Truss assembly robot based on multi-axis robot arm, apparatus and method

Abstract

This invention belongs to the field of transmission tower construction technology, and proposes a truss-type tower assembly robot, equipment, and method based on a multi-axis robotic arm. The robot includes a truss, connectors at both ends of the truss, and lifting rings at the ends of the connectors furthest from the truss. A multi-axis robotic arm is mounted on the truss via a first drive assembly, and a bolt fastening assembly is located at the end of the multi-axis robotic arm furthest from the truss. At both ends of the truss furthest from the connectors, gripping hand assemblies are respectively mounted via a second drive assembly. This invention modifies the traditional method of using a climbing robot to transport the tower assembly robot. By mounting gripping hand assemblies at both ends of the truss, which can be fixed to the angle steel of the transmission tower, and combining with the lifting rings, the tower assembly robot can be stably transported to a predetermined area. Furthermore, by adjusting the initial distance using the first drive assembly and further adjusting the small distance using the multi-axis robotic arm, bolts in any direction within space can be fastened, ensuring flexibility and tower assembly efficiency.

Description

Technical Field

[0001] This invention belongs to the field of power transmission tower construction technology, and particularly relates to a truss-type tower assembly robot, equipment and method based on a multi-axis robotic arm. Background Technology

[0002] Transmission towers mainly consist of tower head, tower body, and tower legs. During the construction of transmission towers, especially during on-site assembly at higher positions on the tower head and tower body, in order to reduce the proportion of workers working at height and reduce the occurrence of safety accidents, technologies such as climbing robots are usually used to bring tower assembly robots to the corresponding positions to perform bolt tightening operations between angle steel.

[0003] However, transmission tower structures include numerous interconnected angle steels, which are arranged in various directions, including horizontal, vertical, and inclined. This necessitates that climbing robots be equipped with complex climbing mechanisms to adapt to these angle steels and ascend the tower. Furthermore, the limited power storage of the climbing robots prevents them from operating on the tower for extended periods, impacting the overall efficiency of transmission tower assembly. The complex angle steel layout within the tower necessitates continuous adjustments to the position and height of the climbing robot to reach its designated location, further increasing energy consumption and efficiency. Moreover, for special locations such as those with inclined angle steels, the climbing robot cannot deliver the tower assembly robot to the work position, requiring manual high-altitude work as an assistance. While using hoisting to deliver the tower assembly robot to its designated location for transmission tower assembly avoids the need for climbing robots, this method suffers from poor stability and cannot guarantee successful delivery. Additionally, the tower assembly robot cannot tighten bolts at special locations such as those with inclined angle steels. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a truss-type tower assembly robot, equipment, and method based on a multi-axis robotic arm. By modifying the original climbing robot used for transporting tower assembly robots, this invention adds gripping hand components at both ends of the truss, capable of fixing to the angle steel of the transmission tower. Combined with lifting rings, these components stably transport the tower assembly robot to a predetermined area. Furthermore, by adjusting the initial distance using a first drive component and further adjusting the small distance using the multi-axis robotic arm, bolts in any direction within space can be tightened. This improves tower assembly efficiency while maintaining stability and flexibility.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a gantry-type tower assembly robot based on a multi-axis robotic arm, employing the following technical solution: A truss-type tower assembly robot based on a multi-axis robotic arm includes a truss, connectors disposed at both ends of the truss, and lifting rings disposed at the ends of the two connectors away from the truss. A multi-axis robotic arm is mounted on the truss via a first drive assembly, and a bolt fastening assembly is mounted on the end of the multi-axis robotic arm away from the truss. At both ends of the truss away from the connector, a clamping hand assembly capable of being fixed to the angle steel of the transmission tower is mounted via a second drive assembly. The clamping hand assembly is a gripper assembly, and the clamping hand assembly includes a first gripper and a second gripper 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: a dual-gripper fixed coordinated operation control method for tower assembly robots in heterogeneous tower spaces, determining the identification method of the target area based on the structural similarity judgment of the two target areas corresponding to the first and second grippers, thereby realizing the fixation of the tower assembly robot with the tower in different predetermined areas; and a bolt pose perception and dynamic adjustment method in complex scenarios, performing bolt registration by fusing depth estimation with an iterative nearest point registration target pose estimation algorithm, thereby realizing bolt tightening operations in any direction within space.

[0006] Furthermore, the truss is a hollow beam; each end of the truss is provided with an assembly; the assembly includes a first extension plate and a second extension plate, as well as a plurality of hollow portions formed 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 connector consists of four connectors. At the two vertices of each assembly that are furthest from the truss, one connector is connected to each of the four connectors. The ends of the four connectors furthest from the assembly are connected to the lifting ring. The four connectors are of equal length.

[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 connected to each other in sequence; the connecting seat is connected to the first drive assembly, and the bolt fastening assembly is disposed on the sixth rotating shaft assembly.

[0009] Furthermore, the bolt fastening assembly includes a drive unit and a sleeve disposed on the drive unit.

[0010] Furthermore, the second drive assembly includes a first linear drive member disposed on the truss, a second linear drive member perpendicularly connected to the first linear drive member, and a third linear drive member perpendicularly connected to the second linear drive member; the gripper assembly is disposed on the third linear drive member.

[0011] Furthermore, the gripper assembly is a claw assembly, which includes a first claw and a second claw arranged parallel to each other.

[0012] Furthermore, the lower part of the truss is provided with two limiting protective frames, each including two limiting protective frames and diagonal braces connecting the two limiting protective frames; the second drive assembly and the clamping hand assembly are located within the protective frames. To achieve the above objectives, in a second aspect, the present invention also provides a truss-type tower assembly device based on a multi-axis robotic arm, employing the following technical solution: A truss-type tower assembly bolt fastening device based on a multi-axis robotic arm includes 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 mounted on the hoisting machine.

[0013] To achieve the above objectives, in a third aspect, the present invention also provides a truss-type tower assembly method based on a multi-axis robotic arm, employing the following technical solution: A truss-type tower assembly method based on a multi-axis robotic arm, using a truss-type tower assembly robot based on a multi-axis robotic arm as described in the first aspect, includes: The tower erection robot is hoisted to the predetermined position using lifting rings, and the gripper assembly is adjusted by the second drive component to fix the gripper assembly to the angle steel of the transmission tower; The first drive component adjusts the position of the multi-axis robotic arm and the bolt fastening component, bringing them closer to the area of ​​the bolt to be fastened. The bolt fastening assembly is adjusted in position and working angle by a multi-axis robotic arm to tighten the bolts.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention innovatively proposes a dual-gripper fixed and coordinated operation control method for tower assembly robots in heterogeneous tower spaces, and develops a truss-type tower assembly robot. By judging the structural similarity between the first and second grippers and the two target areas, the identification method of the target area is determined, realizing the stable fixation of the tower assembly robot with the tower in different predetermined areas, and solving the problem of reliable support between the robot and the tower.

[0015] 2. This invention innovatively proposes a method for bolt pose perception and dynamic adjustment in complex scenarios, and develops a bolt fastening tool based on a multi-axis robotic arm. By integrating a depth estimation-based iterative nearest point registration target pose estimation algorithm, bolt registration is performed, achieving the goal of bolt fastening operations in any direction in space, and solving the problem of bolt fastening operations for tower assembly robots.

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

[0017] 4. This invention innovatively proposes a method for hoisting a tower assembly robot under wind load conditions. It develops an assembly component set on a truss. By setting multiple hollow parts on the first extension plate and the second extension plate, it achieves the purpose of reducing the weight of the entire tower assembly robot and improving the flexibility and effectiveness of the hoisting operation. Under wind load conditions, most of the wind passes through the multiple hollow parts, reducing the degree of swaying of the tower assembly robot during hoisting and solving the problem of instability of the tower assembly robot caused by wind load during hoisting.

[0018] 5. This invention innovatively proposes a tower assembly method for long-term continuous operation requirements and develops a truss-type tower assembly equipment based on a multi-axis robotic arm. By using a hoisting machine, the bolt fastening mechanism is hoisted to a predetermined area, achieving the purpose of flexible movement between different predetermined areas. This solves the problems of traditional climbing robots requiring battery power, resulting in short continuous operation time and high control difficulty. It reduces the energy consumption requirements of high-altitude work equipment, improves work efficiency, and eliminates the need for complex robot climbing motion control. Attached Figure Description

[0019] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0020] Figure 1 This is a schematic diagram of the working state of the mechanism in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the mechanism structure of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the multi-axis robotic arm structure according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the second driving component structure in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the clamping hand assembly structure according to Embodiment 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 This is a schematic diagram of the spider-tracked crane of Embodiment 3 of the present invention; Among them, 1. Tower assembly robot; 11. Truss; 12. Assembly component; 1201. First extension plate; 1202. Second extension plate; 1203. Hollowed-out part; 13. Connector; 14. Lifting ring; 15. First drive assembly; 16. Multi-axis robotic arm; 1601. Connecting seat; 1602. First rotating shaft assembly; 1603. Second rotating shaft assembly; 1604. Third rotating shaft assembly; 1605. Fourth rotating shaft assembly; 1606. Fifth rotating shaft assembly; 1 607. Sixth rotating shaft assembly; 17. Bolt fastening assembly; 1701. Drive unit; 1702. Sleeve; 18. Second drive assembly; 1801. First linear drive component; 1802. Second linear drive component; 1803. Third linear drive component; 19. Clamping hand assembly; 1901. First gripper; 1902. Second gripper; 20. Limiting and protective frame; 2001. Limiting and protective frame; 2002. Diagonal brace; 2. Lifting machine; 3. Transmission tower. Detailed Implementation

[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 intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] Example 1: As described in the background section, the angle steel layout in transmission towers is complex. Climbing robots need to constantly adjust their position and height to deliver the tower assembly robot to the designated location, which increases energy consumption and efficiency to some extent. Using a hoisting method to deliver the tower assembly robot to the designated location for transmission tower assembly can avoid the use of climbing robots. However, hoisting the tower assembly robot to the designated location has poor stability and cannot guarantee that the tower assembly robot will be delivered to the designated location. Furthermore, the tower assembly robot cannot tighten bolts in special locations such as tilted angle steel.

[0024] To solve at least one of the above problems, such as Figure 1 and Figure 2 As shown, this embodiment provides a truss-type tower assembly robot based on a multi-axis robotic arm. By using a hoisting method, it replaces the traditional method of transporting tower assembly robots with climbing robots, solving the problems of limited continuous operation time, poor flexibility, and low efficiency caused by energy consumption in the method of transporting tower assembly robots with climbing robots. The tower assembly robot 1 includes a truss 11, assembly components 12, connectors 13, lifting rings 14, a first drive assembly 15, a multi-axis robotic arm 16, a bolt fastening assembly 17, a second drive assembly 18, a gripper assembly 19, and a limiting and protective frame 20, etc.

[0025] like Figure 2 As shown, the truss 11 can be a hollow beam. Using a hollow beam is beneficial for setting the drive source, controller and other auxiliary components in the first drive assembly 15 and the second drive assembly 18 inside the hollow beam, saving space and reducing collision problems during the hoisting process. At the same time, using a hollow beam can reduce the weight of the entire tower assembly robot 1, reduce the hoisting difficulty, and improve the flexibility and efficiency of the hoisting operation.

[0026] The assembly 12 can be configured as two, respectively disposed on both sides of the truss 11 by welding or bolting. Optionally, the assembly 12 includes a first extension plate 1201 and a second extension plate 1202 that are interconnected or integrally formed, and a plurality of cutouts 1203 formed on the first extension plate 1201 and the second extension plate 1202; the assembly 12 is perpendicular to the truss 11, the first extension plate 1201 and the second extension plate 1202 extend to both sides of the truss 11, such that the multi-axis robotic arm 16 and the bolt fastening assembly 17 are located between the two first extension plates 1201, and such that the second drive assembly... The first extension plate 1201 and the second extension plate 1202 are located between the two second extension plates 1202. Their function is to prevent the angle steel in the transmission tower 3 from colliding with the first extension plate 1201 and the second extension plate 1202 when the tower robot 1 moves left and right or shakes during the hoisting process. This also reduces the collision between the multi-axis robotic arm 16, the bolt fastening assembly 17, the second drive assembly 18, and the gripper assembly 19, thus improving the safety of use. The multiple hollow parts 1203 further reduce the weight of the entire tower robot 1 and improve the flexibility and effectiveness of the hoisting operation.

[0027] The perforated portion 1203 can be configured as a rectangular hole, a circular hole, an elliptical hole, or other shaped through hole; the perforated portion 1203 can be a regularly shaped hole or an irregularly shaped hole. The multiple perforated portions 1203 on the first extension plate 1201 and the second extension plate 1202, besides reducing the weight of the entire tower assembly robot 1 and improving the flexibility and effectiveness of the hoisting operation, also achieve ventilation, preventing the tower assembly robot 1 from swaying due to wind load acting on the first extension plate 1201 and the second extension plate 1202 during hoisting. Specifically, by setting multiple perforated portions 1203 on the first extension plate 1201 and the second extension plate 1202, when wind load acts on the first extension plate 1201 and the second extension plate 1202, most of the force of the wind load on the first extension plate 1201 and the second extension plate 1202 is reduced, thus reducing the swaying degree of the tower assembly robot 1 and ensuring construction stability.

[0028] In some embodiments, the assembly 12 may be provided with connectors such as snap-fit ​​connectors, connecting holes or electromagnetic connectors, which enable two or more tower-building robots 1 to be temporarily assembled and then used for hoisting operations, thereby satisfying the purpose of multiple tower-building robots 1 operating at the same height and improving 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. At the two vertices of each assembly 12 away from the truss 11, one connector 13 is connected by welding, bolting, crimping, or other connection methods. The ends of the four connectors 13 away from the assembly 12 are connected to the lifting ring 14. The four connectors 13 are of equal length, so that the lifting ring 14, located in the middle of the truss 11, provides stability for the lifting operation.

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

[0031] like Figure 2 As shown, the first drive assembly 15 is mounted on the truss 11, and the multi-axis robotic arm 16 is mounted on the first drive assembly 15. Optionally, the first drive assembly 15 can be a linear motor, a chain drive assembly, a belt drive assembly, a screw drive assembly, etc., which can realize the change of the multi-axis robotic arm 16 in the length direction of the truss 11. After hoisting, the first drive assembly 15 is used to initially adjust the multi-axis robotic arm 16 so that the multi-axis robotic arm 16 is located within the working area.

[0032] To improve stability, a groove, slider, or other structure can be provided between the truss 11 and the connecting seat 1601 of the multi-axis robotic 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 mechanisms. 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 connected sequentially to each other; the connecting base 1601 is connected to the first drive 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 an independent drive source and a rotating part, which can be implemented by conventional technology and will not be described in detail here.

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

[0035] like Figure 4 and Figure 5 As shown, both the second drive assembly 18 and the gripper assembly 19 are provided in pairs, located at both ends of the truss 11 respectively. 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 perpendicularly connected to the first linear drive member 1801, and a third linear drive member 1803 perpendicularly connected to the second linear drive member 1802. The gripper assembly 19 is disposed on the third linear drive member 1803.

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

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

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

[0039] In some embodiments, each pair of actuating plates of the first gripper 1901 and the second gripper 1902 is independently connected to a driving source. The driving source, the connection method between the driving source and the actuating plate, and the driving method of the actuating plate can all be implemented by existing technology and will not be described in detail here. The actuating plate can be set as an arc-shaped plate or a plate of other shapes.

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

[0041] like Figure 2As shown, the limiting protective frame 20 is located at the lower part of the truss. The limiting protective frame 20 includes two limiting protective frames 2001 and diagonal braces 2002 connecting the two limiting protective frames 2001. The second drive assembly 18 and the clamping hand assembly 19 are located inside the protective frames. It can be understood that the limiting protective frames 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 limiting protective frames 2001 collide with the angle steel on the transmission tower 3, protecting the second drive assembly 18 and the clamping hand assembly 19, and improving the safety of the mechanism during hoisting operations.

[0042] Finally, it should be noted that in this embodiment, by adopting a hollow beam for the truss 11, setting the first extension plate 1201 and the second extension plate 1202, and combining the multiple feature technologies of the limiting protection frame 2001, the important components in the tower assembly robot 1 can be jointly protected, avoiding collisions between the angle steel in the transmission tower 3 and the important components, making the tower assembly robot 1 more suitable for hoisting operations.

[0043] Furthermore, the truss 11 adopts a hollow beam, and the multiple hollow parts 1203 on the assembly 12 are combined with other features, which can reduce the overall weight of the tower assembly robot 1 without affecting the protective functions of the truss 11 and the assembly 12. The reduction in the weight of the tower assembly robot 1 further makes it more suitable for hoisting 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: perform bolt registration based on a bolt pose perception and dynamic adjustment method in complex scenarios, and realize bolt tightening operations in any direction in space by using an iterative closest point (ICP) registration target pose estimation algorithm that integrates depth estimation; specifically, based on the iterative closest point (ICP) registration target pose estimation algorithm that integrates depth estimation, combined with the depth map and the ICP iterative registration method, the accuracy and robustness of pose estimation are effectively improved by introducing point-surface constraints and depth confidence weighting mechanism; the generated pose can be used to enable the robotic arm to grasp angle steel for self-fixation and to operate and tighten nuts.

[0045] Traditional ICP methods heavily rely on the initial overlap of point clouds and are susceptible to occlusion, noise, and local optima, especially in low-texture or structurally unclear scenes, where their registration performance deteriorates significantly. In recent years, depth estimation techniques have developed rapidly, 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. How to improve registration accuracy and robustness while maintaining computational efficiency has become a key issue in current technological development.

[0046] Optionally, acquire a depth map frame and a LiDAR point cloud acquired synchronously with the depth map frame; establish or acquire a 3D model of the angle steel target used for grasping, and establish or acquire a 3D model of the nut for the fastening operation. The algorithm includes the following two branch modules: The grasping branch is used to estimate the grasping pose of the angle steel target; the fastening branch is used to estimate the fastening pose of the nut. Specifically, firstly, 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 ICP method, which introduces point-surface constraints to improve adaptability to surface geometry. Point-surface constraints refer to minimizing the projected distance of the source point along the normal direction of the target point; point-surface constraints are more suitable for targets with significant normal directions on the surface, exhibiting faster convergence speed and higher registration accuracy, especially suitable for irregular or structured surfaces.

[0047] Optionally, when applying angle steel, which is a typical regular geometric structure, commonly seen as "L"-shaped or other right-angled folded metal components, it features a clear planar structure and well-defined edges and corners. In this case, point-to-surface constraints are used. In the registration of angle steel, each observation point (from the depth map / point cloud) mostly falls on a certain planar patch. Using point-to-surface constraints, the normal information of each plane in the angle steel model can be used to project the observation point onto the plane direction of the model, thereby more stably matching the geometric structure. Especially in the edge region, the point-to-point method is prone to oscillation or registration errors, while the point-to-surface method can alleviate this ill-posedness by using the surface normal. The point-to-surface constraint registration is more sensitive to key geometric features such as the boundaries and corners of the angle steel, improving the accuracy of the gripping position estimation.

[0048] Optionally, when tightening bolts, bolts typically have cylindrical or hexagonal heads, often containing observable end faces and planes, especially at the top and sidewalls. For the bolt end faces, point-to-plane constraints ensure that the observation point is projected perpendicularly onto the bolt surface (such as the top plane or hexagonal side), which is beneficial for accurately restoring the bolt's rotation direction during registration, especially for aligning the tool's rotation axis during tightening. Point-to-plane registration allows the registration direction to be guided by the surface normal even if there is some noise in the depth map, improving positioning stability and robustness of bolt attitude estimation, enabling the robotic arm to accurately align the tool and bolt during tightening operations.

[0049] By applying the ICP method, the three-dimensional pose of the angle steel and the fastening bolt positions can be determined. This method is suitable for high-precision grasping and assembly operations in complex scenarios, significantly improving positioning accuracy and environmental adaptability.

[0050] This embodiment, by setting gripping hand assemblies 19 at both ends of the truss 11 to fix with the angle steel of the transmission tower, and combining them with the lifting rings 14, can stably hoist the tower assembly robot 1 to the predetermined area. This hoisting method replaces the traditional climbing method of climbing tower assembly robots. The triangular fixing structure formed by the gripping hand assemblies 19 and the lifting rings 14 at both ends of the truss 11 improves the stability of the tower assembly robot 1 fixed on the transmission tower 3. During operation, the first drive assembly 15 quickly adjusts the initial distance of the bolt fastening assembly 17, improving the adjustment... To improve efficiency, the multi-axis robotic arm 16 further adjusts the small distance of the bolt fastening assembly 17 before operation, ensuring position adjustment accuracy. Through the combination of hoisting method, first drive assembly 15 and multi-axis robotic arm 16, the purpose of bolt fastening operation in any direction in space can be achieved, solving the problems of poor stability and flexibility of traditional tower climbing robots and low tower construction efficiency. At the same time, the bolt registration is performed by using an iterative nearest point registration 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-building robot 1 can be hoisted to a predetermined position using the lifting ring 14, and the clamping hand assembly 19 can be adjusted by the second drive assembly 18 to fix the clamping hand assembly 19 to the angle steel of the transmission tower; thus achieving the purpose of fixing the tower-building robot 1 at three points in the working area of ​​the transmission tower 3, and solving the problem of unstable fixation during high-altitude construction.

[0052] Example 2: like Figure 6As shown, this embodiment provides a truss-type tower assembly robot based on a multi-axis robotic arm. Unlike embodiment 1, this embodiment includes two tower assembly robots 1, which are connected by an assembly component 12. The assembly component 12 can be equipped with connectors such as snap-fit ​​components, connecting holes, or electromagnetic connectors, which enables the two tower assembly robots 1 to be temporarily assembled and then used for hoisting operations, thus achieving the goal of two tower assembly robots 1 operating at the same height and improving tower assembly efficiency.

[0053] In other embodiments, three or more tower-mounting robots 1 can be connected together for hoisting operations, which will not be described in detail here.

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

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

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

[0057] Example 5: This embodiment provides a truss-type tower assembly method based on a multi-axis robotic arm, using a truss-type tower assembly robot based on a multi-axis robotic arm as described in Embodiment 1, and a truss-type tower assembly method based on a multi-axis robotic arm as described in Embodiment 4. During the hoisting process, the relative positions between the first gripper 1901 and the second gripper 1902 of the tower assembly robot and the transmission tower 3 continuously change, making it difficult to fix the tower on the transmission tower 3.

[0058] Based on this, in this embodiment, to ensure that the first gripper 1901 and the second gripper 1902 can quickly and accurately grip the transmission tower 3 at the set position, a zoom camera is provided at the first gripper 1901 and the second gripper 1902, which has the ability to zoom between the longest and shortest focal lengths. Considering that the relative position between the tower assembly robot and the transmission tower 3 may continuously change significantly when the grippers are fixed, that is, the relative position between the zoom camera and the area to be identified will change significantly, in order to improve the accuracy of identification and control, this embodiment deeply fuses the multi-scale visual characteristics of the zoom camera with the robot motion control. First, the zoom camera is adjusted to the first focal length (short focal length) state to perform short focal length global coarse localization. At this time, the zoom camera has a first field of view. For the acquired tower body image, the target clamping area in the tower body image is detected by the target detection model to obtain the target bounding box and the corresponding confidence score. Then, when the confidence level meets the requirements, a long-range local fine detection can be performed on the target bounding box region. At this point, the pan-tilt-zoom angle of the zoom camera is adjusted according to the position of the target bounding box, so that the zoom camera is aligned with the center of the target bounding box, and the camera is switched to a second focal length (telephoto). The second focal length is greater than the first focal length, and the camera has a second field of view, which is smaller than the first field of view. Finally, the region of interest within the zoomed field of view is cropped, segmented, and identified with high precision to obtain the key points to be gripped by the gripper.

[0059] Optional, short focal length f s =8mm (80-degree field of view), run the lightweight YOLOv8 model at a set frame rate (30fps in this example). The model input resolution is set to 640×480. Feature extraction is accelerated by the SPPF module in the YOLOv8 model, and the target bounding box B is output. coarse =[x c ,y c [w,h] and confidence level C, and the target bounding box region is taken as the ROI (Region of Interest). When C≥0.85, the telephoto switching condition is triggered. According to B coarse centroid coordinates (x) c ,y c Drive the gimbal to adjust the viewing angle and switch to telephoto, such as the telephoto focal length f. l =50mm (field of view 12 degrees). Within the ROI region, cropped to 300×300 pixels, the HRNet segmentation network is run. The network adopts a cascaded Hourglass structure, fusing multi-scale features through four resolution branches to output sub-pixel level edge key points with a positioning accuracy of ±0.1px. Subsequently, the key points to be gripped by the gripper are determined based on the obtained edge key points, and the gripper's gripping action is controlled.

[0060] It is understandable that the specific process of identifying the target clamping area in the image acquired in the short focal length state and identifying the clamping point in the image acquired in the long focal length state can be carried out by using conventional algorithm models, as long as the target recognition can be achieved. Therefore, we will not go into detail again or make specific limitations.

[0061] This embodiment, based on the dual-gripper fixing and coordinated operation control method for tower assembly robots in heterogeneous tower spaces, determines the identification method for target areas based on the structural similarity judgment of the two target areas corresponding to the first gripper 1901 and the second gripper 1902, thereby achieving the fixing of the tower assembly robot with the tower in different predetermined areas. Specifically, to reduce the processing workload of high-resolution images, during target identification, the structural similarity of the two target areas corresponding to the first gripper 1901 and the second gripper 1902 is first judged. When the two target areas are located on the same horizontal angle steel, they are considered to have close structural similarity. 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 directly through a simple method of distance judgment or symmetry judgment, reducing the workload of image processing. However, when the two target areas are located on angle steel with different inclination angles or angle steel at different horizontal positions, they are considered to have low structural similarity. In this case, it is necessary to identify the two target areas separately using a zoom method and obtain two key points for each.

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

[0063] Before the tower-building robot 1 is fixed to the transmission tower 3, the lifting ring 14 is located in the middle of the truss 11, and the connecting parts 13 on both sides of the truss are symmetrical and subjected to equal forces. However, when the first gripper 1901 and the second gripper 1902 in the clamping hand assembly 19 grip the angle steel, especially when gripping two angle steels with different positions or inclinations, the truss 11 is not horizontally arranged after the tower-building robot 1 is fixed to the transmission tower 3 by the two clamping hand assemblies 19. At this time, the connecting parts 13 on both sides of the truss are subjected to unequal forces, which makes the position of the lifting ring 14 before the tower-building robot 1 is fixed to the transmission tower 3 no longer meet the requirements. This will not only affect the overall stability, but also cause damage to the connecting parts 13 subjected to greater forces, affecting 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 by the two gripper assemblies 19, the average force value detected by the first and second force sensors is compared with the average force value detected by the third and fourth force sensors. The lifting ring 14 is adjusted towards the side with the larger average force value using a hoisting 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 damage to the connector 13 due to excessive force at one end, while ensuring the overall stability of the tower assembly robot 1.

[0065] Simultaneously, the detection values ​​of the first force sensor, the second force sensor, the third force sensor, and the fourth force sensor are judged. The hoisting machine is used to adjust the lifting ring 14 to the side with the larger detection value until the two compared detection values ​​are equal or the difference is less than the preset detection value difference. This avoids the problem of damage to the connecting part 13 due to excessive force on a certain connecting part 13, and at the same time ensures the overall stability of the tower assembly robot 1.

[0066] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A gantry-type tower assembly robot based on a multi-axis robotic arm, characterized in that, Includes a truss, connectors at both ends of the truss, and lifting rings at the ends of the two connectors away from the truss; A multi-axis robotic arm is mounted on the truss via a first drive assembly, and a bolt fastening assembly is mounted on the end of the multi-axis robotic arm away from the truss. At both ends of the truss away from the connector, a clamping hand assembly capable of being fixed to the angle steel of the transmission tower is mounted via a second drive assembly. The clamping hand assembly is a gripper assembly, and the clamping hand assembly includes a first gripper and a second gripper 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: a dual-gripper fixed coordinated operation control method for tower assembly robots in heterogeneous tower spaces, which determines the identification method of the target area based on the structural similarity judgment of the two target areas corresponding to the first and second grippers, thereby realizing the fixation of the tower assembly robot with the tower in different predetermined areas; and a bolt pose perception and dynamic adjustment method in complex scenarios, which performs bolt registration by fusing depth estimation with an iterative nearest point registration target pose estimation algorithm, thereby realizing bolt fastening operations in any direction in space; The controller is configured to: first determine the structural similarity of the two target areas corresponding to the first gripper and the second gripper; when the two target areas are located on the same horizontal angle steel, the two target areas are considered to have close structural similarity, and only one target area is identified. After determining one target area, the other target area is directly determined by distance judgment or symmetry judgment; when the two target areas are located on angle steel with different inclination angles or angle steel at different horizontal positions, the two target areas are considered to have low structural similarity, and the two target areas are identified separately.

2. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 1, characterized in that, The truss is a hollow beam; each end of the truss is provided with an assembly; the assembly includes a first extension plate and a second extension plate, as well as a plurality of hollow portions formed 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.

3. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 2, characterized in that, The hollowed-out portion is configured as a rectangular hole, a circular hole, or an elliptical hole.

4. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 1, characterized in that, The connector consists of four connectors. At the two vertices of each assembly, which are furthest from the truss, one connector is connected to each of the four connectors. The ends of the four connectors furthest from the assembly are connected to the lifting ring. The four connectors are of equal length.

5. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 4, characterized in that, The connector is a connecting rod or a rope.

6. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 4, characterized in that, Force sensors are installed on all four connectors. Specifically, a first force sensor and a second force sensor are respectively installed on two connectors at one end of the truss, and a third force sensor and a fourth force sensor are respectively installed on two connectors at the other end of the truss.

7. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in 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 connected to each other in sequence; the connecting seat is connected to the first drive assembly, and the bolt fastening assembly is disposed on the sixth rotating shaft assembly.

8. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 1, characterized in that, The bolt fastening assembly includes a drive unit and a sleeve disposed on the drive unit.

9. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 1, characterized in that, The second drive assembly includes a first linear drive member disposed on the truss, a second linear drive member perpendicularly connected to the first linear drive member, and a third linear drive member perpendicularly connected to the second linear drive member; the gripper assembly is disposed on the third linear drive member.

10. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 1, characterized in that, The first gripper and the second gripper are each independently connected to a drive source.

11. The gantry-type tower assembly robot based on a multi-axis robotic arm as described in claim 1, characterized in that, The lower part of the truss is provided with two limiting protective frames, each including two limiting protective frames and diagonal braces connecting the two limiting protective frames; the second drive assembly and the clamping hand assembly are located inside the protective frames.

12. A truss-type tower bolt fastening device based on a multi-axis robotic arm, characterized in that, It includes a hoisting machine, and a truss-type tower assembly robot based on a multi-axis robotic arm as described in any one of claims 1-11, which can be mounted on the hoisting machine.

13. A truss-type tower bolt fastening device based on a multi-axis robotic arm as described in claim 12, characterized in that, It includes at least two tower bolt fastening devices, and adjacent tower bolt fastening devices are connected by assemblies.

14. The truss-type tower bolt fastening device based on a multi-axis robotic arm as described in claim 12, characterized in that, First, a preliminary 3D point cloud is generated based on the depth map, and confidence is evaluated. Then, it is fused with the LiDAR point cloud. The iterative nearest point method is used for 3D registration, and point-to-surface constraints are introduced to improve adaptability to surface geometry.

15. A truss-type tower assembly method based on a multi-axis robotic arm, characterized in that, The gantry tower assembly robot based on a multi-axis robotic arm as described in any one of claims 1-11 includes: The tower erection robot is hoisted to the predetermined position using lifting rings, and the gripper assembly is adjusted by the second drive component to fix the gripper assembly to the angle steel of the transmission tower; The first drive component adjusts the position of the multi-axis robotic arm and the bolt fastening component, bringing them closer to the area of ​​the bolt to be fastened. The bolt fastening assembly is adjusted in position and working angle by a multi-axis robotic arm to tighten the bolts.

16. The truss-type tower assembly method based on a multi-axis robotic arm as described in claim 15, characterized in that, After the tower erecting robot is fixed to the transmission tower by two gripper components, 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 hoisting machine adjusts the lifting ring to 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 the preset difference. Simultaneously, the detection values ​​of the first force sensor and the second force sensor are judged, as well as the detection values ​​of the third force sensor and the fourth force sensor. The lifting ring is adjusted to the side with the larger detection value by the hoisting machine until the two detection values ​​are equal or the difference between the two values ​​is less than the preset difference between the detection values.

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