Steel structure bolt connection robot and construction method

Abstract

The invention relates to the technical field of steel structures, in particular to a steel structure bolt connection robot and a construction method. Comprising an advancing module, a bolt connecting module, a bolt storing and feeding module and a power supply module. The advancing module comprises a walking power system used for walking on an upper flange plate of a steel beam. The bolt storing and feeding module is connected with the advancing module, moves along with the advancing module and is used for storing bolts; the bolt connecting module comprises a robot body and a multi-degree-of-freedom robot arm, and the robot body is connected with the advancing module and moves along with the advancing module; the multi-degree-of-freedom robot arm is used for grabbing the bolts stored by the bolt storing and feeding module and fastening the bolts to the target position of the steel beam. The device can be used for high-strength bolt connection between a main beam and a secondary beam of a frame structure and high-strength bolt connection between a bracket and a beam; hoisting is not needed, the operation time of hoisting equipment is shortened, and efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of steel structures, and particularly relates to a steel structure bolt connection robot and a construction method. Background Art

[0002] In the wide application of prefabricated steel structure buildings, including super high-rise office buildings, large-span space structures and other fields, the construction method of steel structure bolt connection still faces the problem of low degree of automation. Compared with the bolt connection assembly performed by advanced equipment widely used in traditional manufacturing, the bolt connection of steel structures in the construction industry mostly relies on manual operation. This construction method is not only inefficient, time-consuming and labor-intensive, but also increases the construction burden when there are a large number of bolt connection nodes in steel structure projects. In addition, since the bolt installation needs to be carried out in situ in the structural design, which usually involves high-altitude operations, the construction risk factor of workers is significantly increased. Therefore, it has become an urgent need to improve the construction process of steel structure bolt connection, increase the degree of automation, optimize construction efficiency, and improve construction conditions. Summary of the invention

[0003] In view of the above problems in the prior art, the present invention proposes a steel structure bolt connection robot and a construction method to solve the problems of high risk factor of current manual high-altitude operations, large amount of high-strength bolt connection projects, and under-tightening and over-tightening of bolts.

[0004] In a first aspect, the present invention provides a steel structure bolt connection robot, comprising: a travel module, a bolt connection module, a bolt storage and feeding module, and a power supply module;

[0005] The traveling module includes a traveling power system for traveling on the upper flange plate of the steel beam;

[0006] The bolt storage and feeding module is connected to the traveling module and moves with the traveling module. The bolt storage and feeding module is used to store bolts.

[0007] The bolt connection module includes a robot body and a multi-degree-of-freedom robot arm, wherein the robot body is connected to the traveling module and moves with the traveling module; the multi-degree-of-freedom robot arm is used to grab the bolts stored in the bolt storage and feeding module and fasten them to the target position of the steel beam;

[0008] The power supply module is used to supply power to the traveling module, the bolt connection module and the bolt storage and feeding module.

[0009] Furthermore, the walking power system includes a chassis, a universal wheel, a drive motor, a first connecting rod assembly and a first moving mechanism;

[0010] The top of the chassis is connected with the bolt connection module and the bolt storage and feeding module; the chassis is provided with universal wheels around it, and the drive motor is connected with the universal wheels to drive the universal wheels to walk on the upper flange plate of the steel beam;

[0011] The first moving mechanism is clamped on both sides of the upper flange plate;

[0012] One end of the first connecting rod assembly is connected to the first moving mechanisms on both sides of the upper flange plate to drive the first moving mechanisms on both sides to move closer or farther away; the other end of the first connecting rod assembly is hinged to the chassis to enable the first moving mechanism and the first connecting rod assembly to swing on the upper flange plate.

[0013] Furthermore, the travel power system also includes a first lifting mechanism; the first lifting mechanism connects the chassis and the first connecting rod assembly and is used for lifting the first connecting rod assembly.

[0014] Furthermore, the first moving mechanism includes two first moving rails and two sets of first side wheels; the two first moving rails are clamped on both sides of the upper flange plate, and the first side wheels are arranged between the first moving rails and the upper flange plate.

[0015] Furthermore, the travel module further comprises a safety auxiliary steering travel mechanism; the safety auxiliary steering travel mechanism comprises a second connecting rod assembly and a second moving mechanism;

[0016] The second moving mechanism is clamped on both sides of the upper flange plate, and the first moving mechanism and the second moving mechanism are arranged at intervals along the length direction of the upper flange plate; the first connecting rod assembly and the second connecting rod assembly are arranged at intervals along the length direction of the upper flange plate;

[0017] One end of the second connecting rod assembly is connected to the second moving mechanism to drive the second moving mechanisms on both sides to move closer or farther away; the other end of the second connecting rod assembly is hinged to the chassis to enable the second moving mechanism and the second connecting rod assembly to swing on the upper flange plate.

[0018] Furthermore, the safety auxiliary steering walking mechanism also includes a second lifting mechanism; the second lifting mechanism is connected to the chassis and the second connecting rod assembly, and is used to lift the second connecting rod assembly.

[0019] Furthermore, the robot also includes a sensor module, and the sensor module includes a laser displacement sensor; the laser displacement sensor is arranged on the first moving mechanism and the second moving mechanism.

[0020] Furthermore, the bolt connection module also includes a robot automatic quick-change device; the robot automatic quick-change device includes a four-jaw clamping gripper, a humanoid manipulator, an electric wrench and a reamer for connecting to the actuator at the end of the multi-degree-of-freedom robot arm.

[0021] Furthermore, the bolt storage and feeding module includes a silo storage body, a bolt storage drawer, a lifting and pushing mechanism, and a horizontal pushing mechanism;

[0022] The silo storage body is provided with multiple layers of bolt storage drawers; bolts are stored in the bolt storage drawers;

[0023] The lifting and pushing mechanism is installed on one side of the silo storage body and is connected to the horizontal pushing mechanism to push the horizontal pushing mechanism up and down;

[0024] The horizontal pushing mechanism is movably connected to the bolt storage drawer at any layer and is used for driving the bolt storage drawer to move horizontally.

[0025] In a second aspect, the present invention further provides a construction method for steel structure bolt connection, which is implemented by the above-mentioned steel structure bolt connection robot, and the construction method comprises the following steps:

[0026] Lifting the steel structure bolt connection robot storing bolts onto the steel beam;

[0027] The steel structure bolt connection robot is started, and the traveling module guides the steel structure bolt connection robot to walk on the upper flange plate of the steel beam to the operation point;

[0028] The bolt connection module is used to grab the bolts stored in the bolt storage and feeding module, and the grabbed bolts are fastened to the target position of the steel beam to complete the bolt fastening operation at the operation point;

[0029] The traveling module guides the steel structure bolt connection robot to walk to the next operation point, and uses the bolt connection module to perform the bolt tightening operation at the next operation point; repeat this step until the bolt tightening operation at all operation points is completed;

[0030] The steel structure bolt connection robot is hoisted to the ground.

[0031] The beneficial effects of the present invention are: it can be used for high-strength bolt connections between main beams and secondary beams of frame structures, and high-strength bolt connections between corbels and beams, and is not limited to other types of structures that can walk on steel beams; the robot can complete the bolt connection operations between secondary beams adjacent to the same main beam without the need for lifting, thus reducing the operating time of the lifting equipment, and the robot is not affected by additional components such as steel beam web stiffening ribs during movement; in particular, the robot is equipped with a bolt storage and feeding module to further improve the efficiency of on-site high-strength bolt connection construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the steel structure bolt connection robot of the present invention performing bolt tightening operations on a steel beam.

[0033] Figure 2 It is a structural schematic diagram of the traveling module of the steel structure bolt connection robot of the present invention.

[0034] Figure 3 for Figure 2 Schematic diagram of the structure of the safety auxiliary steering walking mechanism of the traveling module.

[0035] Figure 4 It is a structural schematic diagram of the bolt connection module of the steel structure bolt connection robot of the present invention.

[0036] Figure 5 It is a structural schematic diagram of the bolt storage and feeding module of the steel structure bolt connection robot of the present invention.

[0037] Figure 6 for Figure 5 Schematic diagram of the structure of the lifting and pushing mechanism and the horizontal pushing mechanism of the bolt storage feeding module.

[0038] Figure 7 for Figure 5 Schematic diagram of the structure of the bolt storage drawer.

[0039] In the figure: 1-steel main beam; 2-steel secondary beam; 3-high-strength bolt connection plate; 4-travel power system; 401-chassis; 402-McCram universal wheel; 403-driving motor; 404-first moving mechanism; 405-first side wheel; 406-first pitch adjustment motor; 407-first lifting mechanism; 408-laser displacement sensor;

[0040] 5-safety auxiliary steering travel mechanism; 501-second lifting motor; 502-second steering motor; 503-second connecting rod assembly; 504-second distance adjustment motor; 505-second moving mechanism; 506-second moving slide rail;

[0041] 6-Lithium iron phosphate battery pack;

[0042] 7-bolt connection module; 701-robot body; 702-multi-degree-of-freedom robot arm; 703-robot automatic quick change device; 704-four-claw gripper; 705-humanoid manipulator; 706-electric wrench; 707-reamer; 708-intelligent camera; 709-panoramic camera;

[0043] 8-bolt storage and feeding module; 801-silo storage body; 802-bolt storage drawer; 803-lifting and pushing mechanism; 804-horizontal pushing mechanism; 805-lifting and pushing motor; 806-horizontal pushing motor; 807-driving gear; 808-bevel gear. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] like Figure 1 , Figure 2 As shown, the steel structure bolt connection robot of the present invention includes a traveling module, a bolt connection module 7, a bolt storage and feeding module 8, a power supply module, and a sensor module.

[0046] The steel structure includes a steel beam and a high-strength bolt connection plate 3, wherein the steel beam includes a steel main beam 1 and a steel secondary beam 2; the steel beam is made of I-beam, including an upper flange plate, a lower flange plate and a web. The steel main beam 1 and the steel secondary beam 2 have the same structure, both of which are made of I-beam. The high-strength bolt connection plate 3 is located on both sides of the web of the steel secondary beam 2 and is used to bolt the steel main beam 1 and the steel secondary beam 2. The steel main beam 1, the steel secondary beam 2, and the high-strength bolt connection plate 3 together constitute the robot service object, Figure 1 One of the types of bolt connection nodes of steel structures is illustrated in the figure. The high-strength bolt connection robot of the present invention can also be called a robot or a bolt connection robot. The robot is used to complete the installation of bolts on the high-strength bolt connection plate 3 to complete the bolt connection between the steel main beam 1 and the steel secondary beam 2.

[0047] The travel module includes a travel power system 4 and a safety auxiliary steering travel mechanism 5 .

[0048] The walking power system 4 is used for walking on the upper flange plate of the steel beam. Specifically, the walking power system 4 includes a chassis 401, a universal wheel 402, a drive motor, a first connecting rod assembly, a first lifting mechanism 407 and a first moving mechanism 404.

[0049] The top of the chassis 401 is used to install the bolt connection module 7 and the bolt storage and feeding module 8. A universal wheel 402 is installed at each of the four corners below the chassis 401. The universal wheel 402 adopts a McLamb universal wheel. A driving motor is installed at one end of each universal wheel 402. Under the action of the driving motor, the universal wheel 402 is driven to rotate, thereby driving the chassis 401 to walk on the upper flange plate of the steel beam.

[0050] The middle part of the chassis 401 is a hollow structure, which is used to install the first lifting mechanism 407 and a part of the first connecting rod assembly.

[0051] like Figure 2As shown, the first lifting mechanism 407 includes a first lifting bracket, a first lifting screw, a first lifting motor, and a first lifting slider. The first lifting bracket is arranged vertically and fixedly connected to the middle area of ​​the chassis 401. The first lifting screw is arranged vertically and one end of the first lifting screw is connected to the first lifting motor. The first lifting slider is threadedly matched on the first lifting screw. When the first lifting motor drives the first lifting screw to rotate, the first lifting slider threadedly matched with the first lifting screw moves vertically to rise or fall. The first lifting slider is connected to the first connecting rod assembly, and is used to lift the first connecting rod assembly to raise it, and is also used to lower the first connecting rod assembly to reset it.

[0052] The first jacking slider of the first jacking mechanism 407 is also equipped with a first steering motor. The first connecting rod assembly is hinged to the first jacking slider through a first hinge, so that the first connecting rod assembly can swing in a horizontal plane. The first hinge includes a first hinge shaft arranged vertically and a first wheel fixedly matched with the first hinge shaft. The first steering motor drives the first wheel to rotate, thereby driving the first hinge shaft to rotate. The first hinge shaft is fixed to the first connecting rod assembly, so that the first connecting rod assembly rotates around the first hinge shaft. The central axis of the first hinge shaft is perpendicular to the plate surface of the upper flange plate of the steel beam and passes through the plate surface center line of the upper flange plate.

[0053] The first connecting rod assembly includes a first main rod and two first supporting rods; one end of the first main rod is hinged to the chassis 401 or the first lifting mechanism 407. When hinged to the chassis 401, the above-mentioned first hinge and the corresponding first steering motor matched therewith can be arranged on the chassis 401. In this embodiment, one end of the first main rod is hinged to the first lifting mechanism 407, that is, the first hinge shaft is installed at one end of the first main rod. The first distance adjusting disk is installed at the other end of the first main rod, and the first distance adjusting wheel or the first distance adjusting rod is installed in the first distance adjusting disk; one end of the two first supporting rods is hinged to the two opposite eccentric points of the first distance adjusting wheel, or one end of the two first supporting rods is hinged to the two ends of the first distance adjusting rod; the other ends of the two first supporting rods are respectively connected to the first moving mechanism 404. A first pitch adjusting motor 406 is installed on the top of the first pitch adjusting disk, and the output shaft of the first pitch adjusting motor 406 is connected to the center of the first pitch adjusting wheel or the first pitch adjusting rod, driving the first pitch adjusting wheel or the first pitch adjusting rod to rotate, thereby driving the two first support rods to move closer or farther away, and further driving the first moving mechanisms 404 clamped on both sides of the upper flange plate to move closer or farther away.

[0054] The first moving mechanism 404 includes two first moving rails and two sets of first side wheels 405; the two first moving rails are clamped on both sides of the upper flange plate, and the first side wheels 405 are arranged between the first moving rails and the upper flange plate, and the first side wheels 405 are tightly attached to the side walls of the upper flange plate, so that when the walking module walks on the upper flange plate, the two sides of the upper flange plate are tightly attached by the first side wheels 405, thereby ensuring the walking stability of the walking module and preventing rollover.

[0055] The sensor module includes a laser displacement sensor 408. One end of the first movable slide rail is provided with the laser displacement sensor 408. When approaching the web plate, stiffening ribs and other additional components of the steel beam, the robot can stop at any time through the signal transmission of the laser displacement sensor 408.

[0056] The robot chassis 401 is provided with 4 universal wheels 402 and 4 drive motors, each universal wheel 402 corresponds to a drive motor, the drive motor is connected to the lithium iron phosphate battery pack 6 of the power supply module, the lithium iron phosphate battery pack 6 is used as the power source of the robot, the robot moves through the drive motor, and when the robot needs to turn, the universal wheel 402 is used to realize the robot's turning and walking between the steel main beam and the steel secondary beam of the steel beam; the first moving mechanism 404 is provided with a first side wheel 405, the lower side of the first moving slide rail extends inwardly to the lower side of the upper flange plate of the steel beam, which can prevent the robot from overturning, and the first moving There are two laser displacement sensors 408 on the slide rails, which are arranged on the side of the first moving slide rail facing the direction of travel. When approaching the web plate, stiffening ribs and other additional components of the steel beam, the robot can stop at any time through the signal transmission of the laser displacement sensor 408. The first moving mechanism 404 is provided with a first distance adjustment motor 406. The rotation of the first distance adjustment motor 406 makes the two first moving slide rails approach or move away from the upper flange plate of the steel beam at the same time. When encountering additional components such as the web plate, stiffening ribs and other additional components of the steel beam, the two first moving slide rails move away from the upper flange of the steel beam at the same time. The robot can smoothly cross the stiffening ribs and other additional components, thereby improving the robot's obstacle avoidance ability. The robot chassis 401 is also provided with a first lifting mechanism 407. When the robot needs to turn, the first lifting motor of the first lifting mechanism 407 rotates to make the first moving mechanism 404 rise as a whole, which is convenient for the robot to walk stably.

[0057] The safety auxiliary steering walking mechanism 5 includes a second connecting rod assembly 503, a second lifting mechanism and a second moving mechanism 505. Figure 1 , Figure 2 As shown, the travel power system 4 and the safety auxiliary steering travel mechanism 5 of the travel module are arranged front and back along the travel direction of the travel module on the upper flange plate, with the travel power system 4 arranged in the front and the safety auxiliary steering travel mechanism 5 arranged in the back.

[0058] The first moving mechanism 404 and the second moving mechanism 505 are arranged at intervals along the length direction of the upper flange plate; the first connecting rod assembly and the second connecting rod assembly 503 are arranged at intervals along the length direction of the upper flange plate.

[0059] The structure of the second connecting rod assembly 503 is similar to that of the first connecting rod assembly, the structure of the second lifting mechanism is similar to that of the first lifting mechanism 407, and the structure of the second moving mechanism 505 is similar to that of the first moving mechanism 404, except that the locations are different.

[0060] like Figure 2 , Figure 3 As shown, the second lifting mechanism includes a second lifting bracket, a second lifting screw, a second lifting motor 501, and a second lifting slider. The second lifting bracket is arranged vertically and fixedly connected to the rear end of the chassis 401. The second lifting screw is arranged vertically and one end of the second lifting screw is connected to the second lifting motor 501. The second lifting slider is threadedly matched on the second lifting screw. When the second lifting motor 501 drives the second lifting screw to rotate, the second lifting slider threadedly matched with the second lifting screw moves vertically to rise or fall. The second lifting slider is connected to the second connecting rod assembly 503, and is used to lift the second connecting rod assembly 503 to raise it, and is also used to lower the second connecting rod assembly 503 to reset it.

[0061] The second lifting slider of the second lifting mechanism is also equipped with a second steering motor 502. The second connecting rod assembly 503 is hinged to the second lifting slider through a second hinge, so that the second connecting rod assembly 503 can swing in a horizontal plane. The second hinge includes a second hinge shaft arranged vertically and a second wheel fixedly matched with the second hinge shaft. The second steering motor 502 drives the second wheel to rotate, thereby driving the second hinge shaft to rotate. The second hinge shaft is fixed to the second connecting rod assembly 503, so that the second connecting rod assembly 503 rotates around the second hinge shaft. The central axis of the second hinge shaft is perpendicular to the plate surface of the upper flange plate of the steel beam and passes through the center line of the plate surface of the upper flange plate. The first moving mechanism 404 and the second moving mechanism 505 can both rotate 90 degrees left and right around the center line of the upper flange plate of the steel beam.

[0062] The second connecting rod assembly 503 includes a second main rod and two second supporting rods; the length of the second main rod is longer than that of the first main rod. One end of the second main rod is hinged to the second lifting mechanism. The other end of the second main rod is installed with a second pitch adjusting disk, and the second pitch adjusting wheel or the second pitch adjusting rod is installed in the second pitch adjusting disk; one end of the two second supporting rods is respectively hinged to two opposite eccentric points of the second pitch adjusting wheel, or one end of the two second supporting rods is respectively hinged to the two ends of the second pitch adjusting rod; the other ends of the two second supporting rods are respectively connected to the second moving mechanism 505. The top of the second pitch adjusting disk is installed with a second pitch adjusting motor 504, and the output shaft of the second pitch adjusting motor 504 is connected to the center of the second pitch adjusting wheel or the second pitch adjusting rod, driving the second pitch adjusting wheel or the second pitch adjusting rod to rotate, thereby driving the two second supporting rods to approach or move away from each other, and further realizing driving the second moving mechanism 505 clamped on both sides of the upper flange plate to approach or move away.

[0063] The second moving mechanism 505 includes two second moving rails 506 and two sets of second side wheels; the two second moving rails 506 are clamped on both sides of the upper flange plate, and second side wheels are arranged between the second moving rails 506 and the upper flange plate, and the second side wheels are closely attached to the side walls of the upper flange plate, so that when the walking module walks on the upper flange plate, the two sides of the upper flange plate are closely attached by the second side wheels, which ensures the walking stability of the walking module and prevents rollover. A laser displacement sensor 408 is also arranged at one end of the second moving rail 506. When the robot needs to turn, the safety auxiliary steering walking mechanism 5 can assist the robot in walking, turning and preventing rollover, further ensuring the safety of the robot.

[0064] like Figure 4 As shown, the bolt connection module 7 includes a robot body 701, a robot automatic quick change device 703 and a multi-degree-of-freedom robot arm 702. The robot body 701 is connected to the traveling module and moves with the traveling module; the multi-degree-of-freedom robot arm 702 is used to grab the bolts stored in the bolt storage and feeding module 8 and fasten them to the target position of the steel beam. The robot automatic quick change device 703 includes a four-claw gripper 704, a humanoid manipulator 705, an electric wrench 706 and a reamer 707 for connecting to the actuator at the end of the multi-degree-of-freedom robot arm 702.

[0065] The robot automatic quick-change device 703 cooperates with the actuator at the end of the robot arm to realize the mutual switching between the four-jaw clamping claw 704, the humanoid manipulator 705, the electric wrench 706, and the reamer 707. The reamer 707 is used to correct the hole when the high-strength bolt cannot be inserted freely; the four-jaw clamping claw 704 is used to clamp the bolt and insert the bolt into the bolt hole of the steel beam connecting plate; the humanoid manipulator 705 is used to grab the nut and the washer and insert the nut and the washer into the bolt; the electric wrench 706 is used for the initial tightening and final tightening of the large hexagonal bolt.

[0066] In this embodiment, the bolts are all large hexagon head high-strength bolt pairs, and the relevant models and performance indicators are implemented in accordance with the latest national standards; in particular, the electric wrench 706 is not limited to the form shown in the figure, and the figure shows one of them. Through special design, it can meet the clamping or tightening construction needs of torsion shear type high-strength bolts, and other modules of the robot can meet the connection needs of torsion shear type high-strength bolt pairs.

[0067] The sensor module also includes a panoramic camera 709 and a smart camera 708. The robot body 701 is equipped with a panoramic camera 709 to monitor the overall operation status of the robot and identify the robot's surrounding environment. The front ends of the two arms of the multi-degree-of-freedom robot arm 702 are each equipped with a smart camera 708 for high-strength bolt hole correction, bolt picking, and bolt position and contour visual recognition.

[0068] like Figure 5-Figure 7As shown, the bolt storage and feeding module 8 includes a silo storage body 801, a bolt storage drawer 802, a lifting and pushing mechanism 803 and a horizontal pushing mechanism 804; multiple layers of bolt storage drawers 802 are arranged on the silo storage body 801; bolts are stored in the bolt storage drawers 802; the lifting and pushing mechanism 803 is installed on one side of the silo storage body 801, and is connected to the horizontal pushing mechanism 804, and is used to push the horizontal pushing mechanism 804 to rise and fall; the horizontal pushing mechanism 804 is movably connected to any layer of the bolt storage drawer 802, and is used to drive the bolt storage drawer 802 to move horizontally.

[0069] Specifically, the lifting and pushing mechanism 803 includes a lifting and pushing bracket, a lifting and pushing motor 805, and a lifting and pushing slider. The lifting and pushing bracket is arranged vertically, and the lifting and pushing motor 805 is arranged at the bottom of the lifting and pushing bracket. The lifting and pushing motor 805 adopts a screw stepping motor, which is arranged vertically, and the screw is equipped with a lifting and pushing slider, which is connected to the horizontal pushing mechanism 804, so that under the action of the lifting and pushing motor 805, the lifting and lifting of the horizontal pushing mechanism 804 is realized, so that the horizontal pushing mechanism 804 reaches the height of the target layer bolt storage drawer 802.

[0070] The horizontal pushing mechanism 804 includes a horizontal pushing bracket, a horizontal pushing motor 806, and a gear set. The horizontal pushing bracket is horizontally arranged and fixedly connected to the lifting and pushing slider of the lifting and pushing mechanism 803. The gear set includes a meshing driving gear 807 and a bevel gear 808; the horizontal pushing motor 806 is installed on the horizontal pushing bracket and is used to drive the driving gear 807 to rotate, and the driving gear 807 rotates to drive the bevel gear 808 to rotate.

[0071] Each layer of bolt storage drawer 802 includes two drawer units and a drawer translation guide rail. The drawer translation guide rail is connected in series to one end of the two drawer units on the same layer. The two drawer units can move horizontally along the length direction on the drawer translation guide rail; the two drawer units are spaced apart. Each drawer unit includes a drawer plate, a drawer slider, and a drawer translation screw rod. One end of the drawer plate of the two drawer units on the same layer is connected to the drawer translation guide rail, and the other end is provided with a drawer slider and a drawer translation screw rod, wherein the drawer slider is connected to the drawer plate, and the drawer slider is installed on the drawer translation screw rod. The distance between the two drawer plates is maintained, and the distance between the drawer translation screw rods of the two drawer plates is maintained, and a bevel gear 808 is installed respectively, and the drawer translation screw rod is installed on the silo storage body 801 through a bearing bracket. When the horizontal push motor 806 drives the driving gear 807 to rotate, the driving gear 807 drives the bevel gear 808 to rotate, drives the drawer translation screw rod to rotate, and causes the corresponding drawer plate to translate, and the drawer plate moves out of the silo storage body 801 or retracts into the silo storage body 801.

[0072] In the two drawer trays of the same layer, one of the drawer trays is used to store bolts, and the other drawer tray is used to store bolts, nuts, and washers. The bolts on the drawer trays are arranged vertically, and in addition, one of the drawer trays of each layer of the bolt storage drawer 802 is provided with a vertically arranged set of nails, and nuts and washers are sleeved on the set of nails.

[0073] It should be noted that the robot also includes a control system for controlling the traveling module, the bolt connection module 7 , and the bolt storage and feeding module 8 .

[0074] Based on the same inventive concept, the present invention also proposes a construction method for bolt connection of a steel structure, comprising the following steps:

[0075] Lift the steel structure bolt connection robot with stored bolts onto the steel beam;

[0076] The steel structure bolt connection robot is started, and the traveling module guides the steel structure bolt connection robot to walk on the upper flange plate of the steel beam to the operation point;

[0077] The bolt connection module 7 is used to grab the bolts stored in the bolt storage and feeding module 8, and the grabbed bolts are fastened to the target position of the steel beam to complete the bolt fastening operation at the operation point;

[0078] The traveling module guides the steel structure bolt connection robot to walk to the next operation point, and uses the bolt connection module 7 to perform the bolt tightening operation at the next operation point; repeat this step until the bolt tightening operation of all operation points is completed;

[0079] Lift the steel structure bolt connection robot to the ground.

[0080] The specific construction process is as follows:

[0081] Step 1:

[0082] Before lifting the high-strength bolt connection robot, it is necessary to check the robot's battery status to ensure that it meets the endurance requirements; secondly, check the bolt storage supply bin to ensure that all high-strength bolts, nuts, washers and other materials are complete.

[0083] Step 2:

[0084] The high-strength bolt connection robot is lifted to the work point with the help of lifting equipment, and then the robot is remotely started using the human-computer interaction interface.

[0085] Step 3:

[0086] The first spacing-adjusting motor 406 is rotated through the motor controller, so that the first moving mechanism 404 is extended to both sides of the upper flange plate of the steel beam at the same time, until the lower sides of the first moving slide rail can smoothly pass through both sides of the upper flange plate, and at the same time, the first lifting mechanism 407 motor is rotated, thereby driving the first moving mechanism 404 to descend to the specified position as a whole, and then the first spacing-adjusting motor 406 is controlled to turn to make it rotate in the opposite direction, and the first moving mechanism 404 is simultaneously retracted to both sides of the upper flange plate of the steel beam until the first side wheels 405 on both sides are tightly attached to both sides of the upper flange plate of the steel beam, and the operation of the safety auxiliary steering walking mechanism is the same as the above operation, at this time, the safety rope of the lifting equipment is released.

[0087] It should be noted that: when conditions permit, the high-strength bolt connection robot can be lifted to the designated location together with the steel beam by the lifting equipment, but steps one and three need to be carried out. The robot must be fixed on the steel beam in advance, and then the bolt connection node tightening work can be completed.

[0088] Step 4:

[0089] The control system built into the robot commands the actuator at the end of the multi-degree-of-freedom robot arm to be connected to the robot automatic quick-change device 703 connected to the four-claw clamping claw 704. At the same time, the lifting and pushing motor 805 belonging to the lifting and pushing mechanism 803 of the bolt storage and feeding module rotates to push the horizontal pushing mechanism 804 vertically to the specified position. The horizontal pushing mechanism 804 rotates through the horizontal pushing motor 806 to make the driving gear 807 engage with the bevel gear 808, driving the bolt storage drawer 802 connected to the bevel gear 808 to be pushed out from both sides of the silo storage body 801. At this time, the four The claw clamping claw 704 accurately grasps the bolts with the help of the smart camera 708 and other sensors, and the end actuator of the other multi-degree-of-freedom robot arm 702 is connected to the humanoid manipulator 705. After the humanoid manipulator 705 grasps the washer, it inserts it into the bolt held by the four-claw clamping claw 704 of the multi-degree-of-freedom robot arm 702. The multi-degree-of-freedom robot arm 702 follows the four-claw clamping claw 704 to insert the grasped bolt and the inserted washer into the bolt hole of the steel beam high-strength bolt connecting plate 3 from one side, and another multi-degree-of-freedom robot arm 702 follows the humanoid manipulator 705 to grasp the washer from the bolt storage and feeding module again and insert it into the bolt from the other side.

[0090] It should be noted that during the process of grabbing and inserting the gasket, the humanoid manipulator 705 uses the smart camera 708 to analyze and identify the chamfered side of the gasket, so that the chamfered side of the gasket hole contacts the bolt head and nut. Then the multi-degree-of-freedom robot arm 702 follows the humanoid manipulator 705 to grab the nut from the bolt storage and feeding module. After inserting the nut into the bolt, the end actuator of the multi-degree-of-freedom robot arm 702 is connected to the robot automatic quick-changing device 703 connected to the electric wrench 706, and the high-strength bolts are initially tightened and finally tightened by the electric wrench 706. Repeat the above steps to complete the tightening of other bolts.

[0091] In particular, when the high-strength bolt cannot be inserted freely, the hole needs to be expanded. At this time, the end actuator of the multi-degree-of-freedom robot arm 702 is connected to the robot automatic quick-changing device 703 connected to the reamer 707 to trim the bolt hole. After the trimming is completed, the above steps are repeated to complete the tightening operation of the high-strength bolt.

[0092] During the entire robot operation process, the robot body 701 is equipped with a panoramic camera 709, which is used to monitor the overall operating status of the robot, identify the robot's surrounding environment, and transmit data in real time to the human-computer interaction interface. At the same time, the panoramic camera 709 can be used to remotely operate the equipment.

[0093] It should be further explained that the entire communication form of the bolt connection robot adopts wireless communication, which is responsible for transmitting data between the robot body and the remote monitoring equipment.

[0094] Step 5:

[0095] After the high-strength bolt connection robot completes a connection node operation, it needs to turn around the steel main beam 1 and walk to other nodes to complete the connection operation. When the bolt connection robot needs to turn, the first pitch-adjusting motor 406 is controlled to rotate, so that the first moving mechanism 404 is simultaneously extended to both sides of the upper flange plate of the steel beam, until both sides under the first moving slide rail can smoothly pass through both sides of the upper flange plate, and at the same time, the first lifting mechanism 407 motor is rotated, thereby driving the first moving mechanism 404 to rise as a whole to a position over the upper side of the upper flange plate of the steel beam, and then the driving motor 403 drives the universal wheel 402 to the specified position and turns 90 degrees, and then the first pitch-adjusting motor 406 is controlled to rotate, so that the first moving mechanism 404 is simultaneously extended to both sides of the upper flange plate of the steel beam, until both sides under the first moving slide rail can smoothly pass through both sides of the upper flange, and at the same time, the first lifting mechanism 407 motor is rotated, thereby driving the first moving mechanism 404 to descend to the specified position as a whole, and then the first pitch-adjusting motor 406 is controlled to turn to make it rotate in the opposite direction, and the first moving mechanism 404 is simultaneously retracted to both sides of the upper flange plate of the steel beam, until the first side wheels 405 on both sides are tightly attached to both sides of the upper flange plate of the steel beam. After the robot is safely fixed near the next connection node of the steel beam, the second adjustable distance motor 504 of the safety auxiliary steering walking mechanism rotates in the opposite direction, and the second moving mechanism 505 simultaneously extends to both sides of the upper flange plate of the steel beam until the lower sides of the second moving slide rail can smoothly pass through the upper flange plate, and at the same time, the second lifting mechanism 501 drives the second moving mechanism 505 to rise as a whole to the position above the upper flange plate of the steel beam, and the second steering motor 502 rotates to drive the second connecting rod assembly 503 to rotate the entire second moving mechanism 505 90 degrees around the specified direction. When the robot walks around the main beam and approaches another connection node, the lower sides of the second moving slide rail of the safety auxiliary steering walking mechanism are tightly attached to the upper flange plate of the steel beam. At this time, the robot repeats step 4 to complete the bolt tightening operation. Repeat steps 5 and 6 to complete the bolt tightening operation of other connection nodes.

[0096] Step 6:

[0097] After the robot completes the tightening operation of the designated node, the first moving mechanism 404 and the second moving mechanism 505 of the robot are simultaneously extended to both sides of the upper flange plate of the steel beam and hoisted to the ground by the hoisting equipment.

[0098] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A steel structure bolt connection robot, characterized in that: include: Travel module, bolt connection module, bolt storage and feeding module and power supply module; The traveling module includes a traveling power system for traveling on the upper flange plate of the steel beam; The bolt storage and feeding module is connected to the traveling module and moves with the traveling module. The bolt storage and feeding module is used to store bolts. The bolt connection module includes a robot body and a multi-degree-of-freedom robot arm, wherein the robot body is connected to the traveling module and moves with the traveling module; the multi-degree-of-freedom robot arm is used to grab the bolts stored in the bolt storage and feeding module and fasten them to the target position of the steel beam; The power supply module is used to supply power to the traveling module, the bolt connection module and the bolt storage and feeding module.

2. A steel structure bolt connection robot according to claim 1, characterized in that: The walking power system includes a chassis, a universal wheel, a drive motor, a first connecting rod assembly and a first moving mechanism; The top of the chassis is connected with the bolt connection module and the bolt storage and feeding module; the chassis is provided with universal wheels around it, and the drive motor is connected with the universal wheels to drive the universal wheels to walk on the upper flange plate of the steel beam; The first moving mechanism is clamped on both sides of the upper flange plate; One end of the first connecting rod assembly is connected to the first moving mechanisms on both sides of the upper flange plate to drive the first moving mechanisms on both sides to move closer or farther away; the other end of the first connecting rod assembly is hinged to the chassis to enable the first moving mechanism and the first connecting rod assembly to swing on the upper flange plate.

3. A steel structure bolt connection robot according to claim 2, characterized in that: The travel power system further includes a first lifting mechanism; the first lifting mechanism is connected to the chassis and the first connecting rod assembly and is used for lifting the first connecting rod assembly.

4. A steel structure bolt connection robot according to claim 2, characterized in that: The first moving mechanism includes two first moving rails and two sets of first side wheels; the two first moving rails are clamped on both sides of the upper flange plate, and the first side wheels are arranged between the first moving rails and the upper flange plate.

5. A steel structure bolt connection robot according to claim 2, characterized in that: The travel module further includes a safety auxiliary steering travel mechanism; the safety auxiliary steering travel mechanism includes a second connecting rod assembly and a second moving mechanism; The second moving mechanism is clamped on both sides of the upper flange plate, and the first moving mechanism and the second moving mechanism are arranged at intervals along the length direction of the upper flange plate; the first connecting rod assembly and the second connecting rod assembly are arranged at intervals along the length direction of the upper flange plate; One end of the second connecting rod assembly is connected to the second moving mechanism to drive the second moving mechanisms on both sides to move closer or farther away; the other end of the second connecting rod assembly is hinged to the chassis to enable the second moving mechanism and the second connecting rod assembly to swing on the upper flange plate.

6. A steel structure bolt connection robot according to claim 5, characterized in that: The safety auxiliary steering walking mechanism also includes a second lifting mechanism; the second lifting mechanism is connected to the chassis and the second connecting rod assembly, and is used for lifting the second connecting rod assembly.

7. The steel structure bolt connection robot according to claim 5, characterized in that: The robot further comprises a sensor module, and the sensor module comprises a laser displacement sensor; the laser displacement sensor is arranged on the first moving mechanism and the second moving mechanism.

8. The steel structure bolt connection robot according to claim 1, characterized in that: The bolt connection module also includes a robot automatic quick-change device; the robot automatic quick-change device includes a four-claw clamping gripper, a humanoid manipulator, an electric wrench and a reamer for connecting to the actuator at the end of the multi-degree-of-freedom robot arm.

9. The steel structure bolt connection robot according to claim 1, characterized in that: The bolt storage and feeding module includes a silo storage body, a bolt storage drawer, a lifting and pushing mechanism, and a horizontal pushing mechanism; The silo storage body is provided with multiple layers of bolt storage drawers; bolts are stored in the bolt storage drawers; The lifting and pushing mechanism is installed on one side of the silo storage body and is connected to the horizontal pushing mechanism to push the horizontal pushing mechanism up and down; The horizontal pushing mechanism is movably connected to the bolt storage drawer at any layer and is used for driving the bolt storage drawer to move horizontally.

10. A construction method for bolt connection of a steel structure, implemented by using the steel structure bolt connection robot as claimed in claim 1, characterized in that: The construction method comprises the following steps: Lifting the steel structure bolt connection robot storing bolts onto the steel beam; The steel structure bolt connection robot is started, and the traveling module guides the steel structure bolt connection robot to walk on the upper flange plate of the steel beam to the operation point; The bolt connection module is used to grab the bolts stored in the bolt storage and feeding module, and the grabbed bolts are fastened to the target position of the steel beam to complete the bolt fastening operation at the operation point; The traveling module guides the steel structure bolt connection robot to walk to the next operation point, and uses the bolt connection module to perform the bolt tightening operation at the next operation point; repeat this step until the bolt tightening operation at all operation points is completed; The steel structure bolt connection robot is hoisted to the ground.

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