A kind of angle steel tower bolt hole installation tool, fastening device and installation robot

Abstract

The present application relates to bolt mounting equipment technical field, specifically is a kind of angle steel tower bolt hole installation tool, fastening equipment and installation robot.The hammering part in the present application is responsible for hammering the bolt head during the process of nut tightening, so that the bolt head is more closely attached to the angle steel;Then cooperate with the tightening part, by impact tightening, gradually tighten the nut on the bolt.The tightening part continues to rotate the nut to apply pre-tightening force, while the hammering part timely hammers the bolt head, and the two work together to gradually reduce the fitting gap between the angle steels, to realize the effect of fastening angle steel by bolt, and effectively improve the stability of bolt connection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bolt mounting equipment, in particular to an angle steel tower bolt hole mounting tool, fastening equipment and mounting robot. BACKGROUND

[0002] The angle steel tower is a common steel structure form, which is widely used in the fields of electric power, communication, broadcasting, transportation and the like, and is used for supporting equipment such as wires, cables and antennas. In the construction process of the angle steel tower, in order to improve the connection strength between the angle steels, rivet fastening or bolt fastening is usually used to connect the angle steels. The bolt is widely used in the assembly of the angle steel tower due to its simple installation, convenient disassembly and reliable connection strength.

[0003] At present, in the process of assembling and building the angle steel tower, a worker usually uses an ordinary wrench, a movable wrench or an electric wrench to tighten the bolt to achieve the purpose of fastening the angle steels. Due to the influence of various external factors in the production and transportation process of the angle steel, slight deformation of the angle steel is prone to occur. Although the slight deformation does not affect the strength of the angle steel, when the slight deformation occurs at the bolt connection position, the stability of the bolt connection is affected. The two angle steels originally in close contact with each other are caused to have a gap between the contact surfaces due to the slight deformation, and the gap is difficult to eliminate when the bolt is tightened by using the above-mentioned tightening tools, resulting in poor stability of the bolt connection. The poor stability is reflected in that, during the subsequent long-term use of the angle steel tower, due to the influence of external natural factors such as long-term solar radiation, the angle steel is prone to thermal deformation, the gap is reduced due to thermal deformation, and the bolt loses the pre-tightening force and is loosened. If the thermal deformation ends and the gap increases, the angle steel will still provide a certain pre-tightening force to the bolt, thereby avoiding the secondary loosening of the bolt. However, if the thermal deformation ends and the gap is reduced, the bolt will continue to loosen due to factors such as vibration of the angle steel tower without the pre-tightening force, so as to eventually lose the locking and fastening effect.

[0004] Therefore, in the initial tightening process of the bolt, it is necessary to reduce and eliminate the gap between the angle steels at the connection position as much as possible to improve the stability of the bolt connection. SUMMARY

[0005] In order to avoid and overcome the technical problems existing in the prior art, the present application provides an angle steel tower bolt hole mounting tool, fastening equipment and mounting robot. The present application can effectively eliminate the gap between the angle steels at the bolt connection position, thereby improving the stability of the bolt connection.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] A kind of angle steel tower bolt hole installation tool, including hammering part, and the tightening of nut on bolt Tightening part;Tightening part is tightened nut by impact tightening action, and hammering part can cooperate to generate the hammering action of bolt head hammering and pressing in angle steel during nut tightening.

[0008] As a further scheme of the application: hammering part includes bolt clamping device that can clamp bolt head, and hammering assembly that can hammer bolt head along bolt axial direction and can press bolt head on angle steel.

[0009] As a further scheme of the application: tightening part includes self-adapting sleeve that can clamp nut by jaw, and sleeve opening and closing electromagnetic clutch that is connected at self-adapting sleeve and drives jaw opening and closing degree;Self-adapting sleeve is driven by striking assembly to generate the impact tightening action by flexible impact connector and striking assembly transmission connection.

[0010] A kind of fastening equipment, which applies the angle steel tower bolt hole installation tool described above, includes two mechanical arms that can be fixedly installed on angle steel tower, hammering part and tightening part are connected at the end of two mechanical arms respectively, and two mechanical arms can be transported to corresponding working position by hammering part and tightening part respectively.

[0011] As a further scheme of the application: mechanical arm is seven degrees of freedom, and the elbow joint of mechanical arm includes two connecting plates, installation cavity is formed between two connecting plates, and the end of two swing arms adjacent to it is hingedly installed in installation cavity by hinged shaft parallel to each other;Gear is coaxially fixed on both hinged shafts, two gears are transmission meshing with each other, and one of hinged shafts is driving shaft with rotary power.

[0012] As a further scheme of the application: fixed end of mechanical arm is fixedly installed on angle steel by composite clamping jaw, composite clamping jaw includes installation base that can abut on the outer plate surface of one wing plate of angle steel, and limb width adaptive baffle that can abut on the outer plate surface of another wing plate is fixedly installed on one side of installation base;Rotary clamping jaw that can be rotated above installation base is installed on the side of installation base opposite to limb width adaptive baffle, and forms clamping cavity that clamps the wing plate abutted on installation base in cooperation with installation base and limb width adaptive baffle.

[0013] As a further scheme of the application: recessed installation recess is arranged on the end face of installation base abutting on angle steel, electromagnet is installed in installation recess, and telescopic rod that can make electromagnet extend out of installation recess and be adsorbed with corresponding wing plate is also installed at electromagnet.

[0014] As a further scheme of the application: mechanical arm is detachably connected with hammering part, tightening part and composite clamping jaw through general connector.

[0015] The installation robot applies the fastening device, and comprises a main machine capable of climbing on an angle steel tower, a docking device arranged on the main machine, two mechanical arms each installed on the docking device through clamping of a composite clamp jaw, a hammering part and a tightening part installed on the main machine through a universal connector, and a parts box for containing bolts and nuts also installed on the main machine.

[0016] As a further scheme of the application, a telescopic end is also installed on the main machine, and the docking device is installed on the telescopic end.

[0017] Compared with the prior art, the application has the following beneficial effects:

[0018] 1. The hammering part is responsible for hammering the bolt head during the nut tightening process, so that the bolt head is more closely attached to the angle steel; then, the hammering part cooperates with the tightening part to gradually tighten the nut on the bolt through impact tightening. The tightening part continuously rotates the nut to apply a pre-tightening force, and the hammering part timely hammers the bolt head, so that the two parts jointly reduce the fitting gap between the angle steels, so as to realize the function of fastening the angle steels by the bolt and effectively improve the stability of the bolt connection.

[0019] 2. The bolt clamping device is responsible for clamping the bolt head, so as to ensure that the bolt does not move or fall off during the hammering process. The bolt clamping device takes into account the bolt heads of different diameters and shapes, so as to improve the universality and stability. The hammering assembly is a core component for generating the hammering action, which hammers the bolt head along the axial direction of the bolt, so as to press the bolt head on the angle steel, thereby eliminating the gap and improving the stability of the connection.

[0020] 3. The self-adaptive sleeve in the application can tightly clamp the nut through its jaws, so as to ensure that the nut does not fall off or slide during the tightening process, thereby improving the accuracy and stability of the tightening. At the same time, the opening and closing degree of the jaws can be controlled by the electromagnetic clutch, so as to adaptively adjust according to the different sizes of the nuts, thereby increasing the universality and flexibility of the tool. The flexible impact connector plays a role in buffering and transmitting power between the self-adaptive sleeve and the hammering assembly, can absorb part of the impact energy, reduce vibration and noise, and at the same time ensure that the power is efficiently transmitted to the self-adaptive sleeve to realize the impact tightening action. The hammering assembly is a core component for generating the impact tightening action, which transmits power to the self-adaptive sleeve through high-speed rotation and impact, and then drives the nut to rotate and tighten on the bolt.

[0021] 4. The seven-degree-of-freedom mechanical arm provides extremely high flexibility and operating range, and can perform complex and variable tasks, which means that the mechanical arm can move and rotate in all directions in three-dimensional space to operate the precise cooperation of the hammering part and the tightening part.

[0022] 5. The elbow joint of the robotic arm consists of two connecting plates forming a mounting cavity. This design enhances the structural strength of the elbow joint and protects its internal mechanisms. The ends of the two swing arms are mounted in the mounting cavity via parallel hinge axes. This hinge mechanism allows the swing arms to rotate around the hinge axes, thereby enabling the robotic arm to bend and extend.

[0023] 6. Gears are coaxially fixed to both hinge shafts, and these two gears mesh with each other. This design allows the rotation of one hinge shaft (drive shaft) to drive the rotation of the other hinge shaft, thereby achieving synchronous movement of the elbow joint.

[0024] 7. The mounting base abuts against the outer surface of one flange of the angle steel, while the limb width adaptive baffle abuts against the outer surface of the other flange. This allows the composite gripper to adapt to angle steels of different widths, improving its versatility and adaptability. A rotatable gripper is mounted on the side of the mounting base opposite to the limb width adaptive baffle. The rotatable gripper can rotate to the top of the mounting base and, together with the mounting base and the limb width adaptive baffle, form a clamping cavity that clamps the flange against which the mounting base abuts. This effectively clamps the angle steel, ensuring the stability and reliability of the composite gripper.

[0025] 8. While the composite gripper clamps the angle steel, the electromagnet's attraction further enhances the gripping stability. When the electromagnet is energized, it attracts the corresponding wing plate, making the gripper more firmly fixed to the angle steel; when the electromagnet is de-energized, the gripper can be separated from the angle steel by other mechanisms (such as springs). This combination of magnetic attraction and mechanical gripping increases gripping efficiency while ensuring gripping reliability.

[0026] 9. The main unit is also equipped with an accessory box for holding bolts and nuts, allowing the robot to easily access the necessary parts and improve work efficiency. The main unit also features a telescopic extension, which can be extended or shortened as needed, thereby increasing the robot's operational flexibility and accessibility. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the installation tool in this invention.

[0028] Figure 2 This is a schematic diagram of the fastening device in this invention.

[0029] Figure 3 This is a schematic diagram of the operating state of the robotic arm in this invention.

[0030] Figure 4 This is a schematic diagram of the robotic arm in this invention.

[0031] Figure 5 This is a schematic diagram of the composite gripper structure in this invention.

[0032] Figure 6 This is a schematic diagram of the structure for installing the robot in this invention.

[0033] Figure 7 This is a schematic diagram of the operating state of the robot in this invention.

[0034] In the diagram: 1. Hammering section; 11. Bolt clamping device; 12. Hammering assembly; 2. Tightening section; 21. Adaptive sleeve; 22. Sleeve opening and closing electromagnetic clutch; 23. Flexible impact connector; 24. Impact assembly; 3. Robotic arm; 31. Elbow joint; 311. Connecting plate; 312. Swing arm; 313. Gear; 32. Composite gripper; 321. Mounting base; 3221. Electromagnet; 322. Limb width adaptive baffle; 323. Rotating gripper; 4. Main unit; 41. Connector; 42. Accessory box; 5. Universal connector. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figure 1 As shown, the hammering unit 1 includes a bolt clamping device 11 that can clamp the bolt head, and a hammering assembly 12 that can hammer the bolt head along the bolt axial direction and press the bolt head onto the angle steel. The bolt clamping device 11 is responsible for clamping the bolt head to ensure that the bolt will not move or fall off during hammering. The hammering assembly 12 is the core component that generates the hammering action. It hammers the bolt head along the bolt axial direction to press the bolt head onto the angle steel, thereby eliminating gaps and improving the stability of the connection.

[0037] The tightening part 2 includes an adaptive sleeve 21 that clamps the nut through jaws. An electromagnetic clutch 22, which drives the jaw opening and closing, is connected to the adaptive sleeve 21. The adaptive sleeve 21 is connected to the impact assembly 24 via a flexible impact connector 23, and the impact assembly 24 drives the adaptive sleeve 21 to generate the impact tightening action. The adaptive sleeve 21 can tightly clamp the nut through its jaws, ensuring that the nut will not fall off or slip during tightening, thus improving the accuracy and stability of tightening. The impact assembly 24 is the core component that generates the impact tightening action. Through high-speed rotation and impact, it transmits power to the adaptive sleeve 21, thereby driving the nut to rotate and tighten onto the bolt.

[0038] like Figure 2 andFigure 3 As shown, the fastening device of the present invention includes two mechanical arms 3 that can be fixedly installed on an angle steel tower. The hammering part 1 and the tightening part 2 are respectively connected to the ends of the two mechanical arms 3, and the two mechanical arms 3 can respectively transport the hammering part 1 and the tightening part 2 to the corresponding working positions.

[0039] like Figure 4 As shown, the robotic arm 3 is a seven-degree-of-freedom robotic arm, and the elbow joint 31 of the robotic arm 3 includes two connecting plates 311, forming a mounting cavity between the two connecting plates 311. The ends of the two adjacent swing arms 312 are respectively hinged and mounted in the mounting cavity through parallel hinge shafts. Gears 313 are coaxially fixed on both hinge shafts, and the two gears 313 mesh with each other. One of the hinge shafts is a drive shaft with rotational power.

[0040] like Figure 5 As shown, the fixed end of the robotic arm 3 is fixedly mounted on the angle steel via a composite gripper 32. The composite gripper 32 includes a mounting base 321 that abuts against the outer surface of one wing plate of the angle steel. A limb width adaptive baffle 322 that abuts against the outer surface of another wing plate is fixedly mounted on one side of the mounting base 321. A rotating gripper 323 that can rotate to the top of the mounting base 321 is mounted on the side of the mounting base 321 opposite to the limb width adaptive baffle 322, and together with the mounting base 321 and the limb width adaptive baffle 322, forms a clamping cavity for clamping the wing plate abutting the mounting base 321. A mounting groove is recessed on the end face of the mounting base 321 that abuts against the angle steel. An electromagnet 3221 is installed in the mounting groove. A telescopic rod is also installed at the electromagnet 3221, which allows the battery iron to extend out of the mounting groove and attract to the corresponding wing plate. The robotic arm 3 is detachably connected to the hammering part 1, the tightening part 2, and the composite gripper 32 via a universal connector 5.

[0041] like Figure 6 and Figure 7 As shown, the installation robot includes a main unit 4 that can crawl on an angle steel tower. The main unit 4 is equipped with a connector 41 and an accessory box 42 for holding bolts and nuts, containing a predetermined number of bolts and nuts. Multiple universal connectors 5 are also mounted on the main unit 4, each equipped with a hammering part 1, a tightening part 2, and a compound gripper 32. The main unit 4 also has a telescopic end, on which the connector 41 is mounted.

[0042] The robotic arm 3 moves the mounting base 321 to the angle steel and presses it against one side wing plate of the angle steel. The electromagnet 3221 is driven to attract the angle steel, and then the rotating jaw 323 is rotated to clamp the wing plate. At the same time, the telescopic rod is driven to extend to clamp the wing plate between the rotating jaw 323 and the electromagnet 3221, thereby improving the stability of the connection.

[0043] The installation robot of the present application, in use, firstly places bolts and nuts in the accessory box 42 of the main machine 4 according to a certain arrangement. Then the hammering part 1 and the tightening part 2 are installed on the main machine 4 through the docking device 41, and a mechanical arm 3 is installed on the docking device 41 in the middle of the main machine 4, and the two ends of the mechanical arm 3 are both installed with compound clamps 32 through the universal connector 5. A pair of mechanical arms 3 are installed on the telescopic end of the main machine 4, and the pair of mechanical arms 3 are only installed with compound clamps 32 at the end connected with the telescopic end.

[0044] After the preliminary work of the installation robot is completed, the installation robot is placed on the angle steel tower, and the worker controls the main machine 4 to climb on the angle steel tower along the predetermined route, and determines the position of the main machine 4 through the real-time transmission of the camera on the main machine 4, and stops and keeps still when the main machine 4 climbs to the set position. Then the two mechanical arms 3 on the telescopic end start to work, respectively take the hammering part 1 and the tightening part 2 from the main machine 4, and take the bolts and nuts from the accessory box 42 through the bolt clamping device 11 and the adaptive sleeve 21 respectively. Then the two mechanical arms 3 respectively move to the position where the clamp is needed, and then the bolt is aligned through the through hole on the angle steel and the head of the bolt is tightly pressed against the angle steel, and the nut is aligned with the front end of the bolt. The tightening part 2 starts to work, and the nut gradually approaches the angle steel. When the nut contacts the angle steel, the hammering starts to continuously hammer the head of the bolt, and the tightening part 2 continuously impacts the tightening bolt, and stops working when the distance between the nut and the head of the bolt reaches the set distance. The mechanical arm 3 drives the hammering part 1 and the tightening part 2 to return to the ingredient box, and takes the bolts and nuts from the accessory box 42 again, and performs the fastening work at the next position. The set distance is usually the sum of the thicknesses of each angle steel between the head of the bolt and the nut, or a little larger than the sum, and the specific value needs to be determined according to the actual situation on site.

[0045] The mechanical arm 3 installed on the docking device 41 in the middle of the main machine 4 can play an emergency auxiliary role. That is, when one of the mechanical arms 3 on the telescopic end cannot transport the hammering part 1 and the tightening part 2 to the corresponding position due to the problem of angle steel shielding, at this time the mechanical arm 3 in the middle of the main machine 4 is stretched, and the compound clamp 32 at the end thereof clamps the angle steel; then the compound clamp 32 at the other end is separated from the docking device 41 and clamps the angle steel. In the process of clamping and releasing of the two compound clamps 32, the mechanical arm 3 gradually moves to the target position. After reaching the target position, one of the compound clamps 32 is disconnected and the hammering part 1 or the tightening part 2 is grabbed through the universal connector 5 to cooperate to complete the fastening work at the target position.

[0046] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An installation robot comprising an angle tower bolt hole drilling installation tool and a fastening device, characterized in that, The bolt hole installation tool for angle steel tower comprises a hammering part (1) and a tightening part (2) capable of tightening the nut on the bolt; the tightening part (2) tightens the nut through an impact tightening action, and the hammering part (1) can cooperate to generate a hammering action of hammering and pressing the bolt head on the angle steel during the tightening of the nut; the hammering part (1) comprises a bolt clamping device (11) capable of clamping the bolt head and a hammering assembly (12) capable of hammering the bolt head along the axial direction of the bolt and pressing the bolt head on the angle steel; the tightening equipment comprises two mechanical arms (3) capable of being fixedly installed on the angle steel tower, the hammering part (1) and the tightening part (2) can be connected to the ends of the two mechanical arms (3) respectively, and the two mechanical arms (3) can transport the hammering part (1) and the tightening part (2) to corresponding working positions respectively; the fixed end of the mechanical arm (3) can be fixedly installed on the angle steel through a composite clamp jaw (32), and the mechanical arm (3) is detachably connected with the hammering part (1), the tightening part (2) and the composite clamp jaw (32) through a universal connector (5); the installation robot further comprises a main machine (4) capable of climbing on the angle steel tower, the main machine (4) is provided with a docking device (41) and a fitting box (42) for containing bolts and nuts; a plurality of universal connectors (5) are further installed on the main machine (4), the hammering part (1), the tightening part (2) and the composite clamp jaw (32) are installed on the universal connector (5); a telescopic end is further installed on the main machine (4), and the docking device (41) is installed on the telescopic end; one mechanical arm (3) is installed on the docking device (41), and the two ends of the mechanical arm (3) are provided with the composite clamp jaw (32) through the universal connector (5); a pair of mechanical arms (3) are installed on the telescopic end of the main machine (4), and the pair of mechanical arms (3) are only provided with the composite clamp jaw (32) at the end connected with the telescopic end.

2. The mounting robot of claim 1, wherein, The tightening part (2) comprises a self-adapting sleeve (21) capable of clamping the nut through a jaw, and the self-adapting sleeve (21) is connected with a sleeve opening and closing electromagnetic clutch (22) for driving the opening and closing degree of the jaw; the self-adapting sleeve (21) is in transmission connection with a striking assembly (24) through a flexible impact connector (23), and the striking assembly (24) drives the self-adapting sleeve (21) to generate the impact tightening action.

3. The mounting robot of claim 2, wherein, The mechanical arm (3) has seven degrees of freedom, and the elbow joint (31) of the mechanical arm (3) comprises two connecting plates (311), an installation cavity is formed between the two connecting plates (311), and the ends of two swing arms (312) adjacent to the connecting plates (311) are hingedly installed in the installation cavity through hinge shafts parallel to each other; gears (313) are coaxially fixed on the two hinge shafts, the two gears (313) are in transmission engagement with each other, and one of the hinge shafts is a driving shaft with rotary power.

4. The mounting robot of claim 3, wherein, The composite clamping jaw (32) comprises a mounting base (321) abutting against the outer plate surface of one wing plate of the angle steel, one side of the mounting base (321) being fixedly provided with a limb-width self-adaptive baffle (322) abutting against the outer plate surface of the other wing plate; one side of the mounting base (321) opposite to the limb-width self-adaptive baffle (322) is provided with a rotary clamping jaw (323) rotatable to the upper side of the mounting base (321), and the rotary clamping jaw (323) cooperates with the mounting base (321) and the limb-width self-adaptive baffle (322) to form a clamping cavity clamping the wing plate abutting against the mounting base (321).

5. The mounting robot of claim 4, wherein, The end surface of the mounting base (321) abutting against the angle steel is concavely provided with a mounting recess, and the mounting recess is provided with an electromagnet (3221), and the electromagnet (3221) is further provided with an extension rod capable of extending out of the mounting recess and being adsorbed with the corresponding wing plate.

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