Truss type tower assembling robot, equipment and method based on multi-axis mechanical arm

Abstract

The invention belongs to the technical field of power transmission tower construction, and provides a truss type tower assembling robot, equipment and method based on a multi-axis mechanical arm, and the truss type tower assembling robot comprises a truss, connecting pieces arranged at the two ends of the truss, and hanging rings arranged at the ends, away from the truss, of the two connecting pieces; a multi-axis mechanical arm is arranged on the truss through a first driving assembly, and a bolt fastening assembly is arranged at the end, away from the truss, of the multi-axis mechanical arm; clamping hand assemblies are arranged at the two ends of the side, away from the connecting piece, of the truss through second driving assemblies correspondingly. On the basis that an original climbing robot conveys a tower assembling robot, clamping hand assemblies capable of being fixed to angle steel of a power transmission tower are arranged at the two ends of a truss correspondingly and combined with a hanging ring, the tower assembling robot can be stably conveyed to a preset area, and the initial distance is adjusted in combination with a first driving assembly; and the small distance is further adjusted through the multi-axis mechanical arm, so that bolts in any direction in the space can be fastened, and the flexibility and the tower assembling efficiency are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of transmission tower construction, and in particular relates to a truss-type tower assembly robot, equipment and method based on a multi-axis robotic arm. Background Art

[0002] The transmission tower mainly consists of the tower head, tower body and tower legs. During the construction of the transmission tower, especially when assembling the tower head and tower body at higher positions on site, in order to reduce the proportion of workers working at height and reduce the occurrence of safety accidents, climbing robots and other technologies are usually used to bring the tower assembly robot to the corresponding position to perform bolt tightening operations between angle steels.

[0003] However, the transmission tower structure includes a large number of interconnected angle steels, and the angle steels at different locations are arranged in various directions, such as horizontally, vertically, and at an angle. This requires that the climbing robot be equipped with a complex climbing mechanism to adapt to the angle steels in various directions in order to climb the tower. The climbing machine itself has limited power storage, which makes it unable to operate on the tower for a long time, affecting the overall efficiency of transmission tower assembly. At the same time, the complex layout of the angle steels in the transmission tower requires the climbing robot to constantly adjust its position and height to deliver the tower assembly robot to the desired location, which also increases energy consumption and efficiency to a certain extent. Moreover, for some special locations, such as those with angle steels arranged at an angle, the climbing robot cannot deliver the tower assembly robot to the working position, and manual high-altitude work is required as an auxiliary. Using a hoisting method to deliver the tower assembly robot to the desired location for transmission tower assembly can avoid the use of a climbing robot. However, delivering the tower assembly robot to the desired location by hoisting is less stable and cannot guarantee that the tower assembly robot will be delivered to the desired location. Moreover, the tower assembly robot cannot tighten bolts in special locations such as angle steels arranged at an angle. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes a truss-type tower assembly robot, equipment and method based on a multi-axis robotic arm. On the basis of changing the original climbing robot to transport the tower assembly robot, by respectively arranging clamping hand assemblies that can be fixed to the transmission tower angle steel at both ends of the truss and combining them with the lifting ring, the tower assembly robot can be stably delivered to the predetermined area. In combination with the adjustment of the initial distance by the first drive assembly and the further adjustment of the small distance by the multi-axis robotic arm, the bolts in any direction in the space can be tightened, thereby improving the tower assembly efficiency while ensuring stability and flexibility.

[0005] In order to achieve the above objectives, in a first aspect, the present invention provides a truss-type tower assembly robot based on a multi-axis manipulator, which adopts the following technical solutions: A truss-type tower assembly robot based on a multi-axis manipulator comprises a truss, connectors arranged at both ends of the truss, and lifting rings arranged at ends of the two connectors away from the truss; The truss is provided with a multi-axis robotic arm via a first drive assembly, and a bolt fastening assembly is provided at one end of the multi-axis robotic arm away from the truss; both ends of the truss away from the connecting member are provided with a clamping hand assembly capable of being fixed to the angle steel of the transmission tower via a second drive assembly; the clamping hand assembly is a clamping claw assembly, and the clamping hand assembly includes a first clamping claw and a second clamping claw arranged parallel to each other; The first drive component, the second drive component and the multi-axis robotic arm are connected to a controller, which is configured to: based on the double-gripper fixation coordinated operation control method of the tower assembly robot in the heterogeneous space of the tower, determine the identification method of the target area according to the structural similarity judgment of the two target areas corresponding to the first gripper and the second gripper, and realize the fixation of the tower assembly robot to the tower between different predetermined areas; and based on the bolt posture perception and dynamic adjustment method in complex scenarios, perform bolt alignment through the iterative closest point alignment target posture estimation algorithm that integrates depth estimation, and realize bolt tightening operations in any direction in space.

[0006] Furthermore, the truss adopts a hollow beam; an assembly is provided at both ends of the truss; the assembly includes a first extension plate and a second extension plate, and a plurality of hollow portions opened on the first extension plate and the second extension plate; the assembly is perpendicular to the truss, and the first extension plate and the second extension plate extend to both sides of the truss respectively.

[0007] Furthermore, the connecting pieces are four connecting pieces, and each assembly is connected to a connecting piece at two vertex positions away from one end of the truss; the four connecting pieces are connected to the lifting ring together at one end away from the assembly, and the lengths of the four connecting pieces are equal.

[0008] Furthermore, the multi-axis robotic arm includes a connecting seat, and a first rotating shaft assembly, a second rotating shaft assembly, a third rotating shaft assembly, a fourth rotating shaft assembly, a fifth rotating shaft assembly and a sixth rotating shaft assembly that are connected to each other in sequence; the connecting seat is connected to the first driving assembly, and the bolt fastening assembly is arranged on the sixth rotating shaft assembly.

[0009] Furthermore, the bolt fastening assembly includes a driving portion and a sleeve arranged on the driving portion.

[0010] Furthermore, the second drive assembly includes a first linear drive member arranged on the truss, a second linear drive member vertically connected to the first linear drive member, and a third linear drive member vertically connected to the second linear drive member; the clamping hand assembly is arranged on the third linear drive member.

[0011] Furthermore, the clamping hand assembly is a clamping jaw assembly, and the clamping hand assembly includes a first clamping jaw and a second clamping jaw arranged parallel to each other.

[0012] Furthermore, two position limiting protection frames are provided at the lower part of the truss, and the position limiting protection frames include two position limiting protection frames and a diagonal brace connecting the two position limiting protection frames; the second driving assembly and the clamping hand assembly are located in the protection frame. In order to achieve the above-mentioned purpose, in a second aspect, the present invention further provides a truss-type tower assembly equipment based on a multi-axis robotic arm, which adopts the following technical solutions: A truss-type tower assembly bolt tightening device based on a multi-axis robotic arm comprises a hoisting machine and a truss-type tower assembly robot based on a multi-axis robotic arm as described in the first aspect, which can be arranged on the hoisting machine.

[0013] In order to achieve the above objectives, in a third aspect, the present invention further provides a truss tower assembly method based on a multi-axis robotic arm, which adopts the following technical solutions: A truss tower assembly method based on a multi-axis manipulator uses the truss tower assembly robot based on a multi-axis manipulator as described in the first aspect, comprising: The tower assembly robot is hoisted to the predetermined position by means of a lifting ring, and the gripping hand assembly is adjusted by the second driving assembly so that the gripping hand assembly is fixed to the angle steel of the transmission tower; The multi-axis robotic arm and the bolt fastening assembly are adjusted in position by the first driving assembly so that the multi-axis robotic arm and the bolt fastening assembly are close to the area where the bolts are to be fastened; The position and working angle of the bolt fastening assembly are adjusted by the multi-axis robotic arm to tighten the bolts to be fastened.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention innovatively proposes a method for controlling the coordinated operation of a tower assembly robot with double grippers in heterogeneous tower spaces, and develops a truss-type tower assembly robot. By judging the structural similarity of the two target areas corresponding to the first gripper and the second gripper, the method for identifying the target areas is determined, and the tower assembly robot is stably fixed to the tower between different predetermined areas, thus solving the problem of reliable support between the robot and the tower.

[0015] 2. The present invention innovatively proposes a method for bolt posture perception and dynamic adjustment in complex scenarios, develops a bolt tightening tool based on a multi-axis robotic arm, and performs bolt alignment by integrating the iterative closest point registration target posture estimation algorithm with depth estimation, thereby achieving the purpose of bolt tightening operations in any direction in space and solving the problem of bolt tightening operations by tower assembly robots.

[0016] 3. The present invention innovatively proposes a truss-type tower assembly robot based on a multi-axis robotic arm. Through the combination of a lifting ring, a first drive assembly and a multi-axis robotic arm, it can achieve the purpose of tightening bolts in any direction in space, solving the problem of the tower assembly robot tightening bolts in any direction in space.

[0017] 4. The present invention innovatively proposes a tower assembly robot hoisting method under a wind-loaded environment, develops an assembly part arranged on a truss, and arranges multiple hollow parts on the first extension plate and the second extension plate to achieve the purpose of reducing the weight of the entire tower assembly robot and improving the flexibility and effect of the hoisting operation process. It also achieves the purpose of most wind passing through the multiple hollow parts under a wind-loaded environment, reduces the degree of shaking of the tower assembly robot during the hoisting process, and solves the problem of instability of the tower assembly robot caused by wind load during the hoisting process.

[0018] 5. The present invention innovatively proposes a tower assembly method under the requirements of long-term continuous operation, and develops a truss-type tower assembly equipment based on a multi-axis robotic arm. Through the lifting machine, the bolt fastening mechanism is lifted to the predetermined area, achieving the purpose of flexible change between different predetermined areas. It solves the problems that traditional climbing robots need to be battery-powered, resulting in short continuous operation time and great control difficulty. It reduces the requirements of aerial work equipment for battery and other energy consumption, improves work efficiency, and does not require complex robot climbing motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation on this embodiment.

[0020] Figure 1 This is a schematic diagram of the working state of the mechanism of Example 1 of the present invention; Figure 2 This is a schematic diagram of the mechanism structure of Example 1 of the present invention; Figure 3 This is a schematic diagram of the structure of a multi-axis robotic arm according to embodiment 1 of the present invention; Figure 4 This is a schematic structural diagram of the second drive assembly in accordance with embodiment 1 of the present invention; Figure 5 This is a schematic structural diagram of a clamping hand assembly according to Example 1 of the present invention; Figure 6 This is a schematic diagram of the working state of embodiment 2 of the present invention; Figure 7 Schematic diagram of a spider crawler crane according to embodiment 3 of the present invention; Among them, 1. Tower assembly robot; 11. Truss; 12. Assembly; 1201. First extension plate; 1202. Second extension plate; 1203. Hollow part; 13. Connector; 14. Lifting ring; 15. First drive assembly; 16. Multi-axis robotic arm; 1601. Connecting seat; 1602. First shaft assembly; 1603. Second shaft assembly; 1604. Third shaft assembly; 1605. Fourth shaft assembly; 1606. Fifth shaft assembly; 1 607. Sixth rotating shaft assembly; 17. Bolt fastening assembly; 1701. Driving unit; 1702. Sleeve; 18. Second driving assembly; 1801. First linear driving member; 1802. Second linear driving member; 1803. Third linear driving member; 19. Clamping hand assembly; 1901. First clamping jaw; 1902. Second clamping jaw; 20. Position limiting protection frame; 2001. Position limiting protection frame; 2002. Diagonal brace; 2. Hoisting machine; 3. Transmission tower. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0023] Example 1: As described in the background technology, the layout of the angle steel in the transmission tower is complex, and the climbing robot needs to constantly adjust its position and height to send the tower assembly robot to the predetermined position, which also increases energy consumption and efficiency to a certain extent; using a hoisting method to send the tower assembly robot to the predetermined position for transmission tower assembly can avoid the use of a climbing robot. However, sending the tower assembly robot to the predetermined position by hoisting has poor stability and cannot guarantee that the tower assembly robot can be sent to the predetermined position. In addition, the tower assembly robot cannot tighten bolts at special positions such as inclined angle steels.

[0024] In order to solve at least one of the above problems, Figure 1 and Figure 2 As shown, this embodiment provides a truss-type tower assembly robot based on a multi-axis robotic arm, which replaces the traditional method of transporting the tower assembly robot by a climbing robot through a hoisting method, and solves the problems of limited continuous operation time, poor flexibility and low efficiency caused by energy consumption of the climbing robot transporting the tower assembly robot; the tower assembly robot 1 includes a truss 11, an assembly part 12, a connector 13, a lifting ring 14, a first drive component 15, a multi-axis robotic arm 16, a bolt fastening component 17, a second drive component 18, a clamping hand component 19 and a limit protection frame 20, etc.

[0025] like Figure 2 As shown, the truss 11 can adopt a hollow beam. The use of a hollow beam is conducive to setting auxiliary components such as the driving source and the controller in the first driving component 15 and the second driving component 18 in the hollow beam, saving space and reducing collision problems during the hoisting process; at the same time, the use of a hollow beam can reduce the weight of the entire tower assembly robot 1, reduce the difficulty of hoisting, and improve the flexibility and effect of the hoisting operation process.

[0026] The assembly 12 can be provided in two pieces, which are respectively provided on both sides of the truss 11 by welding or bolt connection. Optionally, the assembly 12 includes a first extension plate 1201 and a second extension plate 1202 that are connected to each other or formed as one piece, and a plurality of hollow portions 1203 opened on the first extension plate 1201 and the second extension plate 1202; the assembly 12 is perpendicular to the truss 11, and the first extension plate 1201 and the second extension plate 1202 extend to both sides of the truss 11 respectively, so that the multi-axis robot 16 and the bolt fastening assembly 17 are located between the two first extension plates 1201, and the second drive assembly 18 and the clamping hand assembly 19 are located between the two second extension plates 1202. Their function is that during the hoisting process, when the tower assembly robot 1 moves left and right or shakes, the angle steel in the transmission tower 3 collides with the first extension plate 1201 and the second extension plate 1202, thereby preventing the multi-axis robotic arm 16, the bolt fastening assembly 17, the second drive assembly 18 and the clamping hand assembly 19 from colliding, thereby improving the safety of use; the setting of multiple hollow parts 1203 further reduces the weight of the entire tower assembly robot 1 and improves the flexibility and effect of the hoisting operation process.

[0027] The hollow portion 1203 can be configured as a through hole in a rectangular, circular, elliptical, or other shape; the hollow portion 1203 can be a regular or irregular hole. The multiple hollow portions 1203 on the first extension plate 1201 and the second extension plate 1202 not only reduce the weight of the entire tower assembly robot 1 and improve the flexibility and efficiency of the hoisting operation, but also provide ventilation, preventing the tower assembly robot 1 from shaking due to wind load acting on the first extension plate 1201 and the second extension plate 1202 during the hoisting process. Specifically, the multiple hollow portions 1203 on the first extension plate 1201 and the second extension plate 1202 ensure that when wind load acts on the first extension plate 1201 and the second extension plate 1202, most of the wind load will pass through the multiple hollow portions 1203, reducing the force of the wind load on the first extension plate 1201 and the second extension plate 1202, reducing the shaking of the tower assembly robot 1, and ensuring construction stability.

[0028] In some embodiments, connectors such as snap-on connectors, connection holes or electromagnetic connectors may be provided on the assembly part 12, which enables two or more tower assembly robots 1 to be temporarily assembled and then hoisted, thereby meeting the purpose of multiple tower assembly robots 1 operating at the same height and improving the tower assembly efficiency.

[0029] like Figure 2 As shown, the connector 13 can be configured as a connecting rod, rope, or other structure. Optionally, four connectors 13 are used, with each assembly 12 connected to a connector 13 at two vertices at one end away from the truss 11 by welding, bolting, crimping, or other connection methods. The four connectors 13 are connected to a lifting ring 14 at one end away from the assembly 12. The four connectors 13 are of equal length, so that the lifting ring 14 is located in the middle of the truss 11, providing stability during the lifting operation.

[0030] The lifting ring 14 can cooperate with a hook or other mechanism on the lifting machine 2 to achieve a lifting function. The lifting machine 2 can be a crane, a tower crane, a drone or other equipment capable of lifting.

[0031] like Figure 2 As shown, the first drive assembly 15 is disposed on the truss 11, and the multi-axis robotic arm 16 is disposed on the first drive assembly 15. Optionally, the first drive assembly 15 is a linear motor, a chain drive assembly, a belt drive assembly, a screw drive assembly, etc., which can realize the adjustment of the multi-axis robotic arm 16 in the length direction of the truss 11. After hoisting, the multi-axis robotic arm 16 is initially adjusted by the first drive assembly 15 so that the multi-axis robotic arm 16 is located within the range of the work area.

[0032] In order to improve stability, structures such as a slide groove and a slider can be provided between the truss 11 and the connecting seat 1601 of the multi-axis robot arm 16 to improve the stability of the movement process.

[0033] like Figure 3As shown, the multi-axis robotic arm 16 can be a six-axis robotic arm, or other robotic arm structure. Optionally, the multi-axis robotic arm 16 includes a connecting base 1601, and a first rotating shaft assembly 1602, a second rotating shaft assembly 1603, a third rotating shaft assembly 1604, a fourth rotating shaft assembly 1605, a fifth rotating shaft assembly 1606, and a sixth rotating shaft assembly 1607, which are sequentially connected to each other; the connecting base 1601 is connected to the first driving assembly 15, and the bolt fastening assembly 17 is disposed on the sixth rotating shaft assembly 1607. The first rotating shaft assembly 1602, the second rotating shaft assembly 1603, the third rotating shaft assembly 1604, the fourth rotating shaft assembly 1605, the fifth rotating shaft assembly 1606, and the sixth rotating shaft assembly 1607 each include independent drive sources and rotating parts, which can be implemented using conventional technologies and will not be described in detail here.

[0034] like Figure 3 As shown, the bolt fastening assembly 17 includes a driving portion 1701 and a sleeve 1702 disposed on the driving portion 1701; the driving portion 1701 is disposed on the sixth rotating shaft assembly 1607. Optionally, the driving portion 1701 includes at least a motor, and the output shaft of the driving portion 1701 is connected to the sleeve 1702. The sleeve 1702 is a bolt fastening sleeve mechanism, and its internal structure is compatible with the bolt.

[0035] like Figure 4 and Figure 5 As shown, the second drive assembly 18 and the gripping hand assembly 19 are each provided in pairs, one at each end of the truss 11. The second drive assembly 18 includes a first linear drive member 1801 disposed at the bottom of the truss 11, a second linear drive member 1802 vertically connected to the first linear drive member 1801, and a third linear drive member 1803 vertically connected to the second linear drive member 1802. The gripping hand assembly 19 is disposed on the third linear drive member 1803.

[0036] Optionally, the first linear drive 1801, the second linear drive 1802, and the third linear drive 1803 can all be linear motors, chain drive assemblies, belt drive assemblies, screw drive assemblies, etc., capable of achieving linear drive. The first linear drive 1801 can adjust the gripping hand assembly 19 along the length of the truss 11, the second linear drive 1802 can adjust the gripping hand assembly 19 in the front-to-back direction, and the third linear drive 1803 can adjust the gripping hand assembly 19 in the up-down direction, so that the gripping hand assembly 19 can grasp objects such as angle steel on the transmission tower 3.

[0037] like Figure 5As shown, the clamping hand assembly 19 can be configured as a clamping claw, an electromagnetic connector, a manipulator or other components that can be connected or fixed to the angle steel.

[0038] In some embodiments, the clamping hand assembly 19 is a clamping jaw assembly, and the clamping hand assembly 19 includes a first clamping jaw 1901 and a second clamping jaw 1902 arranged parallel to each other; the first clamping jaw 1901 and the second clamping jaw 1902 are independently connected to a driving source respectively, and the driving source, the connection method between the driving source and the clamping jaw, and the driving method of the clamping jaw can all be achieved through existing technology and will not be described in detail here. It should be noted that each clamping hand assembly 19 includes a first clamping jaw 1901 and a second clamping jaw 1902, and the first clamping jaw 1901 and the second clamping jaw 1902 are independently connected to a driving source. The purpose is that the angle and layout of the angle steel on the transmission tower 3 are different. The clamping hand assembly 19 at one end of the truss 11 is connected to the angle steel in the horizontal direction, and the clamping hand assembly 19 at the other end may need to be connected to the angle steel in the inclined direction. At this time, the first clamping jaw 1901 and the second clamping jaw 1902 at the other end can be driven separately, and their opening degree and the opening degree after fixing are different, so that the angle steel in the inclined direction can be stably fixed, avoiding the problem of unstable connection when only one clamping jaw is used.

[0039] In some embodiments, each of the two action plates of the first clamping jaw 1901 and the second clamping jaw 1902 is independently connected to a drive source. The drive source, the connection between the drive source and the action plate, and the driving method of the action plate can all be achieved through existing technologies and will not be described in detail here. The action plate can be configured as an arc-shaped plate or a plate of other shapes.

[0040] It should be noted that each two action plates of the first jaw 1901 and the second jaw 1902 are independently connected to a driving source. When clamping angle steel in an inclined direction or other special positions, not only can the first jaw 1901 and the second jaw 1902 be driven separately, but each action plate in the first jaw 1901 and the second jaw 1902 can also be driven separately. The opening size, opening angle, etc. can be adaptively adjusted to a certain extent, and the angle steel on the inclined or other special positions can be stably fixed.

[0041] like Figure 2As shown, the limit protection frame 20 is located at the lower part of the truss. The limit protection frame 20 includes two limit protection frames 2001 and a diagonal brace 2002 connecting the two limit protection frames 2001. The second drive assembly 18 and the clamping hand assembly 19 are located in the protection frame. It can be understood that the limit protection frame 2001 can limit the left and right movement of the second drive assembly 18 to prevent excessive movement from affecting stability; importantly, during the hoisting process, the limit protection frame 2001 collides with the angle steel on the transmission tower 3, protecting the second drive assembly 18 and the clamping hand assembly 19, thereby improving the safety of the mechanism during hoisting and operation.

[0042] Finally, it should be noted that in this embodiment, the truss 11 adopts a hollow beam, the first extension plate 1201 and the second extension plate 1202 are set, and the multi-feature technology combination of the limit protection frame 2001 can jointly protect the important components of the tower assembly robot 1, avoid the collision of the angle steel in the transmission tower 3 with the important components, and make the tower assembly robot 1 more practical for lifting operations.

[0043] In addition, the truss 11 adopts a hollow beam, and the combination of multiple feature technologies of multiple hollow parts 1203 on the assembly 12 can reduce the weight of the tower assembly robot 1 as a whole without affecting the protective functions of the truss 11 and the assembly 12; the reduction in weight of the tower assembly robot 1 further makes the tower assembly robot 1 more practical for lifting operations.

[0044] In some embodiments, the first drive component 15 and the multi-axis robotic arm 16 are connected to a controller, which is configured to: based on the bolt pose perception and dynamic adjustment method in complex scenarios, perform bolt alignment through an iterative closest point alignment target pose estimation algorithm that integrates depth estimation, and realize bolt tightening operations in any direction in space; specifically, based on the iterative closest point (ICP) alignment target pose estimation algorithm that integrates depth estimation, combined with the depth map and ICP iterative alignment method, the accuracy and robustness of pose estimation are effectively improved by introducing point-surface constraints and depth confidence weighting mechanisms; the generated pose can be used to enable the robotic arm to grasp the angle steel for self-fixation, as well as to operate and tighten the nut.

[0045] Traditional ICP methods rely heavily on the initial overlap of point clouds and are susceptible to occlusion, noise, and local optima. Their registration effectiveness is significantly reduced, particularly in scenes with low texture or unclear structures. In recent years, depth estimation technology has rapidly advanced, and depth prediction based on monocular images has made it possible to construct dense point clouds. However, existing methods have not yet fully integrated the advantages of depth estimation and traditional geometric registration. Improving registration accuracy and robustness while maintaining computational efficiency has become a key issue in current technological development.

[0046] Optionally, a depth map frame and a laser radar point cloud are acquired synchronously with the depth map frame; a 3D model of the angle steel target to be grasped is established or acquired, and a 3D model of the nut to be tightened is established or acquired. The algorithm includes the following two branch modules: The grasping branch estimates the grasping pose of the angle steel target, while the tightening branch estimates the tightening pose of the nut. Specifically, a preliminary 3D point cloud is generated based on the depth map and a confidence assessment is performed. This is then fused with the LiDAR point cloud. Three-dimensional registration is performed using the ICP method, which introduces point-surface constraints to improve adaptability to surface geometry. Point-surface constraints minimize the projection distance of the source point along the normal direction of the target point. Using point-surface constraints is more suitable for targets with a significant normal direction on the surface, resulting in faster convergence and higher registration accuracy, and is particularly suitable for irregular or structured surfaces.

[0047] Optionally, when grasping angle steel, angle steel is a typical regular geometric structure, commonly "L"-shaped or other right-angled folded metal components, with clear plane structure and clear edges and corners. At this time, point-surface constraints are used. In the alignment of angle steel, each observation point (from the depth map / point cloud) mostly falls on a certain plane surface. Using point-surface constraints, the normal information of each plane in the angle steel model can be used to project the observation point to the model plane direction, thereby more stably matching the geometric structure. Especially in the edge area, the point-to-point method is prone to oscillation or alignment errors, while the point-to-surface method can alleviate this instability with the help of surface normals. The point-surface constraint alignment is more sensitive to key geometric features such as angle steel boundaries and corners, thereby improving the accuracy of grasping position estimation.

[0048] Optionally, when tightening bolts, the bolts generally have a cylindrical or hexagonal head, which often contains observable end faces and planes, especially on the top and side walls; for the end face of the bolt, the point-surface constraint can ensure that the observation point is projected vertically onto the bolt surface (such as the top plane or the hexagonal side), which is conducive to accurately restoring the rotation direction of the bolt during alignment, especially for the need to align the tool rotation axis during tightening; point-surface alignment allows the surface normal to guide the alignment direction even if there is some noise in the depth map, thereby improving positioning stability and improving the robustness of the bolt posture estimation, so that the robot arm can accurately align the tool and bolt during the tightening operation.

[0049] Through the application of the ICP method, the three-dimensional pose of the grasping angle steel position and the three-dimensional pose of the tightening bolt position are determined, which is suitable for high-precision grasping and assembly operations in complex scenes, significantly improving positioning accuracy and environmental adaptability.

[0050] In this embodiment, by respectively arranging a clamping hand assembly 19 that can be fixed to the transmission tower angle steel at both ends of the truss 11 and combining it with the lifting ring 14, the tower assembly robot 1 can be stably hoisted to the predetermined area, and the climbing method of the traditional climbing tower assembly robot is replaced by the hoisting method. The triangular fixed structure formed by the clamping hand assembly 19 and the lifting ring 14 at both ends of the truss 11 improves the stability of the tower assembly robot 1 fixed on the transmission tower 3; when working, the first driving assembly 15 is used to quickly adjust the initial distance of the bolt fastening assembly 17, which improves the adjustment efficiency. The overall efficiency is improved, and then the small distance before the operation of the bolt fastening component 17 is further adjusted by the multi-axis robot 16 to ensure the accuracy of position adjustment; through the combination of the hoisting method, the first drive component 17 and the multi-axis robot 16, the purpose of bolt fastening operation in any direction in space can be achieved, which solves the problems of poor stability and flexibility of traditional tower climbing robots and low tower construction efficiency; at the same time, the bolts are aligned through the iterative closest point alignment target pose estimation algorithm based on fusion depth estimation, which effectively improves the accuracy and robustness of pose estimation.

[0051] In this embodiment, the tower-assembling robot 1 can be hoisted to a predetermined position with the aid of the lifting ring 14, and the clamping hand assembly 19 can be adjusted through the second driving assembly 18 so that the clamping hand assembly 19 is fixed to the angle steel of the transmission tower; thus, the tower-assembling robot 1 is fixed at three points in the working area of the transmission tower 3, and the problem of unstable fixation during high-altitude construction is solved.

[0052] Example 2: like Figure 6As shown, this embodiment provides a truss-type tower-assembling robot based on a multi-axis robotic arm. Different from Example 1, this embodiment includes two tower-assembling robots 1, and the two tower-assembling robots 1 are connected by an assembly part 12; the assembly part 12 can be provided with connecting parts such as snap-fit parts, connecting holes or electromagnetic connecting parts, which can enable the two tower-assembling robots 1 to be temporarily assembled and then hoisted, thereby meeting the purpose of two tower-assembling robots 1 operating at the same height and improving the tower assembly efficiency.

[0053] In other embodiments, three or more tower assembly robots 1 may be connected to perform hoisting operations, which will not be described in detail here.

[0054] Each tower assembly robot 1 in this embodiment adopts the aforementioned truss-type tower assembly robot based on a multi-axis robotic arm.

[0055] Example 3: This embodiment provides a truss-type tower assembly bolt tightening device based on a multi-axis robotic arm, comprising a hoisting machine and a truss-type tower assembly robot based on a multi-axis robotic arm, as described in Example 1, which can be mounted on the hoisting machine. The hoisting machine 2 can be a spider crawler crane, or alternatively, a crane, tower crane, drone, or other equipment capable of hoisting.

[0056] Example 4: This embodiment provides a truss tower assembly method based on a multi-axis robotic arm, using the truss tower assembly robot based on a multi-axis robotic arm as described in Example 1, including: The tower assembly robot 1 is hoisted to the predetermined position by means of the lifting ring 14, and the gripping hand assembly 19 is adjusted by the second driving assembly 18 so that the gripping hand assembly is fixed to the angle steel on the transmission tower 3; The multi-axis robot arm 16 and the bolt fastening assembly 17 are adjusted in position by the first driving assembly 15 so that the multi-axis robot arm 16 and the bolt fastening assembly 17 are close to the area where the bolts are to be fastened; The position and working angle of the bolt tightening assembly 17 are adjusted by the multi-axis robotic arm 16 to tighten the bolts to be tightened.

[0057] Example 5: This embodiment provides a truss tower assembly method based on a multi-axis manipulator, utilizing the truss tower assembly robot based on a multi-axis manipulator described in Example 1 and the truss tower assembly method based on a multi-axis manipulator described in Example 4. During the hoisting process, the relative positions of the tower assembly robot's first gripper 1901 and second gripper 1902 and the transmission tower 3 continuously change, making it difficult to secure the tower to the transmission tower 3.

[0058] Based on this, in this embodiment, to ensure that the first and second grippers 1901, 1902 can quickly and accurately clamp to their designated positions on the transmission tower 3, zoom cameras are installed on the first and second grippers 1901, 1902. These cameras are capable of zooming between a maximum and a minimum focal length. Considering that when the grippers are fixed, the relative position between the tower assembly robot and the transmission tower 3 may continue to fluctuate significantly, meaning that the relative position between the zoom camera and the area to be identified may also fluctuate significantly, this embodiment deeply integrates the multi-scale visual characteristics of the zoom camera with robot motion control to improve identification and control accuracy. First, the zoom camera is adjusted to a first focal length (short focus) state for short-focus global coarse positioning. At this point, the zoom camera has a first field of view. The target clamping area in the captured tower image is detected using an object detection model, resulting in a target bounding box and corresponding confidence level. Then, when the confidence level meets the requirements, a localized, telephoto precision inspection of the target bounding box area can be performed. At this point, the zoom camera's pan / tilt angle is adjusted based on the position of the target bounding box, aligning the zoom camera with the center of the target bounding box. The zoom camera is then switched to a second focal length (telephoto), which is larger than the first. This creates a second field of view that is smaller than the first. Finally, the region of interest within the zoomed field of view is cropped, segmented, and highly accurately identified to identify the key points to be gripped by the gripper.

[0059] Optional, short focal length f s =8mm (FOV 80 degrees), and run the lightweight YOLOv8 model at a set frame rate (30fps in this example). The model input resolution is set to 640×480, and the SPPF module in the YOLOv8 model is used to accelerate feature extraction and output the target bounding box B coarse =[x c ,y c ,w,h] and confidence C, and the target bounding box area is the ROI area (Region of Interest). When C ≥ 0.85, the telephoto switching condition is triggered. coarse The center of mass coordinates (x c ,y c ) drives the gimbal to adjust the viewing angle and switch to telephoto, such as the telephoto focal length f l =50mm (12-degree field of view). The ROI area is cropped to 300×300 pixels and then run through the HRNet segmentation network. The network uses a cascaded hourglass architecture, fusing multi-scale features across four resolution branches to output sub-pixel edge keypoints with a positioning accuracy of ±0.1px. The obtained edge keypoints are then used to determine the gripping keypoints of the gripper and control its gripping motion.

[0060] It can be understood that the specific identification process of identifying the target clamping area for images collected in the short-focus state and the specific identification process of identifying the point to be clamped for images collected in the long-focus state can adopt a conventional algorithm model, as long as the target recognition can be achieved. Again, no elaboration is made and no specific limitation is made.

[0061] This embodiment, based on a coordinated control method for dual-gripper fixation of a tower assembly robot in a heterogeneous tower space, determines a target area identification method based on the structural similarity of the two target areas corresponding to the first and second grippers 1901 and 1902, thereby enabling the tower assembly robot to fix the tower between different predetermined areas. Specifically, to reduce image processing workload, during target identification, the structural similarity of the two target areas corresponding to the first and second grippers 1901 and 1902 is first determined. When the two target areas are located on the same horizontal angle steel, the structural similarity of the two target areas is determined to be close. In this case, only one target area needs to be identified using a zoom method. After determining the key points of one target area, the key points of the other target area are directly determined using a simple method such as distance judgment or symmetry judgment, thus reducing the image processing workload. However, when the two target areas are located on angle steels with different inclination angles or at different horizontal positions, the structural similarity of the two target areas is determined to be different. In this case, the two target areas need to be identified separately using a zoom method to obtain two key points.

[0062] Example 6: This embodiment provides a truss tower assembly method based on a multi-axis robotic arm, using the truss tower assembly robot based on a multi-axis robotic arm as described in Example 1, and the truss tower assembly method based on a multi-axis robotic arm as described in Example 5.

[0063] Before the tower-building robot 1 is secured to the transmission tower 3, the lifting ring 14 is located in the middle of the truss 11, and the connectors 13 on either side of the truss are symmetrical and equally stressed. However, when the first and second grippers 1901, 1902 of the gripper assembly 19 grasp angle steel, particularly when grasping two angle steels at different positions or angles, the truss 11 is not arranged horizontally after the tower-building robot 1 is secured to the transmission tower 3 via the two gripper assemblies 19. At this point, the connectors 13 on either side of the truss are subjected to unequal forces. This causes the lifting ring 14 position before the tower-building robot 1 is secured to the transmission tower 3 to no longer meet the required position, which not only affects overall stability but also damages the connectors 13 that are subject to greater forces, impacting stability and safety.

[0064] Based on this, in this embodiment, force sensors are installed on all four connectors 13. Force sensors can be installed at the connection between the connector 13 and the lifting ring 14, or at the connection between the connector 13 and the assembly 12. Optionally, a first force sensor and a second force sensor are respectively installed on the two connectors 13 at one end of the truss 11, and a third force sensor and a fourth force sensor are respectively installed on the two connectors 13 at the other end of the truss 11. After the tower assembly robot 1 is fixed to the transmission tower 3 via two gripper assemblies 19, the average force value detected by the first force sensor and the second force sensor is compared with the average force value detected by the third force sensor and the fourth force sensor. The lifting ring 14 is then adjusted toward the side with the larger average force value by a lifting machine until the average force values at both ends are equal or the difference between the average force values at both ends is less than a preset difference. This avoids the problem of damage to the connector 13 due to a larger force on one end, while ensuring the overall stability of the tower assembly robot 1.

[0065] At the same time, the detection value of the first force sensor and the detection value of the second force sensor, as well as the detection value of the third force sensor and the detection value of the fourth force sensor are judged, and the lifting ring 14 is adjusted to the side with the larger detection value through the lifting machine until the two compared detection values are equal or the value difference is less than the preset detection value difference, thereby avoiding the problem of damage to the connecting part 13 due to the large force on a certain connecting part 13, and at the same time ensuring the overall stability of the tower assembly robot 1.

[0066] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A truss-type tower assembly robot based on a multi-axis manipulator, characterized in that: It includes a truss, connecting pieces arranged at both ends of the truss, and a lifting ring arranged at one end of the two connecting pieces away from the truss; The truss is provided with a multi-axis robotic arm via a first drive assembly, and a bolt fastening assembly is provided at one end of the multi-axis robotic arm away from the truss; both ends of the truss away from the connecting member are provided with a clamping hand assembly capable of being fixed to the angle steel of the transmission tower via a second drive assembly; the clamping hand assembly is a clamping claw assembly, and the clamping hand assembly includes a first clamping claw and a second clamping claw arranged parallel to each other; The first drive component, the second drive component and the multi-axis robotic arm are connected to a controller, which is configured to: based on the double-gripper fixation coordinated operation control method of the tower assembly robot in the heterogeneous space of the tower, determine the identification method of the target area according to the structural similarity judgment of the two target areas corresponding to the first gripper and the second gripper, and realize the fixation of the tower assembly robot to the tower between different predetermined areas; and based on the bolt posture perception and dynamic adjustment method in complex scenarios, perform bolt alignment through the iterative closest point alignment target posture estimation algorithm that integrates depth estimation, and realize bolt tightening operations in any direction in space.

2. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: The truss adopts a hollow beam; an assembly is provided at both ends of the truss; the assembly includes a first extension plate and a second extension plate, and a plurality of hollow parts opened on the first extension plate and the second extension plate; the assembly is perpendicular to the truss, and the first extension plate and the second extension plate extend to both sides of the truss respectively.

3. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 2, characterized in that: The hollow portion is configured as a rectangular hole, a circular hole or an elliptical hole.

4. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: There are four connecting pieces, and each assembly is connected to a connecting piece at two vertices at one end away from the truss; the four connecting pieces are connected to the lifting ring at one end away from the assembly, and the lengths of the four connecting pieces are equal.

5. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 4, characterized in that: The connecting piece is a connecting rod or a rope.

6. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 4, characterized in that: Force sensors are installed on the four connecting members. Specifically, a first force sensor and a second force sensor are respectively provided on the two connecting members at one end of the truss, and a third force sensor and a fourth force sensor are respectively provided on the two connecting members at the other end of the truss.

7. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: The multi-axis robotic arm includes a connecting seat, and a first rotating shaft assembly, a second rotating shaft assembly, a third rotating shaft assembly, a fourth rotating shaft assembly, a fifth rotating shaft assembly and a sixth rotating shaft assembly that are connected to each other in sequence; the connecting seat is connected to the first driving assembly, and the bolt fastening assembly is arranged on the sixth rotating shaft assembly.

8. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: The bolt fastening assembly includes a driving portion and a sleeve arranged on the driving portion.

9. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: The second driving assembly includes a first linear driving member arranged on the truss, a second linear driving member vertically connected to the first linear driving member, and a third linear driving member vertically connected to the second linear driving member; the clamping hand assembly is arranged on the third linear driving member.

10. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: The controller is configured to first determine the structural similarity of the two target areas corresponding to the first and second grippers. If the two target areas are located on the same horizontal angle steel, the two target areas are deemed to have similar structures. In this case, only one target area is identified. After one target area is identified, the other target area is directly identified through distance determination or symmetry determination. If the two target areas are located on angle steels with different inclination angles or at different horizontal positions, the two target areas are deemed to have different structural similarities. In this case, the two target areas are identified separately.

11. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 10, characterized in that: The first clamping jaw and the second clamping jaw are independently connected to a driving source.

12. The truss-type tower assembly robot based on a multi-axis manipulator according to claim 1, characterized in that: Two position limiting protection frames are provided at the lower part of the truss, and the position limiting protection frames include two position limiting protection frames and a diagonal brace connecting the two position limiting protection frames; the second driving assembly and the clamping hand assembly are located in the protection frame.

13. A truss-type tower bolt tightening device based on a multi-axis robotic arm, characterized in that: The invention comprises a hoisting machine and a truss-type tower assembly robot based on a multi-axis mechanical arm as claimed in any one of claims 1 to 12 that can be arranged on the hoisting machine.

14. The truss-type tower bolt tightening device based on a multi-axis robotic arm according to claim 13, characterized in that: It comprises at least two tower assembly bolt fastening devices, and adjacent tower assembly bolt fastening devices are connected via an assembly piece.

15. The truss-type tower bolt tightening device based on a multi-axis robotic arm according to claim 1, characterized in that: First, a preliminary 3D point cloud is generated based on the depth map and a confidence assessment is performed; then it is fused with the lidar point cloud; 3D registration is performed using the iterative closest point method, and point-surface constraints are introduced to improve adaptability to surface geometry.

16. A truss tower assembly method based on a multi-axis robotic arm, characterized in that: A truss-type tower assembly robot based on a multi-axis manipulator as described in any one of claims 1 to 15 is used, comprising: The tower assembly robot is hoisted to the predetermined position by means of a lifting ring, and the gripping hand assembly is adjusted by the second driving assembly so that the gripping hand assembly is fixed to the angle steel of the transmission tower; The multi-axis robotic arm and the bolt fastening assembly are adjusted in position by the first driving assembly so that the multi-axis robotic arm and the bolt fastening assembly are close to the area where the bolts are to be fastened; The position and working angle of the bolt fastening assembly are adjusted by the multi-axis robotic arm to tighten the bolts to be fastened.

17. A truss tower assembly method based on a multi-axis robotic arm according to claim 16, characterized in that: After the tower assembly robot is fixed to the transmission tower through two gripper assemblies, it compares the average force value detected by the first force sensor and the second force sensor with the average force value detected by the third force sensor and the fourth force sensor. The hoisting machine adjusts the lifting ring toward the side with the larger average force value until the average force values at both ends are equal or the difference between the average force values at both ends is less than a preset difference. At the same time, the detection value of the first force sensor and the detection value of the second force sensor, as well as the detection value of the third force sensor and the detection value of the fourth force sensor are judged, and the lifting ring is adjusted to the side with the larger detection value through the lifting machine until the two compared detection values are equal or the difference between the values is less than the preset detection value difference.

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