Steel structure bolt connecting robot and construction method

Abstract

The present application relates to the technical field of steel structure, and specifically relates to a steel structure bolt connection robot and a construction method. The steel structure bolt connection robot comprises a traveling module, a bolt connection module, a bolt storage and supply module and a power supply module. The traveling module comprises a walking power system and is used for walking on the upper flange plate of a steel beam. The bolt storage and supply module is connected with the traveling module and moves with the traveling module. The bolt storage and supply module is used for storing bolts. The bolt connection module comprises a robot body and a multi-degree-of-freedom robot arm. The robot body is connected with the traveling module and moves with the traveling module. The multi-degree-of-freedom robot arm is used for grabbing the bolts stored in the bolt storage and supply module and fastening the bolts to target positions of the steel beam. The present application can be used for high-strength bolt connection between a frame structure main beam and a secondary beam and high-strength bolt connection between a corbel and a beam. The present application does not need to be hoisted, reduces hoisting equipment operation time and improves efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of steel structure, and particularly relates to a steel structure bolt connection robot and a construction method. BACKGROUND

[0002] In the wide application of fabricated 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 automation degree. Compared with the bolt connection assembly by the advanced equipment widely used in the traditional manufacturing industry, the bolt connection of steel structure in the construction industry mostly relies on manual operation, which not only is low in efficiency, time-consuming and laborious, but also increases the construction burden in the case of a large number of bolt connection nodes in steel structure engineering. In addition, since the bolt installation needs to be carried out in situ according to the structure design, it usually involves high-altitude operation, which significantly increases the construction risk coefficient of workers. Therefore, it is an urgent need to improve the construction process of steel structure bolt connection, improve the automation degree, optimize the construction efficiency, and improve the construction conditions. SUMMARY

[0003] In view of the problems in the prior art, the present application provides a steel structure bolt connection robot and a construction method, which solves the problems of high risk coefficient of manual high-altitude operation, large amount of high-strength bolt connection, and under-tightening and over-tightening of bolts.

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

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

[0006] The bolt storage and feeding module is connected with the traveling module and moves with the traveling module, and the bolt storage and feeding module is used for storing bolts;

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

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

[0009] Further, the walking power system comprises a chassis, universal wheels, a driving 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 feeding module; the periphery of the chassis is provided with the universal wheels, and the driving motor is connected with the universal wheels for driving 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 with the first moving mechanism on both sides of the upper flange plate for driving the first moving mechanisms on both sides to approach or move away from each other; the other end of the first connecting rod assembly is hinged with the chassis to realize swinging of the first moving mechanism and the first connecting rod assembly on the upper flange plate.

[0013] Further, the walking power system further comprises a first jacking mechanism; the first jacking mechanism connects the chassis and the first connecting rod assembly for jacking up the first connecting rod assembly.

[0014] Further, the first moving mechanism comprises two first moving sliding rails and two groups of first side wheels; the two first moving sliding rails are clamped on both sides of the upper flange plate, and the first side wheels are arranged between the first moving sliding rails and the upper flange plate.

[0015] Further, the walking module further comprises a safety auxiliary steering walking mechanism; the safety auxiliary steering walking 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 with the second moving mechanism for driving the second moving mechanisms on both sides to approach or move away from each other; the other end of the second connecting rod assembly is hinged with the chassis to realize swinging of the second moving mechanism and the second connecting rod assembly on the upper flange plate.

[0018] Further, the safety auxiliary steering walking mechanism further comprises a second jacking mechanism; the second jacking mechanism connects the chassis and the second connecting rod assembly for jacking up the second connecting rod assembly.

[0019] Further, 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.

[0020] Further, the bolt connecting module further comprises a robot automatic quick-change device; the robot automatic quick-change device comprises a four-jaw clamping hand, a humanoid manipulator, an electric wrench and a reamer which are used to be connected with the actuator at the end of the multi-degree-of-freedom robot arm.

[0021] Further, the bolt storage and feeding module comprises a storage bin body, bolt storage drawers, a lifting pushing mechanism and a horizontal pushing mechanism.

[0022] The storage bin body is provided with a plurality of layers of the bolt storage drawers; the bolt storage drawers store bolts.

[0023] The lifting pushing mechanism is installed on one side of the storage bin body and connected with the horizontal pushing mechanism, and is used to lift the horizontal pushing mechanism.

[0024] The horizontal pushing mechanism is movably connected with any layer of the bolt storage drawers and is used to drive the bolt storage drawers to move horizontally.

[0025] In a second aspect, the application further provides a construction method of steel structure bolt connection, which is implemented by the above steel structure bolt connection robot, and comprises the following steps.

[0026] The steel structure bolt connection robot storing bolts is hoisted to a 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 a work 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 work at the work point;

[0029] The traveling module guides the steel structure bolt connection robot to walk to the next work point, and the bolt connection module is used to perform the bolt fastening work at the next work point; the step is repeated until the bolt fastening work at all work points is completed.

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

[0031] The application has the advantages that it can be used for high-strength bolt connection between a frame structure main beam and a secondary beam, and between a bracket and a beam, and is not limited to other types of steel beam walking structures; the robot can complete the bolt connection work between adjacent secondary beams of the main beam without hoisting, thereby reducing the hoisting equipment operation time and the influence of the steel beam web stiffening ribs and other additional components on the robot during the traveling process; in particular, the robot is provided with a bolt storage and feeding module, which further improves the construction efficiency of the high-strength bolt field connection. Attached Figure Description

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

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

[0034] Figure 3 for Figure 2 A schematic diagram of the safety auxiliary steering mechanism of the travel module.

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

[0036] Figure 5 This is a 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 The diagram shows the lifting and pushing mechanism and the horizontal pushing mechanism of the bolt storage and feeding module.

[0038] Figure 7 for Figure 5 A schematic diagram of the bolt storage drawer.

[0039] In the diagram: 1-Steel main beam; 2-Steel secondary beam; 3-High-strength bolt connecting plate; 4-Walking power system; 401-Chassis; 402-McRamber casters; 403-Drive motor; 404-First moving mechanism; 405-First side wheel; 406-First adjustable distance motor; 407-First lifting mechanism; 408-Laser displacement sensor;

[0040] 5-Safety auxiliary steering and travel mechanism; 501-Second lifting motor; 502-Second steering motor; 503-Second linkage assembly; 504-Second pitch 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- Automatic quick-change robot device; 704- Four-jaw gripper; 705- Humanoid robotic hand; 706- Electric wrench; 707- Reamer; 708- Intelligent camera; 709- Panoramic camera;

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

[0044] The application will be further described in detail below in combination with the drawings and specific embodiments.

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

[0046] The steel structure comprises a steel beam and a high-strength bolt connection plate 3, wherein the steel beam comprises a steel main beam 1 and a steel secondary beam 2; the steel beam adopts an I-beam, comprising an upper flange plate, a lower flange plate and a web plate. The steel main beam 1 and the steel secondary beam 2 have the same structure and both adopt an I-beam. The high-strength bolt connection plate 3 is located on both sides of the web plate of the steel secondary beam 2 and is used for bolt connecting 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 service object of the robot, Figure 1 One of the types of steel structure bolt connection nodes is shown in the figure, and the high-strength bolt connection robot of the application can also be called a robot or a bolt connection robot. The robot is used to complete the installation work of the bolts on the high-strength bolt connection plate 3 to complete the bolt connection of the steel main beam 1 and the steel secondary beam 2.

[0047] The traveling module comprises a walking power system 4 and a safety auxiliary steering walking 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 comprises a chassis 401, a universal wheel 402, a driving motor, a first connecting rod assembly, a first jacking mechanism 407 and a first moving mechanism 404.

[0049] The top of the chassis 401 is used for mounting the bolt connection module 7 and the bolt storage feeding module 8, and four universal wheels 402 are respectively mounted on the lower corners of the chassis 401, and the universal wheels 402 adopt McLaam universal wheels. One end of each universal wheel 402 is provided with a driving motor, and under the action of the driving motor, the universal wheel 402 rotates to drive 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 and is used for mounting the first jacking mechanism 407 and a part of the first connecting rod assembly.

[0051] As shown in Figure 2As shown, the first jacking mechanism 407 comprises a first jacking support, a first jacking screw, a first jacking motor and a first jacking slider. The first jacking support is vertically arranged and fixedly connected with the middle region of the chassis 401. The first jacking screw is vertically arranged, one end of which is connected with the first jacking motor. The first jacking slider is threadedly connected with the first jacking screw. When the first jacking motor drives the first jacking screw to rotate, the first jacking slider threadedly connected with the first jacking screw moves vertically to be raised or lowered. The first jacking slider is connected with the first connecting rod assembly, which is used to jack up the first connecting rod assembly to be raised and also used to lower the first connecting rod assembly to be reset.

[0052] The first jacking slider of the first jacking mechanism 407 is further provided with a first steering motor. The first connecting rod assembly is hinged with the first jacking slider through a first hinge, so that the first connecting rod assembly can swing in the horizontal plane. The first hinge comprises a first hinge shaft arranged vertically and a first wheel fixedly connected 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 with 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 center line of the plate surface of the upper flange plate.

[0053] The first connecting rod assembly comprises a first main rod and two first branch rods. One end of the first main rod is hinged with the chassis 401 or the first jacking mechanism 407. When hinged with the chassis 401, the above-mentioned first hinge and the corresponding first steering motor matched therewith are arranged on the chassis 401. In this embodiment, one end of the first main rod is hinged with the first jacking mechanism 407, i.e. the first hinge shaft is arranged at one end of the first main rod. The other end of the first main rod is provided with a first distance adjusting disc, and the first distance adjusting disc is provided with a first distance adjusting wheel or a first distance adjusting rod. One end of each of the two first branch rods is hinged with two opposite eccentric points of the first distance adjusting wheel, or one end of each of the two first branch rods is hinged with two ends of the first distance adjusting rod. The other end of each of the two first branch rods is connected with a first moving mechanism 404. The first distance adjusting disc is provided at the top with a first distance adjusting motor 406, and the output shaft of the first distance adjusting motor 406 is connected with the center of the first distance adjusting wheel or the first distance adjusting rod to drive the first distance adjusting wheel or the first distance adjusting rod to rotate, thereby driving the two first branch rods to approach or move away from each other, and further driving the two first moving mechanisms 404 clamped on the two sides of the upper flange plate to approach or move away from each other.

[0054] The first moving mechanism 404 comprises two first moving slides and two groups of first side wheels 405. The two first moving slides are clamped on the two sides of the upper flange plate, and the first moving slide and the upper flange plate are provided with the first side wheel 405 therebetween. The first side wheel 405 is tightly attached to the side wall 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 wheel 405, which ensures the stable walking of the walking module and prevents the walking module from turning over.

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

[0056] The robot chassis 401 is provided with four universal wheels 402 and four drive motors, each universal wheel 402 corresponds to a drive motor, the drive motor is connected with 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, and the robot advances through the drive motor. When the robot needs to turn, the robot turns and walks between the main girder and the secondary girder of the steel beam through the universal wheel 402; the first moving mechanism 404 is provided with a first side wheel 405, and the lower side of the first moving slide rail extends into the lower side of the upper flange plate of the steel beam, which can prevent the robot from overturning. At the same time, the first moving slide rail is provided with two laser displacement sensors 408, which are arranged on the side of the first moving slide rail in the advancing direction. When approaching the web plate, stiffening rib and other additional components of the steel beam, the robot can be stopped at any time through the signal transmission of the laser displacement sensor 408. The first moving mechanism 404 is provided with a first distance adjusting motor 406, and the rotation of the first distance adjusting 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 the web plate, stiffening rib and other additional components of the steel beam are encountered, 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 rib and other additional components, and the obstacle avoidance capability of the robot is improved. The robot chassis 401 is also provided with a first jacking mechanism 407. When the robot needs to turn, the first jacking motor of the first jacking mechanism 407 is rotated to make the first moving mechanism 404 rise as a whole, which facilitates the stable walking of the robot.

[0057] The safety auxiliary turning and walking mechanism 5 includes a second connecting rod assembly 503, a second jacking mechanism and a second moving mechanism 505. As shown in Figure 1 、 Figure 2 , the walking power system 4 of the advancing module and the safety auxiliary turning and walking mechanism 5 are arranged forward and backward along the walking direction of the advancing module on the upper flange plate, and the walking power system 4 is arranged in front and the safety auxiliary turning and walking mechanism 5 is arranged in 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 jacking mechanism is similar to that of the first jacking mechanism 407, and the structure of the second moving mechanism 505 is similar to that of the first moving mechanism 404, and the difference lies in the different positions.

[0060] As Figure 2 , Figure 3 shown, the second jacking mechanism includes a second jacking support, a second jacking lead screw, a second jacking motor 501, and a second jacking slider. The second jacking support is vertically arranged and fixedly connected to the rear end of the chassis 401. The second jacking lead screw is vertically arranged, with one end connected to the second jacking motor 501. The second jacking slider is threadedly engaged with the second jacking lead screw. When the second jacking motor 501 drives the second jacking lead screw to rotate, the second jacking slider threadedly engaged with the second jacking lead screw moves vertically, thereby being raised or lowered. The second jacking slider is connected to the second linkage assembly 503, which is used to jack up the second linkage assembly 503 to raise it, and also used to lower the second linkage assembly 503 to reset it.

[0061] The second jacking slider of the second jacking mechanism is also provided with a second steering motor 502. The second linkage assembly 503 is hingedly connected to the second jacking slider through a second hinge, so that the second linkage assembly 503 can swing in the horizontal plane. The second hinge includes a second hinge shaft arranged vertically and a second wheel fixedly engaged 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 fixedly connected to the second linkage assembly 503, so that the second linkage 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. Both the first moving mechanism 404 and the second moving mechanism 505 can rotate 90 degrees to the left and right around the center line of the upper flange plate of the steel beam.

[0062] The second linkage assembly 503 includes a second main rod and two second branch 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 hingedly connected to the second jacking mechanism. The other end of the second main rod is provided with a second distance adjusting disc, and the second distance adjusting disc is provided with a second distance adjusting wheel or a second distance adjusting rod. One end of each of the two second branch rods is hingedly connected to two opposite eccentric points of the second distance adjusting wheel, or one end of each of the two second branch rods is hingedly connected to two ends of the second distance adjusting rod. The other end of each of the two second branch rods is connected to a second moving mechanism 505. The top of the second distance adjusting disc is provided with a second distance adjusting motor 504, and the output shaft of the second distance adjusting motor 504 is connected to the center of the second distance adjusting wheel or the second distance adjusting rod, thereby driving the second distance adjusting wheel or the second distance adjusting rod to rotate, so as to drive the two second branch rods to move closer to or farther away from each other, and further drive the two second moving mechanisms 505 clamped on the two sides of the upper flange plate to move closer to or farther away from each other.

[0063] The second moving mechanism 505 includes two second moving slide rails 506 and two sets of second side wheels; the two second moving slide rails 506 are clamped on the two sides of the upper flange plate, and a second side wheel is arranged between the second moving slide rail 506 and the upper flange plate, the second side wheel is tightly attached to the side wall 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 second side wheel, thereby ensuring the walking stability of the walking module and preventing the walking module from overturning. One end of the second moving slide rail 506 is also provided with a laser displacement sensor 408. When the robot needs to turn, the safety auxiliary turning walking mechanism 5 can assist the robot in turning and prevent overturning, further ensuring the safety of the robot.

[0064] As shown in Figure 4 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 with the walking module and moves with the walking module. The multi-degree-of-freedom robot arm 702 is used to grab the bolts stored in the bolt storage and supply module 8 and fasten the bolts to the target position of the steel beam. The robot automatic quick-change device 703 includes a four-jaw clamping hand 704, a humanoid manipulator 705, an electric wrench 706, and a reamer 707, which are used to connect with the actuators at the end of the multi-degree-of-freedom robot arm 702.

[0065] The robot automatic quick-change device 703 can realize the mutual switching among the four-jaw clamping hand 704, the humanoid manipulator 705, the electric wrench 706, and the reamer 707 by cooperating with the actuators at the end of the robot arm. The reamer 707 is used to correct the hole when the high-strength bolt cannot be freely inserted. The four-jaw clamping hand 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 washer and insert the nut and washer into the bolt. The electric wrench 706 is used for initial tightening and final tightening of the large hexagonal bolt.

[0066] In this embodiment, all the bolts are large hexagonal head high-strength bolt pairs, and the related models and performance indicators are executed according to the latest national relevant specifications. In particular, the electric wrench 706 is not limited to the form shown in the figure, which is one of the forms. Through special design, the construction requirements of clamping or tightening of torsional shear type high-strength bolt pairs can be met, and other modules of the robot can also meet the connection requirements of torsional shear type high-strength bolt pairs.

[0067] The sensor module also includes a panoramic camera 709 and an intelligent camera 708. The panoramic camera 709 is mounted on the robot body 701 and is used to monitor the overall operation state of the robot and identify the environment around the robot. Each of the two arms of the multi-degree-of-freedom robot arm 702 is provided with an intelligent camera 708 at the front end, which is used for high-strength bolt hole correction, bolt picking, and visual identification of bolt position and contour.

[0068] As shown in Figures 5-7As shown, the bolt storage feeding module 8 comprises a silo storage body 801, bolt storage drawers 802, a lifting pushing mechanism 803 and a horizontal pushing mechanism 804; the silo storage body 801 is provided with multiple layers of bolt storage drawers 802; the bolt storage drawers 802 store bolts; the lifting pushing mechanism 803 is installed on one side of the silo storage body 801 and connected with the horizontal pushing mechanism 804, and is used for lifting the horizontal pushing mechanism 804; the horizontal pushing mechanism 804 is movably connected with any layer of bolt storage drawers 802, and is used for driving the bolt storage drawers 802 to move horizontally.

[0069] Specifically, the lifting pushing mechanism 803 comprises a lifting pushing bracket, a lifting pushing motor 805 and a lifting pushing slider. The lifting pushing bracket is vertically arranged, the lifting pushing motor 805 is arranged at the bottom of the lifting pushing bracket, the lifting pushing motor 805 is a screw stepper motor, the screw stepper motor is vertically arranged, a lifting pushing slider is matched with the screw of the screw stepper motor, and the lifting pushing slider is connected with the horizontal pushing mechanism 804, so that the lifting pushing motor 805 drives the lifting and lowering of the horizontal pushing mechanism 804, and the horizontal pushing mechanism 804 reaches the height of the target layer bolt storage drawer 802.

[0070] The horizontal pushing mechanism 804 comprises a horizontal pushing bracket, a horizontal pushing motor 806 and a gear set. The horizontal pushing bracket is horizontally arranged and fixedly connected with the lifting pushing slider of the lifting pushing mechanism 803. The gear set comprises a driving gear 807 and a bevel gear 808 which are engaged with each other; the horizontal pushing motor 806 is installed on the horizontal pushing bracket and is used for driving the driving gear 807 to rotate, and the driving gear 807 drives the bevel gear 808 to rotate.

[0071] Each layer of bolt storage drawers 802 comprises two drawer units and a drawer translation guide rail, the drawer translation guide rail is connected to one end of the two drawer units in the same layer, the two drawer units can move horizontally along the length direction of the drawer translation guide rail, and the two drawer units are kept apart. Each drawer unit comprises a drawer disc, a drawer slider and a drawer translation screw. One end of the drawer discs of the two drawer units in the same layer is connected with the drawer translation guide rail, and the other end is respectively provided with the drawer slider and the drawer translation screw. The drawer slider is connected with the drawer disc, the drawer slider is installed on the drawer translation screw, the two drawer discs are kept apart, the drawer translation screws of the two drawer discs are kept apart, and one bevel gear 808 is respectively installed on the drawer translation screws. The drawer translation screw is installed on the silo storage body 801 through a bearing bracket. When the horizontal pushing 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 to rotate, makes the corresponding drawer disc translate, and the drawer disc moves out of the silo storage body 801 or retracts into the silo storage body 801.

[0072] Two drawer plates in the same layer, one of the drawer plates is used for storing bolts, and the other drawer plate is used for storing bolts, nuts and washers. The bolts on the drawer plate are vertically arranged, and in addition, one of the drawer plates of the bolt storage drawer 802 is provided with a vertically arranged sleeve nail, and the nuts and washers are sleeved on the sleeve nail.

[0073] It should be noted that the robot further comprises 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 application further provides a construction method of steel structure bolt connection, comprising the following steps:

[0075] Lifting the steel structure bolt connection robot storing bolts to the steel beam;

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

[0077] Using the bolt connection module 7 to grab the bolts stored in the bolt storage and feeding module 8, and fastening the grabbed bolts to the target position of the steel beam to complete the bolt fastening work of the work point;

[0078] The traveling module guides the steel structure bolt connection robot to walk to the next work point, and the bolt connection module 7 is used to perform the bolt fastening work of the next work point; repeat the step until the bolt fastening work of all work points is completed;

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

[0080] The specific construction process is as follows:

[0081] Step one:

[0082] Before lifting the high-strength bolt connection robot, the battery state of the robot needs to be checked to meet the requirements of the endurance work; secondly, check the bolt storage and feeding bin to ensure that all high-strength bolts, nuts, washers and other materials are complete.

[0083] Step two:

[0084] With the help of lifting equipment, the high-strength bolt connection robot is lifted to the work point, and then the man-machine interface is used to remotely start the robot.

[0085] Step three:

[0086] The first distance adjusting motor 406 is rotated by the motor controller, so that the first moving mechanism 404 is simultaneously extended to both sides of the upper flange plate of the steel beam until the lower two sides of the first moving slide rail can smoothly pass through both sides of the upper flange plate, and the first jacking mechanism 407 motor is rotated at the same time, so as to drive the first moving mechanism 404 to drop to the designated position as a whole, and then the first distance adjusting motor 406 is controlled to turn and rotate reversely, so that the first moving mechanism 404 is simultaneously retracted to both sides of the upper flange plate of the steel beam until the two first side wheels 405 are tightly attached to both sides of the upper flange plate of the steel beam. The operation of the safety auxiliary steering walking mechanism is the same as the above operation, and at this time the safety rope of the hoisting device is released.

[0087] It should be noted that when the conditions permit, the high-strength bolt connection robot can be hoisted together with the steel beam by the hoisting device to the designated position, but the robot needs to be fixed on the steel beam in steps 1 and 3, and then the bolt connection node fastening work is completed.

[0088] Step four:

[0089] The control system built in the robot commands the end of the multi-degree-of-freedom robot arm to connect the robot automatic quick-change device 703 connected with the four-jaw clamping hand 704, and the lifting and pushing motor 805 of the lifting and pushing mechanism 803 of the bolt storage and feeding module rotates to push the horizontal pushing mechanism 804 along the vertical direction to the designated position. The horizontal pushing motor 806 rotates the horizontal pushing mechanism 804 to make the driving gear 807 engage with the bevel gear 808, which drives the bolt storage drawer 802 connected with the bevel gear 808 to be pushed out from the two sides of the storage body 801. At this time, the four-jaw clamping hand 704 of one of the multi-degree-of-freedom robot arms 702 accurately grabs the bolt with the aid of the intelligent camera 708 and other sensors, and the end of the other multi-degree-of-freedom robot arm 702 is connected with the humanoid robot hand 705. The humanoid robot hand 705 grabs the gasket and then penetrates into the bolt held by the four-jaw clamping hand 704 of the multi-degree-of-freedom robot arm 702. The multi-degree-of-freedom robot arm 702 penetrates the grabbed bolt and the penetrated gasket from one side into the bolt hole of the steel beam high-strength bolt connection plate 3, and the other multi-degree-of-freedom robot arm 702 penetrates the gasket from the other side into the bolt.

[0090] It should be noted that in the process of gasket grabbing and penetrating, the humanoid manipulator 705 analyzes and identifies the chamfer side of the gasket by means of the intelligent camera 708, so that the chamfer side of the gasket hole is in contact with the bolt head and the nut, then the multi-degree-of-freedom robot arm 702 grabs the nut from the bolt storage and feeding module with the humanoid manipulator 705, and after penetrating into the bolt, the multi-degree-of-freedom robot arm 702 end effector is connected with the robot automatic quick change device 703 connected with the electric wrench 706, and the high-strength bolt is initially screwed and finally screwed by the electric wrench 706, and the above steps are repeated to complete the fastening work of other bolts.

[0091] In particular, when the high-strength bolt cannot be freely penetrated, reaming is required, at which time the multi-degree-of-freedom robot arm 702 end effector is connected with the robot automatic quick change device 703 connected with the reamer 707, and the bolt hole is trimmed, and after trimming, the above steps are repeated to complete the fastening work of the high-strength bolt.

[0092] During the entire robot operation process, the robot body 701 is equipped with a panoramic camera 709 for monitoring the overall operation state of the robot, identifying the environment around the robot, and transmitting data to the man-machine interaction interface in real time, and the panoramic camera 709 can also be used for remote operation of the equipment.

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

[0094] Step five:

[0095] When the high-strength bolt connecting robot completes a connecting node operation, it needs to turn and walk around the main girder 1 to other nodes to complete the connecting operation. When the bolt connecting robot needs to turn, the first distance adjusting motor 406 is controlled to rotate, so that the first moving mechanism 404 simultaneously extends to both sides of the upper flange plate of the steel beam until the lower two 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 jacking mechanism 407 motor is rotated to drive the first moving mechanism 404 to rise to a position above the upper flange plate of the steel beam. After that, the drive motor 403 drives the universal wheel 402 to travel to the specified position and turn 90 degrees, and then the first distance adjusting motor 406 is controlled to rotate, so that the first moving mechanism 404 simultaneously extends to both sides of the upper flange plate of the steel beam until the lower two sides of the first moving slide rail can smoothly pass through both sides of the upper flange, and at the same time, the first jacking mechanism 407 motor is rotated to drive the first moving mechanism 404 to descend to the specified position. Then the first distance adjusting motor 406 is controlled to turn and rotate in the opposite direction, and the first moving mechanism 404 simultaneously retracts to both sides of the upper flange plate of the steel beam until the two first side wheels 405 are tightly attached to both sides of the upper flange plate of the steel beam. After the robot is safely fixed near the next connecting node of the steel beam, the second distance adjusting motor 504 of the safety auxiliary turning and walking mechanism is reversed, the second moving mechanism 505 simultaneously extends to both sides of the upper flange plate of the steel beam until the lower two sides of the second moving slide rail can smoothly pass through both sides of the upper flange plate, and at the same time, the second jacking mechanism 501 drives the second moving mechanism 505 to rise to a position above the upper flange plate of the steel beam. The second turning motor 502 rotates to drive the second connecting rod assembly 503 to rotate the entire second moving mechanism 505 by 90 degrees in the specified direction. When the robot walks around the main girder to the other connecting node, the lower two sides of the second moving slide rail of the safety auxiliary turning and walking mechanism are tightly attached to both sides of the upper flange plate of the steel beam. At this time, the robot repeats step four to complete the tightening operation of the bolts. Steps five and six are repeated to complete the bolt tightening operation of other connecting nodes.

[0096] Step six:

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

[0098] The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solutions that fall within the scope of the present application are also within the protection scope of the present application. It should be noted that some improvements and refinements without departing from the principles of the present application are also considered within the protection scope of the present application.

Claims

1. A steel structure bolting robot characterized by, The robot comprises a travelling module, a bolt connecting module, a bolt storage and feeding module and a power supply module. The travelling module comprises a walking power system for walking on the upper flange plate of the steel beam. The bolt storage and feeding module is connected with the travelling module and moves with the travelling module. The bolt storage and feeding module is used for storing bolts. The bolt connecting module comprises a robot body and a multi-degree-of-freedom robot arm. The robot body is connected with the travelling module and moves with the travelling module. The multi-degree-of-freedom robot arm is used for grabbing the bolts stored in the bolt storage and feeding module and fastening the bolts to the target position of the steel beam. The power supply module is used for supplying power to the travelling module, the bolt connecting module and the bolt storage and feeding module. The walking power system comprises a chassis, universal wheels, a driving motor, a first linkage assembly and a first moving mechanism. The top of the chassis is connected with the bolt connecting module and the bolt storage and feeding module. The universal wheels are arranged around the chassis. The driving motor is connected with the universal wheels and is used for driving 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 linkage assembly is connected with the first moving mechanism on both sides of the upper flange plate and drives the first moving mechanism on both sides to approach or move away from each other. The other end of the first linkage assembly is hinged with the chassis to realize the swinging of the first moving mechanism and the first linkage assembly on the upper flange plate. The walking power system further comprises a first jacking mechanism.

2. The steel structure bolting robot according to claim 1, characterized in that, The first jacking mechanism connects the chassis and the first linkage assembly and is used for jacking up the first linkage assembly. The first moving mechanism comprises two first moving sliding rails and two groups of first side wheels. The first moving sliding rails are clamped on both sides of the upper flange plate. The first moving sliding rails are provided with the first side wheels between the first moving sliding rails and the upper flange plate. The travelling module further comprises a safety auxiliary steering walking mechanism. The safety auxiliary steering walking mechanism comprises a second linkage assembly and a second moving mechanism. The second moving mechanism is clamped on both sides of the upper flange plate. The first moving mechanism and the second moving mechanism are arranged at intervals along the length direction of the upper flange plate. The first linkage assembly and the second linkage assembly are arranged at intervals along the length direction of the upper flange plate. One end of the second linkage assembly is connected with the second moving mechanism and drives the second moving mechanism on both sides to approach or move away from each other. The other end of the second linkage assembly is hinged with the chassis to realize the swinging of the second moving mechanism and the second linkage assembly on the upper flange plate. The safety auxiliary steering walking mechanism further comprises a second jacking mechanism. The second jacking mechanism connects the chassis and the second linkage assembly and is used for jacking up the second linkage assembly. The robot further comprises a sensor module. The sensor module comprises a laser displacement sensor. The laser displacement sensor is arranged on the first moving mechanism and the second moving mechanism.

3. The steel structure bolting robot according to claim 1, characterized in that, The bolt connecting module further comprises a robot automatic quick-change device; the robot automatic quick-change device comprises a four-jaw clamping hand for connecting with an actuator at the end of the multi-degree-of-freedom robot arm, a humanoid manipulator, an electric wrench and a reamer.

4. The steel structure bolting robot according to claim 1, characterized in that, The bolt storage and feeding module comprises a storage bin body, bolt storage drawers, a lifting pushing mechanism and a horizontal pushing mechanism. The storage bin body is provided with multiple layers of bolt storage drawers; the bolt storage drawers store bolts. The lifting pushing mechanism is installed on one side of the storage bin body and connected with the horizontal pushing mechanism, for lifting the horizontal pushing mechanism. The horizontal pushing mechanism is movably connected with the bolt storage drawers of any layer, for driving the bolt storage drawers to move horizontally.

5. A construction method of a bolt connection of a steel structure, which is implemented by the bolt connection robot of a steel structure according to claim 1, characterized in that, The construction method comprises the following steps: Hoisting the steel structure bolt connecting robot storing bolts to a steel beam; Starting the steel structure bolt connecting robot, and guiding the steel structure bolt connecting robot to walk on the upper flange plate of the steel beam to a work point by the traveling module; Using the bolt connecting module to grab the bolts stored in the bolt storage and feeding module, and fastening the grabbed bolts to the target position of the steel beam to complete the bolt fastening work at the work point; Guiding the steel structure bolt connecting robot to walk to the next work point by the traveling module, and using the bolt connecting module to perform the bolt fastening work at the next work point; repeating the step until the bolt fastening work at all work points is completed; Hoisting the steel structure bolt connecting robot to the ground.

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