannot rotate relative to each other.

[0153] like Figure 28 As shown, the fastening sleeve 53 is provided with a mounting groove 531 parallel to the axial direction of the fastening sleeve 53, and the retaining arm 532 is located in the mounting groove 531. Several retaining arms 532 are evenly arranged along the circumference of the fastening sleeve 53. Figure 28 , 29 In this embodiment, three mounting slots 531 are provided, evenly distributed along the circumference of the cylindrical portion, and the mounting slots 531 connect the inside and outside of the cylindrical portion radially. Each clamping arm 532 corresponds to one of the mounting slots 531. The first end of each clamping arm 532 points towards the end opening of the cylindrical portion, and the second end of each clamping arm 532 is hinged to the side wall of the second end of the mounting slot 531. The hinge axis is parallel to the tangent direction of the cylindrical portion at the location of the second end of the clamping arm 532.

[0154] Furthermore, in combination Figure 28 , 29 A swing guide mechanism is provided between the clamping arm 532 and the mounting groove 531. The swing guide mechanism includes a pair of guide grooves 533 disposed on the two side walls of the first end of the mounting groove 531 and a pair of guide protrusions 534 disposed on the two side sides of the first end of the clamping arm 532. The guide protrusions 534 are slidably engaged with the guide grooves 533. When the clamping arm 532 swings around its hinge axis, the guide protrusions 534 can slide in the guide grooves 533. That is, both the guide protrusions 534 and the guide grooves 533 are arc-shaped with the hinge axis of the second end of the clamping arm 532 as the center.

[0155] Furthermore, an elastic body is provided between the locking arm 532 and the fastening sleeve 53, the elastic body enabling the locking arm 532 to tend to open outwards. The elastic body can be a torsion spring, which can be mounted on the hinge shaft of the locking arm 532, with its two ends respectively abutting against the locking arm 532 and the fastening sleeve 53, thus giving the locking arm 532 a tendency to open outwards. Alternatively, the elastic body can be a tension spring, with one end connected to the second end of the locking arm 532 and the other end connected to the fastening sleeve 53, thus giving the locking arm 532 a tendency to open outwards under the action of the tension spring. Alternatively, the elastic body can be a compression spring, with one end abutting against the locking arm 532 and the other end abutting against the fastening sleeve 53, thus giving the locking arm 532 a tendency to open outwards.

[0156] Furthermore, such as Figure 31 As shown, a clamping protrusion 535 is provided on the inner side of the first end of the clamping arm 532 to clamp the bolt. A wedge-shaped protrusion 536 is provided on the outer side of the clamping arm 532. The wedge-shaped protrusion 536 is located near the second end of the clamping arm 532, and the thickness of the wedge-shaped protrusion 536 gradually decreases from the first end to the second end of the clamping arm 532.

[0157] Furthermore, in combination Figure 28 , 29 The inner wall of the fastening sleeve 53 is provided with a plurality of positioning ridges 537 parallel to the axial direction of the fastening sleeve 53. The positioning ridges 537 are evenly distributed along the circumferential direction of the fastening sleeve 53, that is, the positioning ridges 537 are located on the inner side wall of the cylindrical part.

[0158] Furthermore, in combination Figure 28 , 29 The first end of the clamping arm sleeve 54 is evenly provided with three pressure plate portions 542 along the circumferential direction. The pressure plate portions 542 protrude axially from the end of the clamping arm sleeve 54. The pressure plate portions 542 are arc-shaped plate structures, corresponding one-to-one with the clamping arms 532, and are used to press down the wedge-shaped protrusions 536 to make the clamping arms 532 swing inward.

[0159] Combination Figure 28 , 29 The outer side of the clamping arm sleeve 54 is provided with an anti-rotation step 541. The anti-rotation step 541 protrudes outward in a radial direction and its outer end face is flat. Two anti-rotation steps 541 are symmetrically arranged. The locking mechanism 55 includes two electric push rods arranged parallel to the side of the fastening motor 52. Two electric push rods are provided, corresponding one-to-one with the anti-rotation steps 541. The electric push rods are parallel to the axis of the clamping arm sleeve 54. The piston rod 551 of the electric push rod can extend and block the outside of the anti-rotation step 541 to prevent rotation, or retract and disengage from the anti-rotation step 541.

[0160] Furthermore, such as Figure 31As shown, a limiting ring 543 is installed at the second end of the clamping arm sleeve 54. The inner hole of the limiting ring 543 is the same as the inner hole of the clamping arm sleeve 54, and the limiting ring 543 and the prism part of the fastening sleeve 53 are axially slidingly fitted.

[0161] In practical application, the adaptive bolt fastening head of this invention involves placing the fastening sleeve 53 onto the bolt to be fastened, locking the locking arm sleeve 54 with the locking mechanism 55, preventing the locking arm sleeve 54 from rotating. The fastening motor 52 drives the fastening rod 521 to rotate clockwise, with the direction of rotation of the fastening rod 521 being the same as the direction of rotation when the bolt is tightened. Since the fastening sleeve 53 cannot rotate relative to the locking arm sleeve 54, under the action of the thread, the fastening sleeve 53 can only move axially towards the inside of the locking arm sleeve 54. Simultaneously, the locking arm sleeve 54 presses against the outside of the locking arm 532, causing it to... The first end swings inward until it clamps the inner bolt. After clamping, the locking mechanism 55 releases the clamping arm sleeve 54, and the fastening motor 52 continues to drive the fastening rod 521 to rotate forward, thereby driving the fastening sleeve 53 and the clamping arm sleeve 54 to rotate together to achieve the bolt tightening operation. After tightening, the locking mechanism 55 locks the clamping arm sleeve 54, and the fastening motor 52 drives the fastening rod 521 to rotate in reverse. The fastening rod 521 pushes the fastening sleeve 53 out of the clamping arm sleeve 54. At the same time, the clamping arm 532 gradually disengages from the clamping arm sleeve 54 and opens outward, thereby loosening the bolt and completing the bolt tightening operation. Compared with the prior art, the opening and closing action of the clamping arm 532 can adapt to the re-tightening operation of bolts of different specifications, and its adaptability is strong and its application range is wide.

[0162] The swing guide mechanism formed by the sliding engagement of the guide protrusion 534 and the guide groove 533 can guide the swing of the clamping arm 532, thereby ensuring that the swing of the clamping arm 532 is relatively smooth, stable and reliable. When the fastening sleeve 53 moves axially into the clamping arm sleeve 54, the clamping arm sleeve 54 can press against the wedge-shaped protrusion 536 on the outside of the clamping arm 532, thereby causing its first end to swing inward to achieve clamping. Its overall structure is simple and its operation is reliable. When the bolt size is large, the opening of the clamping arm 532 does not directly act on the bolt. At this time, the bolt edge can be clamped by the groove formed between the positioning ridges 537 and 537, thereby achieving the clamping and tightening operation. In practical applications, the piston rod 551 of the electric actuator extends out and blocks the outside of the anti-rotation step 541 to achieve anti-rotation, or retracts and disengages from the anti-rotation step 541. Its structural principle is relatively simple and its operation is reliable.

[0163] Alternatively, the fastening rod 521 is fixedly connected to the fastening sleeve 53. The clamping arm sleeve 54 includes a rotor located on the inner side and a stator located on the outer side. A bearing is provided between the rotor and the stator to realize relative rotation between them. The rotor is sleeved on the outer side of the fastening sleeve 53. A clamping arm sleeve push-pull mechanism is provided on the side of the fastening motor 52. The clamping arm sleeve push-pull mechanism can be an electric push rod. Two clamping arm sleeve push-pull mechanisms are symmetrically arranged, located on both sides of the fastening motor 52. The movable end of the clamping arm sleeve push-pull mechanism is connected to the stator. The clamping arm sleeve push-pull mechanism can drive the clamping arm sleeve 54 to move axially back and forth.

[0164] In practical applications, after the fastening sleeve 53 is placed on the bolt, the clamping arm sleeve push-pull mechanism pushes the clamping arm sleeve 54 to move. Under the action of the rotor of the clamping arm sleeve 54, the clamping arm 532 swings inward and retracts, thereby clamping the bolt. The fastening sleeve 53 and the rotor are driven to rotate by the fastening motor 52 and the fastening rod 521. At this time, the rotor can rotate relative to the stator, thereby realizing the bolt fastening operation. After the fastening is completed, the clamping arm sleeve push-pull mechanism pulls the clamping arm sleeve 54 to move, and the rotor gradually disengages from each clamping arm 532. Each clamping arm 532 opens, thereby loosening the bolt. Its overall structure and principle are relatively simple, and the operation is reliable.

[0165] When the bolt-fastened climbing platform of this invention is used to actually climb angle steel, such as... Figure 32 As shown, first, the bolt-tightened climbing platform is placed on the angle steel. At this time, both the upper and lower clamping devices 6 clamp the angle steel. Then, the bolt-tightening device slides down to its lowest position, and the lower clamping device 6 releases the angle steel. At the same time, the V-shaped clamping block 22 of the V-shaped clamping block telescopic device 2 retracts and disengages from the angle steel. The universal main unit 1, carrying the lower clamping device 6, slides upward relative to the upper clamping device 6. Then, the lower clamping device 6 clamps the angle steel, i.e. Figure 33 As shown in the diagram, the upper clamping device 6 releases the angle steel. The universal host 1 adjusts its attitude by swinging the fixed jaw pitch seat 12, causing it to swing to the right to prepare for turning. Subsequently, the upper clamping device 6 slides upward, and the pitch angle of the clamping device 6 relative to the angle steel can be adjusted by the tilt adjustment mechanism 4 to clamp the angle steel. Figure 34 As shown in the diagram, the lower clamping device 6 and the universal main unit 1 then slide upwards, with the lower clamping device 6 clamping the angle steel, as shown. Figure 35 As shown in the diagram, the two clamping devices 6 then alternately clamp the angle steel to achieve climbing, as... Figure 36 The diagram shows the state after the bolt-fastened climbing work platform has passed a bend and is clamped onto the angle steel. When the bolt-fastened climbing work platform clamps the angle steel, the bolts on both sides of the angle steel can be tightened using the bolt-fastening device.

[0166] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bolt fastening device, characterized in that: The device includes a working arm (3) and an adaptive bolt fastening head (5) located at the movable end of the working arm (3). The adaptive bolt fastening head (5) includes a fastening motor (52). A fastening rod (521) is provided on the output shaft of the fastening motor (52). A fastening sleeve (53) is coaxially mounted on the fastening rod (521). A locking arm (532) is hinged on the fastening sleeve (53). The first end of the locking arm (532) faces the opening of the fastening sleeve (53). The device also includes a locking arm sleeve (54) located outside the fastening sleeve (53). When the fastening sleeve (53) moves axially into the locking arm sleeve (54), The clamping arm sleeve (54) can press the outer side of the clamping arm (532) so that its first end swings inward. When the fastening sleeve (53) moves axially to the outside of the clamping arm sleeve (54), the first end of the clamping arm (532) swings outward. The fastening rod (521) is a threaded rod. The fastening sleeve (53) is threaded on the fastening rod (521). The side of the fastening motor (52) is provided with a locking mechanism (55). The locking mechanism (55) can lock or release the clamping arm sleeve (54). When the clamping arm sleeve (54) is locked, the fastening sleeve (53) can move axially relative to the clamping arm sleeve (54) without rotating.

2. The bolt fastening device according to claim 1, characterized in that: The working arm (3) includes a base (31), on which a first bracket (32) is rotatably mounted. The first bracket (32) is provided with a first linear reciprocating mechanism (33) and a first detection mechanism (34) capable of detecting the moving position of the movable end of the first linear reciprocating mechanism (33). The movable end of the first linear reciprocating mechanism (33) is provided with a second bracket (35). The second bracket (35) is provided with a second linear reciprocating mechanism (36) and a second detection mechanism (37) capable of detecting the moving position of the movable end of the second linear reciprocating mechanism (36). The adaptive bolt fastening head (5) is provided at the movable end of the second linear reciprocating mechanism (36) and is parallel to the moving direction of the movable end of the second linear reciprocating mechanism (36).

3. The bolt fastening device according to claim 2, characterized in that: A turntable (312) is rotatably mounted on the base (31), the first bracket (32) is disposed on the turntable (312), and a turntable drive motor (313) is also disposed on the base (31).

4. The bolt fastening device according to claim 2, characterized in that: The first linear reciprocating mechanism (33) includes a fifth slider (331) mounted on a first bracket (32), a reciprocating component (332) and a reciprocating component driving mechanism. The reciprocating component (332) is slidably mounted on the fifth slider (331) via a fourth guide rail (333). The reciprocating component driving mechanism includes a reciprocating component driving motor (334) mounted on the first bracket (32). The output shaft of the reciprocating component driving motor (334) is provided with a reciprocating gear (335). The reciprocating component (332) is provided with a reciprocating rack (336) that meshes with the reciprocating gear (335).

5. The bolt fastening device according to claim 4, characterized in that: The first detection mechanism (34) includes a first encoder disposed on the first bracket (32), and the first encoder is connected to the reciprocating gear (335).

6. The bolt fastening device according to claim 2, characterized in that: The second linear reciprocating mechanism (36) includes a movable block (361) slidably mounted on the second bracket (35) and a second lead screw (362) rotatably mounted on the second bracket (35). The movable block (361) is connected to the second lead screw (362) by a thread. The second bracket (35) is also provided with a lead screw drive (363).

7. The bolt fastening device according to claim 6, characterized in that: The second detection mechanism (37) includes a second encoder mounted on the second bracket (35), and the second encoder is connected to the second lead screw (362).

8. The bolt fastening device according to claim 2, characterized in that: The rotation axis of the first support (32) is at an angle of 45° with the moving direction of the first linear reciprocating mechanism (33), and the moving direction of the second linear reciprocating mechanism (36) is perpendicular to the moving direction of the first linear reciprocating mechanism (33). The rotation axis of the first support (32), the moving direction of the first linear reciprocating mechanism (33), and the moving direction of the second linear reciprocating mechanism (36) are located in the same plane.

9. The bolt fastening device according to claim 1, characterized in that: The fastening sleeve (53) is provided with a mounting groove (531) parallel to the axial direction of the fastening sleeve (53), and the clamping arm (532) is located in the mounting groove (531); a swing guide mechanism is provided between the clamping arm (532) and the mounting groove (531).

10. The bolt fastening device according to claim 9, characterized in that: The swing guide mechanism includes a guide groove (533) provided on the side wall of the mounting groove (531) and a guide protrusion (534) provided on the side of the clamping arm (532). The guide protrusion (534) slides in the guide groove (533). When the clamping arm (532) swings around its hinge axis, the guide protrusion (534) can slide in the guide groove (533).

11. The bolt fastening device according to claim 1, characterized in that: An elastic body is provided between the clamping arm (532) and the fastening sleeve (53), the elastic body enabling the clamping arm (532) to have an outward opening tendency.

12. The bolt fastening device according to claim 1, characterized in that: The first end of the clamping arm (532) is provided with a clamping protrusion (535) on the inner side; the outer side of the clamping arm (532) is provided with a wedge-shaped protrusion (536), and the thickness of the wedge-shaped protrusion (536) gradually decreases from the first end to the second end of the clamping arm (532).

13. The bolt fastening device according to claim 1, characterized in that: The inner wall of the fastening sleeve (53) is provided with a number of positioning ridges (537) parallel to the axial direction of the fastening sleeve (53), and the positioning ridges (537) are evenly distributed along the circumference of the fastening sleeve (53).

14. The bolt fastening device according to claim 1, characterized in that: The outer side of the clamp arm sleeve (54) is provided with an anti-rotation step (541). The locking mechanism (55) includes an electric push rod arranged parallel to the side of the fastening motor (52). The piston rod (551) of the electric push rod can extend and block the outside of the anti-rotation step (541) to prevent rotation, or retract and disengage from the anti-rotation step (541).

15. The bolt fastening device according to claim 1, characterized in that: The fastening rod (521) can drive the fastening sleeve (53) to rotate. The clamping arm sleeve (54) includes a rotor located on the inner side and a stator located on the outer side. The rotor is sleeved on the outer side of the fastening sleeve (53). The side of the fastening motor (52) is provided with a clamping arm sleeve push-pull mechanism. The movable end of the clamping arm sleeve push-pull mechanism is connected to the stator. The clamping arm sleeve push-pull mechanism can drive the clamping arm sleeve (54) to move axially back and forth.

16. A bolt-fastened climbing work platform, characterized in that: The device includes the bolt fastening device as described in any one of claims 1-13, and also includes a climbing work platform, wherein the bolt fastening device is mounted on the climbing work platform via a working arm (3).

17. The bolt-fastening climbing work platform according to claim 16, characterized in that: The bolt fastening device is slidably mounted on the climbing work platform.

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