Building metal component mounting robot

Abstract

The invention discloses a building metal component mounting robot, belongs to the technical field of building construction, and adopts the technical scheme that the building metal component mounting robot comprises a moving mechanism, a rack, a positioning mechanism and a screw turning mechanism, the screw turning mechanism comprises a mounting vertical plate, a first motor and a second hydraulic rod are arranged on the mounting vertical plate, and a sleeve is arranged at the lower end of a shaft of the first motor. The positioning mechanism comprises a first adjusting rod, the first adjusting rod is sleeved with a sliding block, and a first spring is arranged between the sliding block and the first adjusting rod. A push rod of the third hydraulic rod is hinged to the sliding block through a first hinge shaft, a second adjusting rod is further hinged to the first hinge shaft, a third adjusting rod is hinged to the upper end of the second adjusting rod, a strip-shaped opening is formed in the third adjusting rod, the top end of the first adjusting rod is hinged into the strip-shaped opening, and a fixing rod is arranged at the outer end of the third adjusting rod. A top pressing block is arranged on the fixing rod, and a side pressing block is arranged on the first adjusting rod. The building metal component mounting robot has the beneficial effect that the building metal component mounting robot is provided.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction, and particularly relates to a building metal component installation robot. Background Art

[0002] Screws are one of the commonly used metal components in construction, generally used to connect two objects. In construction sites or prefabricated component construction workshops, it is inevitable to have occasions where various plates or steel sections are connected by screws. At present, the commonly used method is to manually tighten and fix the screws, which is very inconvenient. In view of the above problems, a movable building metal component installation robot is designed. Summary of the Invention

[0003] The purpose of the present invention is to provide a building metal component installation robot.

[0004] The present invention is achieved by the following measures: A building metal component installation robot, characterized in that it includes a moving mechanism, a frame arranged on the moving mechanism, a positioning mechanism and a screw-tightening mechanism arranged on the frame; The frame includes a bottom plate, columns are symmetrically arranged on both sides of the bottom plate, guide plates are fixedly arranged on the outer sides of the columns, a sliding plate sliding in the X-axis direction is arranged between the two guide plates, and lead screws are rotatably arranged at both ends of the sliding plate; It also includes a hydraulic rod one for driving the sliding plate to move; A motor two for driving the lead screw to rotate is fixed on the sliding plate; The screw-tightening mechanism includes an installation vertical plate, a motor one moving in the Z-axis direction and a hydraulic rod two for driving the motor one to move are arranged on the installation vertical plate, and a sleeve cooperating with the screw is arranged at the lower end of the motor one shaft of the motor one; The sleeve is detachably connected, generally connected by bolts or pins, and the lower part of the sleeve can be designed according to the shape of the screw, and can be a hexagonal hole cooperating with the nut.

[0005] The installation vertical plate is fixedly connected with the lead screw nut on the lead screw, and a limiting groove cooperating with the sliding plate is arranged on the installation vertical plate; The installation vertical plate is slidably arranged on the sliding plate through the limiting groove; The positioning mechanism includes a first adjusting rod hinged to the bottom plate. A slider is sleeved on the first adjusting rod, and a first spring is arranged between the slider and the upper part of the first adjusting rod. The first spring is sleeved on the first adjusting rod. The upper end of the first spring is fixed to the upper part of the first adjusting rod, and the lower end is fixed to the slider. It also includes a third hydraulic rod for driving the first adjusting rod to rotate. The cylinder body of the third hydraulic rod is hinged to the bottom plate, and the push rod of the third hydraulic rod is hinged to the slider through a first hinge shaft. A second adjusting rod is also hinged to the first hinge shaft. The upper end of the second adjusting rod is hinged to a third adjusting rod. A strip-shaped opening is arranged on the third adjusting rod, and the top end of the first adjusting rod is hinged in the strip-shaped opening. A fixed rod is fixedly arranged at the outer end of the third adjusting rod, and top pressing blocks are symmetrically arranged at both ends of the fixed rod. A side pressing block is fixedly arranged on the outer side of the first adjusting rod through a connecting rod. The positioning mechanism also includes a vertical rod arranged at the outer end of the guide plate. The vertical rod and the side pressing block are located on both sides of the plate close to the screw tightening mechanism. When the third hydraulic rod is started, the push rod of the third hydraulic rod drives the side pressing plate to move towards this plate and presses this plate against the vertical rod. The push rod of the third hydraulic rod continues to move, driving the top pressing block to move towards this plate and press against the end face of this plate.

[0006] A Z-axis direction guide rail is fixedly arranged on the installation vertical plate. A moving block is slidably arranged on the guide rail, and a detachable fixture is arranged on the moving block. The first motor is arranged on the moving block through the fixture.

[0007] The detachable fixture includes two symmetrically arranged clamping blocks. Installation grooves matching the outer shell of the first motor are arranged on both clamping blocks. The first motor is arranged in the installation groove and is fixedly tightened by bolts arranged on both clamping blocks.

[0008] A connecting plate is fixedly arranged on any one of the clamping blocks. The cylinder body of the second hydraulic rod is fixed on the installation vertical plate through a support seat, and the push rod of the second hydraulic rod is fixed on the connecting plate. A second spring is sleeved on the push rod of the second hydraulic rod. One end of the second spring is fixed to the upper part of this push rod, and the other end is fixed to the connecting plate.

[0009] The working surfaces of the upper pressing block and the side pressing block are both outwardly convex arc surfaces.

[0010] The moving mechanism is a mobile construction platform. The mobile construction platform can be a scissor-type construction platform, which is prior art and its specific structure will not be elaborated here.

[0011] Usage method: S1. Pre-install one or two screws at one end or both ends of the plate, so as to control the displacement of the plate in the X-axis direction.

[0012] S2. Then, it is moved to the installation position by the moving mechanism, so that the vertical rod and the side pressing block are located on both sides of the upper plate. Start the third hydraulic rod, and the push rod of the third hydraulic rod drives the side pressing plate to move towards this plate and press this plate against the vertical rod. The push rod of the third hydraulic rod continues to move, and drives the top pressing block to move towards this plate and press against the end face of this plate.

[0013] S3. Rotate the lead screw to adjust the position of the screw tightening mechanism in the X-axis direction; adjust the position in the Y-axis direction through the first hydraulic rod until the sleeve is concentric with the screw. S4. Start the first motor and the second hydraulic rod to realize the tightening and fixing of the screw. Among them, for the functions that cannot be achieved by this application, during specific construction, they can all be improved by manual assistance.

[0014] When tightening the nut, in the existing construction, generally, the bolt is first put on manually, then the nut is screwed on, and finally tightened and fixed uniformly. Since the hole diameter is generally larger than the outer diameter of the bolt, when tightening manually, it will cause a certain inclination on the outer side of the plate. Before tightening the nut in this application, through the cooperation of the side pressing block, the top pressing block and the vertical rod, position locking can be realized to minimize the inclination.

[0015] The beneficial effects brought by the technical solution provided by the embodiment of the present invention are as follows: The moving mechanism can drive the entire device to move freely, and the moving mechanism adopts a scissor-type construction platform, which can realize height adjustment; the positioning structure can realize double fixation on the side and the top, so that it is not easy to shift during the screw tightening process; the screw tightening mechanism adopts the cooperation of a hydraulic rod, a motor and a spring, which can realize automatic feeding; the sleeve cooperating with the screw is connected in a detachable manner, and can be replaced arbitrarily according to the different shapes of the screws. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the following listed drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0017] Figure 1 is the overall structural schematic diagram of the embodiment of the present invention; Figure 2 is the structural schematic diagram of the positioning mechanism and its related parts; Figure 3 is Figure 2 the partial enlarged view of A in Figure 4 is the structural schematic diagram of the screw tightening mechanism; Figure 5 is the structural schematic diagram after removing the moving mechanism; Figure 6 It is a schematic diagram showing that the side pressing block and the top pressing block are not in contact with the plate. Figure 7 It is a schematic diagram showing that the side pressing block and the top pressing block are in contact with the plate.

[0018] In the attached drawings, the list of components represented by each reference numeral is as follows: 1. Moving mechanism; 2. Frame; 3. Positioning mechanism; 4. Screwing mechanism; 5. First hydraulic rod; 6. Lead screw; 7. Upper plate; 8. Lower plate; 9. Vertical rod; 10. Slide plate; 201. Bottom plate; 202. Column; 203. Guide plate; 301. First adjusting rod; 302. Third hydraulic rod; 303. Second adjusting rod; 304. Third adjusting rod; 305. First spring; 306. Connecting rod; 307. Side pressing block; 308. Fixed rod; 309. Top pressing block; 310. Slide block; 30401. Strip-shaped opening; 401. Installation vertical plate; 402. First motor; 403. Second hydraulic rod; 404. Sleeve; 405. Fixture; 406. Second spring; 407. Support seat; 601. Second motor; 602. Lead screw nut. Specific embodiments

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with embodiments. Of course, the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] See Figures 1 - 7 , a building metal component installation robot, characterized in that it includes a moving mechanism 1, a frame 2 provided on the moving mechanism 1, a positioning mechanism 3 and a screwing mechanism 4 provided on the frame 2; The frame 2 includes a bottom plate 201, two columns 202 are symmetrically arranged on both sides of the bottom plate 201, a guide plate 203 is fixedly arranged on the outer side of the column 202, a slide plate 10 sliding along the X-axis direction is arranged between the two guide plates 203, and lead screws 6 are rotatably arranged at both ends of the slide plate 10; it also includes a first hydraulic rod 5 for driving the slide plate 10 to move; a second motor 601 for driving the lead screw 6 to rotate is fixed on the slide plate 10; The screwing mechanism 4 includes an installation vertical plate 401, a first motor 402 moving along the Z-axis direction and a second hydraulic rod 403 for driving the first motor 402 to move are arranged on the installation vertical plate 401, and a sleeve 404 matching with the screw is arranged at the lower end of the motor shaft of the first motor 402; the sleeve 404 is detachably connected, generally connected by bolts or pins, and the lower part of the sleeve 404 can be designed according to the shape of the screw and can be a hexagonal hole matching with the nut.

[0021] The mounting vertical plate 401 is fixedly connected to the lead screw nut on the lead screw 6. A limiting groove for cooperating with the sliding plate 10 is provided on the mounting vertical plate 401; the mounting vertical plate 401 is slidably arranged on the sliding plate 10 through the limiting groove; The positioning mechanism 3 includes a first adjusting rod 301 hinged on the bottom plate 201. A slider 310 is sleeved on the first adjusting rod 301. A first spring 305 is arranged between the slider 310 and the upper part of the first adjusting rod 301. The first spring 305 is sleeved on the first adjusting rod 301; the upper end of the first spring 305 is fixed to the upper part of the first adjusting rod 301, and the lower end is fixed to the slider 310; it also includes a third hydraulic rod 302 for driving the first adjusting rod 301 to rotate. The cylinder body of the third hydraulic rod 302 is hinged on the bottom plate 201. The push rod of the third hydraulic rod 302 is hinged to the slider 310 through a first hinge shaft. A second adjusting rod 303 is also hinged on the first hinge shaft. The upper end of the second adjusting rod 303 is hinged with a third adjusting rod 304. A strip-shaped opening 30401 is provided on the third adjusting rod 304. The top end of the first adjusting rod 301 is hinged in the strip-shaped opening 30401. A fixed rod 308 is fixedly arranged at the outer end of the third adjusting rod 304. Top pressing blocks 309 are symmetrically arranged at both ends of the fixed rod 308. A side pressing block 307 is fixedly arranged on the outer side of the first adjusting rod 301 through a connecting rod 306; the positioning mechanism 3 further includes a vertical rod 9 arranged at the outer end of the guide plate 203. The vertical rod 9 and the side pressing block 307 are located on both sides of the plate material close to the screw tightening mechanism 4. When the third hydraulic rod 302 is started, the push rod of the third hydraulic rod 302 drives the side pressing plate to move towards this plate material and presses this plate material against the vertical rod 9. The push rod of the third hydraulic rod 302 continues to move to drive the top pressing block 309 to move towards this plate material and press against the end face of this plate material.

[0022] A Z-axis direction guide rail is fixedly arranged on the mounting vertical plate 401. A moving block is slidably arranged on the guide rail. A detachable fixture 405 is arranged on the moving block. The first motor 402 is arranged on the moving block through the fixture 405.

[0023] The detachable fixture 405 includes two symmetrically arranged clamping blocks. Mounting grooves matching the outer shell of the first motor 402 are provided on both clamping blocks. The first motor 402 is arranged in the mounting groove and is fixedly tightened by bolts arranged on the two clamping blocks.

[0024] A connecting plate is fixedly arranged on any one of the clamping blocks. The cylinder body of the second hydraulic rod 403 is fixed on the mounting vertical plate 401 through a support seat 407. The push rod of the second hydraulic rod 403 is fixed on the connecting plate. A second spring 406 is sleeved on the push rod of the second hydraulic rod 403. One end of the second spring 406 is fixed to the upper part of this push rod, and the other end is fixed to the connecting plate.

[0025] The working surfaces of the upper pressing block and the side pressing block 307 are both outwardly convex arc surfaces.

[0026] The moving mechanism 1 is a mobile construction platform. The mobile construction platform can be a scissor-type construction platform, which is prior art and its specific structure will not be elaborated here.

[0027] Usage method: S1. Pre-install one or two screws at one or both ends of the upper plate 7, so as to control the displacement of the upper plate 7 in the X-axis direction.

[0028] S2. Then move to the installation position through the moving mechanism 1, so that the vertical rod 9 and the side pressing block 307 are located on both sides of the upper plate. Start the third hydraulic rod 302, and the push rod of the third hydraulic rod 302 drives the side pressing plate to move towards this plate and press this plate against the vertical rod 9. The push rod of the third hydraulic rod 302 continues to move, and drives the top pressing block 309 to move towards this plate and press against the end face of this plate.

[0029] S3. Rotate the lead screw 6 to adjust the position of the screw tightening mechanism 4 in the X-axis direction; adjust the position in the Y-axis direction through the first hydraulic rod 5 until the sleeve 404 is concentric with the screw. S4. Start the first motor 402 and the second hydraulic rod 403 to tighten the screw, so as to fix the upper plate 7 and the lower plate 8. Among them, for the functions that cannot be achieved by this application, during specific construction, they can all be improved by manual assistance.

[0030] When tightening the nut, in the existing construction, generally, the bolt is first put on manually, then the nut is screwed on, and finally they are tightened and fixed together. Since the hole diameter is generally larger than the outer diameter of the bolt, when tightening manually, it will cause a certain inclination on the outer side of the plate. Before tightening the nut in this application, through the cooperation of the side pressing block 307, the top pressing block 309 and the vertical rod 9, position locking can be realized to minimize the inclination.

[0031] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A building metal component installation robot, characterized in that, It includes a moving mechanism, a frame arranged on the moving mechanism, a positioning mechanism and a screw-tightening mechanism arranged on the frame; The frame includes a bottom plate, columns are symmetrically arranged on both sides of the bottom plate, guide plates are fixedly arranged on the outer sides of the columns, a sliding plate sliding in the X-axis direction is arranged between the two guide plates, and lead screws are rotatably arranged at both ends of the sliding plate; It also includes a hydraulic rod one for driving the sliding plate to move; The screw-tightening mechanism includes an installation vertical plate, a motor one moving in the Z-axis direction and a hydraulic rod two for driving the motor one to move are arranged on the installation vertical plate, and a sleeve cooperating with the screw is arranged at the lower end of the motor shaft of the motor one; The installation vertical plate is fixedly connected with a lead screw nut on the lead screw, and a limiting groove cooperating with the sliding plate is arranged on the installation vertical plate; The positioning mechanism includes an adjusting rod one hinged on the bottom plate, a slider is sleeved on the adjusting rod one, a spring one is arranged between the slider and the upper part of the adjusting rod one, and the spring one is sleeved on the adjusting rod one; It also includes a hydraulic rod three for driving the adjusting rod one to rotate, the cylinder body of the hydraulic rod three is hinged on the bottom plate, the push rod of the hydraulic rod three is hinged on the slider through a hinge shaft one, an adjusting rod two is also hinged on the hinge shaft one, the upper end of the adjusting rod two is hinged with an adjusting rod three, a strip-shaped opening is arranged on the adjusting rod three, the top end of the adjusting rod one is hinged in the strip-shaped opening, a fixing rod is fixedly arranged at the outer end of the adjusting rod three, top pressing blocks are symmetrically arranged at both ends of the fixing rod, and side pressing blocks are fixedly arranged on the outer side of the adjusting rod one through connecting rods; The positioning mechanism also includes a vertical rod arranged at the outer end of the guide plate, the vertical rod and the side pressing block are located on both sides of the plate close to the screw-tightening mechanism. When the hydraulic rod three is started, the push rod of the hydraulic rod three drives the side pressing plate to move towards this plate and presses this plate against the vertical rod, and the push rod of the hydraulic rod three continues to move and drives the top pressing block to move towards this plate and press against the end face of this plate.

2. The construction metal component installation robot according to claim 1, characterized in that, A Z-axis direction guide rail is fixedly arranged on the installation vertical plate, a moving block is slidably arranged on the guide rail, a detachable clamp is arranged on the moving block, and the motor one is arranged on the moving block through the clamp.

3. The construction metal component installation robot according to claim 2, characterized in that, A connecting plate is fixedly arranged on any one of the clamping blocks, the cylinder body of the hydraulic rod two is fixed on the installation vertical plate through a support seat, the push rod of the hydraulic rod two is fixed on the connecting plate, and a spring two is sleeved on the push rod of the hydraulic rod two. One end of the spring two is fixed on the upper part of this push rod, and the other end is fixed on the connecting plate.

4. The construction metal component installation robot according to claim 1, characterized in that, The working surfaces of the upper pressing block and the side pressing block are both outwardly convex arc surfaces.

5. The construction metal component installation robot according to claim 1, characterized in that, The moving mechanism is a mobile construction platform.

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