Self-walking type air pipe flange bolt automatic screwing device and method

Abstract

The present application belongs to the technical field of air pipe flange installation, and discloses a self-walking air pipe flange bolt automatic screwing equipment and method. The equipment comprises a screw arrangement device and a nut arrangement and screwing device, both of which are equipped with a self-walking mechanism and a robot frame with a flexible structure, and can realize active adsorption, automatic walking and crossing adjacent surfaces of the air pipe; the screw arrangement device arranges screws through a screw arrangement cylinder and an air pump. The nut arrangement and screwing device realize automatic positioning, alignment, tightening and torque control of the nut through a nut slide, an air pump, a screw adjusting assembly, a nut adjusting assembly and a screwing mechanism with torque detection. The present application can significantly improve construction efficiency and quality, reduce labor intensity and safety risk, and is suitable for automatic installation of large building air pipe systems.

Description

Technical Field

[0001] This invention belongs to the field of duct flange installation technology, specifically relating to a self-propelled automatic bolt tightening device and method for duct flanges. Background Technology

[0002] In the installation of HVAC systems in large public buildings, the duct system is huge, and the duct sections are generally connected by bolts using angle steel flanges. This connection method involves a large number of connection points and a huge number of bolts. The traditional manual tightening method has the following significant problems: (1) High labor intensity and low efficiency: The number of bolts is huge, and it is time-consuming and labor-intensive to tighten them one by one by manual, which seriously affects the construction progress; (2) High construction difficulty and safety risk: Duct installation often involves high-altitude operations or operations in narrow spaces. Manual tightening is not only difficult and inconvenient to operate, but also more likely to cause safety accidents such as falls from heights and falling tools, resulting in high safety risks; (3) Difficult to guarantee process quality: In harsh construction environments, it is difficult to accurately control the torque of manual tightening, which can easily lead to missed tightening, under-tightening or over-tightening, affecting the reliability and airtightness of the connection, and resulting in inconsistent process quality.

[0003] Currently, there are some experimental automated tightening devices, such as robotic arms or auxiliary support devices. However, these devices are often bulky, lack flexibility, and require a large amount of manual assistance for installation, disassembly, and relocation, resulting in a low level of automation. More importantly, existing devices typically struggle to actively adhere to the duct surface and move independently, especially when traversing between different duct surfaces (such as from the top to the side), which significantly limits their application in complex duct systems.

[0004] Therefore, developing an automated device capable of actively adhering to the surface of ducts, achieving automatic movement and bolt tightening, and flexibly traversing adjacent duct surfaces is of great significance for reducing reliance on manual labor, improving construction efficiency and quality, ensuring construction safety, and promoting the development of the electromechanical installation industry towards intelligence, automation, and green low-carbon practices. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to address the shortcomings of existing technologies by providing a self-propelled automatic bolt tightening device and method for duct flanges. This device can actively adhere to the surface of the duct, enabling automatic movement, automatic bolt placement, automatic nut placement and tightening, and can effectively cross adjacent surfaces of the duct. This solves the problems mentioned in the background technology, such as low efficiency, high risk, and unstable quality of manual tightening, as well as the poor flexibility and inability of existing automated equipment to effectively cross surfaces.

[0006] Technical solution: The self-propelled automatic bolt tightening equipment for duct flanges described in this invention is used for bolting angle steel flanges of ducts, including:

[0007] A screw-laying device for laying screws in the bolt holes of the duct flange, the screw-laying device comprising: a first self-propelled mechanism for adhering to the surface of the duct, a first robot frame for supporting the screw-laying device, and a screw-laying cylinder for guiding the screws to the bolt holes;

[0008] A nut placement and tightening device is used to place nuts on the pre-placed screws and tighten them. The nut placement and tightening device includes: a second self-propelled mechanism for adhering to the surface of the air duct; a second robot frame supporting the nut placement and tightening device; a nut slide for guiding the nut to a pre-reserved position; a screw adjustment assembly for adjusting the vertical position of the screw; a nut adjustment assembly for adjusting the vertical position of the nut so that the screw contacts the nut; a nut sleeve for accommodating the nut and transmitting rotational torque; and a tightening mechanism for driving the nut sleeve to rotate.

[0009] The first self-propelled mechanism and the second self-propelled mechanism have the same structure, both including at least two pairs of magnetic wheel groups distributed back and forth along the walking direction of the screw laying device. Each pair of magnetic wheel groups includes at least one active magnetic wheel connected to the drive motor and a follower magnetic wheel to drive the corresponding device to walk along the duct flange.

[0010] Furthermore, the first robot frame and the second robot frame have the same structure, both having a flexible structure to allow the corresponding devices to cross and move between adjacent surfaces of the air duct.

[0011] Furthermore, the flexible structures of the first robot frame and the second robot frame respectively include: at least two arch-shaped flexible main side plates disposed on both sides of the corresponding active magnetic wheel and follower magnetic wheel, with the axles of the active magnetic wheel and follower magnetic wheel mounted on the flexible main side plates; support columns connecting adjacent flexible main side plates; and an arch-shaped central beam connecting the flexible main side plate groups at the upper and lower levels or front and rear positions; wherein, the arch-shaped flexible main side plates and the arch-shaped central beam work together to enable the corresponding robot frame to adapt to the relative position and angle changes between the front and rear or upper and lower parts of the first self-propelled mechanism or the second self-propelled mechanism through its own elastic deformation when crossing the adjacent surfaces of the air duct.

[0012] Furthermore, the screw placement device also includes a screw delivery pipe and a first air pump connected to the screw delivery cylinder. The first air pump is used to blow the screw through the screw delivery pipe to the screw delivery cylinder, and / or to pressurize and force the screw into the bolt hole when the screw does not fall smoothly.

[0013] Furthermore, the nut placement and tightening unit also includes a second air pump, which is connected to the nut slide and is used to blow the nut through the nut slide into the nut reserved position of the nut sleeve.

[0014] Furthermore, the screw adjustment assembly includes a screw sleeve and a screw telescopic mechanism that drives the screw sleeve to move up and down. The upper part of the screw sleeve is provided with a screw end pre-reserved position. The nut adjustment assembly includes a nut sleeve and a nut telescopic mechanism that drives the nut sleeve to move up and down. The upper part of the nut sleeve is provided with a nut pre-reserved position, and the lower part is a hollow structure with a cylindrical hole for accommodating a screw. The screw sleeve and the nut sleeve are respectively connected to the second robot frame through the screw telescopic mechanism and the nut telescopic mechanism. The screw telescopic mechanism and the nut telescopic mechanism respectively drive the screw sleeve and the nut sleeve to perform lifting and lowering movements to adjust the relative position of the screw or nut.

[0015] Furthermore, the screw telescopic mechanism includes a screw sleeve swing rod, a screw sleeve telescopic rod, a screw telescopic motor support plate, and a screw sleeve telescopic motor. The screw sleeve telescopic motor is fixed to the flexible main side plate (i.e., the flexible main side plate) via the screw telescopic motor support plate. The output shaft (or telescopic rod) of the screw sleeve telescopic motor is connected to the screw sleeve telescopic rod. The screw sleeve telescopic rod is connected to the screw sleeve via the screw sleeve swing rod, so that the screw sleeve telescopically extends and retracts synchronously with the screw sleeve telescopic rod. The nut telescopic mechanism includes a nut sleeve swing rod, a nut sleeve telescopic rod, a nut telescopic motor support plate, and a nut sleeve telescopic motor. The nut sleeve telescopic motor is fixed to the flexible main side plate (i.e., the flexible main side plate) via the nut telescopic motor support plate. The output shaft (or telescopic rod) of the nut sleeve telescopic motor is connected to the nut sleeve telescopic rod. The nut sleeve telescopic rod is connected to the nut sleeve via the nut sleeve swing rod, so that the nut sleeve telescopically extends and retracts synchronously with the nut sleeve telescopic rod.

[0016] Furthermore, the tightening mechanism includes a nut tightening reduction motor, a drive pulley, and a follower pulley. The nut tightening reduction motor is connected and fixed to the nut sleeve rocker arm via an L-shaped base. A drive pulley is mounted on the output shaft of the nut tightening reduction motor. The drive pulley drives the follower pulley to rotate via a synchronous belt. The follower pulley is mounted on the nut sleeve rocker arm and is coaxial with the nut sleeve. The nut tightening reduction motor drives the drive pulley to rotate, and the follower pulley rotates accordingly, driving the nut sleeve to rotate in coordination. The nut tightening reduction motor is equipped with a torque detection device, which is used to control the nut tightening reduction motor to stop rotating when the tightening torque reaches a preset value.

[0017] Furthermore, the device also includes a handheld remote control and / or a miniature camera.

[0018] Furthermore, the portions of the active magnetic wheel and / or the follower magnetic wheel that contact the air duct are provided with grooves.

[0019] The present invention also provides a method for automatically tightening duct flange bolts using the above-mentioned equipment, comprising the following steps:

[0020] (1) Drive the first self-propelled mechanism to make the screw laying device travel along the duct flange to the predetermined bolt hole position;

[0021] (2) The screw is blown into the nail-laying cylinder of the screw-laying device through the nail-feeding pipe by the first air pump, and the screw falls into or is pushed into the bolt hole of the air duct flange.

[0022] (3) Drive the second self-propelled mechanism to make the nut placement and tightening device travel along the duct flange to the screw that has been placed; place the nut on the screw that has been placed and tighten it through the nut placement and tightening unit, including the following sub-steps:

[0023] (301) The nut is blown through the nut slide to the nut reserved position of the nut sleeve by the second air pump;

[0024] (302) Drive the nut sleeve telescopic motor to make the nut sleeve telescopic rod drive the nut sleeve swing rod to move, thereby making the nut sleeve together with the nut inside rise and fall to a predetermined position close to the lower surface of the air duct flange;

[0025] (303) Drive the screw sleeve telescopic motor to make the screw sleeve telescopic rod drive the screw sleeve swing rod to move, thereby making the screw sleeve rise and fall, and making the screw end of the screw sleeve pre-reserved position aligned with and partially accommodate the head of the already laid screw, so as to stabilize the screw.

[0026] (304) The nut sleeve telescopic motor and / or the screw sleeve telescopic motor are driven in concert to finely adjust the relative position of the nut and the end of the screw in the nut sleeve, so as to achieve the initial alignment and contact of the nut and the screw;

[0027] (305) Start the nut tightening reduction motor in the tightening mechanism, and drive the nut sleeve to rotate through the drive pulley, the timing belt and the follower pulley, so that the nut is screwed onto the screw;

[0028] (306) During the tightening process, the torque detection device detects the tightening torque in real time. When the tightening torque reaches the preset value, the nut tightening reduction motor is controlled to stop rotating to complete the tightening.

[0029] (307) Drive the telescopic motor of the nut sleeve and the telescopic motor of the screw sleeve to reset the nut sleeve and the screw sleeve;

[0030] (4) Repeat steps (1) to (3) to perform the bolt tightening operation at the next bolt hole. When the screw laying device, nut laying and tightening device are running to the junction of the two adjacent sides of the air duct, the flexible structure of the first robot frame and the second robot frame is used to allow the corresponding device to cross over to the adjacent surface of the air duct to continue working.

[0031] Beneficial effects: Compared with the prior art, the advantages of the present invention are as follows:

[0032] High degree of automation, reduced reliance on manual labor: The equipment can automate the entire process from adsorption, movement, screw placement to nut placement and tightening, greatly reducing manual intervention and labor intensity.

[0033] Improved construction efficiency: The continuous operation capability of automation is far superior to that of manual tightening, which can significantly shorten the construction cycle and improve the overall construction efficiency.

[0034] Improved construction quality and consistency: Automated screw positioning, nut alignment, and precise torque control ensure the quality and consistency of each bolt connection, avoiding problems such as missed tightening, under-tightening, or over-tightening that may occur during manual operation.

[0035] Enhanced operational safety: Reduces the need for direct manual operation at heights or in confined spaces, effectively lowering the risk of accidents such as falls from heights and being struck by objects.

[0036] Excellent environmental adaptability and cross-surface capability: Adopting magnetic wheel adsorption and flexible robot frame structure, the equipment can not only stably adhere to the surface of the air duct and move on its own, but also flexibly cross adjacent surfaces of the air duct (such as the corner of the angle steel flange or the edge of the air duct), adapting to complex construction environments and expanding the application range of automated equipment.

[0037] Modular design, easy to operate: The screw laying and nut tightening functions are realized by relatively independent devices, the process is clear, and it can be easily controlled by remote control, which is convenient for operation and maintenance.

[0038] Driving technological progress in the industry: It provides efficient, intelligent, and safe automation solutions for the traditional electromechanical installation industry, which helps to promote the industry's transformation and upgrading towards green, low-carbon, and intelligent development. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2This is a schematic diagram of the screw placement device in this invention;

[0041] Figure 3 This is a schematic diagram of the nut placement device in this invention.

[0042] Figure 1 In the middle: 1. Screw laying device; 2. Screw laying and tightening device; 3. Air duct.

[0043] Figure 2 In the middle: 101, nail tube; 102, nail tube connector; 103, nail feed tube; 301, magnetic wheel reducer motor; 302, driving magnetic wheel; 303, following magnetic wheel; 401, main side plate; 402, support column; 403, center beam; 404, wheel axle.

[0044] Figure 3 In the middle: 2101, nut slide rail; 2201, screw sleeve; 2202, screw sleeve swing rod; 2203, screw sleeve telescopic rod; 2204, screw telescopic motor support plate; 2205, screw sleeve telescopic motor; 2301, nut sleeve; 2302, nut sleeve swing rod; 2303, nut sleeve telescopic motor; 2304, nut telescopic motor support plate; 2401, nut tightening reduction motor; 2402, L-shaped base; 2403, drive pulley; 2404, follower pulley. Detailed Implementation

[0045] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0046] Example 1: As Figure 1 The self-propelled duct flange bolt automatic tightening equipment shown mainly consists of two parts: a screw laying device and a nut laying and tightening device. The two work together to complete the automated installation of duct flange bolts.

[0047] The screw-laying device is responsible for pre-installing screws into the bolt holes of the duct flange before the operation begins. For example... Figure 2 The screw-laying device shown has the following main structures: a first self-propelled mechanism, a first robot frame, a nail-laying cylinder, a nail-feeding pipe, and a first air pump.

[0048] The first self-propelled mechanism is the foundation for the device's movement, attaching to the surface of the metal duct via two sets of magnetic wheels. The active magnetic wheel is driven by a magnetic wheel reduction motor, propelling the entire screw-laying device along the axial direction of the duct flange. Each set of magnetic wheels includes an active magnetic wheel and a follower magnetic wheel, with the follower and active magnetic wheels distributed back and forth along the device's direction of travel to ensure stability. Gratings are provided on the surface of the magnetic wheels to increase friction with the duct surface and prevent slippage.

[0049] The follower magnetic wheel has an axle integrated at its center. A baffle is installed between the follower magnetic wheel and the main side plate of the robot frame to prevent axial displacement of the magnetic wheel. Both ends of the axle are connected to deep groove ball bearings within the main side plate, which are fixed to the plate. Unlike the passive magnetic wheel, one end of the active magnetic wheel is coaxially connected to the shaft of a magnetic wheel reduction motor via the axle. The reduction motor is bolted to the main side plate. The other end is connected to a deep groove ball bearing within the main side plate of the robot frame. When the reduction motor operates, it drives the active magnetic wheel, which in turn drives the follower magnetic wheel through the robot frame.

[0050] The first robot frame is the load-bearing structure of the screw-laying device, supporting components such as the self-propelled mechanism and the screw-laying cylinder. Its core feature is its flexible structure, comprising a combination of arch-shaped flexible main side plates and arch-shaped central beams. The main side plates are arch-shaped flexible structures, consisting of two sets of four plates, connected to adjacent main side plates by support columns and matching bolts, located on both sides of the magnetic wheels. The central beams are arch-shaped structures, consisting of two pieces, fixed to the main side plates by bolts. When the robot frame encounters a duct corner or needs to cross an adjacent surface, this flexible structure allows for a certain degree of elastic deformation, enabling the front-to-back or vertical magnetic wheel sets to adapt to changes in the duct surface, thus achieving a smooth crossing and solving the problem of traditional walking structures being unable to cross angle steel obstacles, allowing for the continued tightening of adjacent side duct bolts. The flexible main side plates are located on both sides of the magnetic wheels, with axles mounted on them. Adjacent flexible main side plates are connected by support columns to enhance overall rigidity.

[0051] The nail tube is fixed to the main side plate via a nail tube connector and bolts. One end is close to the upper surface of the duct flange, and the other end is connected to the nail delivery tube. By replacing the nail tube, the inner diameter can be made to accommodate different specifications of bolts. The other end of the nail delivery tube is used to hold the screw, which is blown into the nail tube by a first air pump. The distance between the end of the nail tube and the upper surface of the duct flange should be greater than the thickness of the screw end but less than the length of the screw to prevent the screw from slipping out between the nail tube and the duct flange. At the same time, it ensures that the next screw can slide from the nail tube onto the upper surface of the duct flange after the previous screw has been tightened.

[0052] The screw-laying device is controlled by a handheld remote control, which controls its movement, including starting and stopping. The device begins moving from one end of the duct flange. When the nail-laying cylinder reaches the top of the flange bolt hole, the screw falls into the flange hole under gravity. If the screw does not fall smoothly, a first air pump pressurizes the air to force it into the flange hole, thus completing the screw-laying process.

[0053] The nut installation and tightening device follows the screw installation device to install and tighten the nuts on the already installed screws. For example... Figure 3The nut laying and tightening device shown has the following main structures: a second self-propelled mechanism, a second robot frame, a nut slide, a second air pump, a screw adjustment assembly, and a nut adjustment assembly.

[0054] The second self-propelled mechanism and the second robot frame: their structure and function are exactly the same as the first self-propelled mechanism and the first robot frame in the screw laying device, and will not be described again here.

[0055] Nut slide and second air pump: One end of the nut slide is located at the end of the nut sleeve, and the other end is located on the air duct near the person and connected to the second air pump. When the nut in the nut sleeve is tightened, the next nut is placed into the nut slide and blown into the nut reserved position at the top of the nut sleeve by the second air pump.

[0056] The screw adjustment assembly includes a screw sleeve and a screw telescopic mechanism that drives the screw sleeve to move up and down. The upper part of the screw sleeve has a pre-drilled position for the screw head, used to accommodate and stabilize the head of the already installed screw before tightening. The screw telescopic mechanism consists of a screw sleeve rocker arm, a screw sleeve telescopic rod (which acts as a transmitter or actuator for the linear motion of the motor) connected to the motor output shaft, a screw telescopic motor support plate fixed to the flexible main side plate, and a screw sleeve telescopic motor. The screw sleeve telescopic motor drives the screw sleeve telescopic rod, which in turn drives the screw sleeve to move up and down via the screw sleeve rocker arm, adjusting the vertical position of the screw.

[0057] The nut adjusting assembly includes a nut sleeve and a nut telescopic mechanism that drives the nut sleeve to move up and down. The upper part of the nut sleeve has a nut pre-drilled position to accommodate the nut to be tightened, and its lower part is a hollow structure with a cylindrical hole to accommodate the gradually extending screw portion during tightening. The structure of the nut telescopic mechanism is similar to that of a screw telescopic mechanism. A nut sleeve telescopic motor drives the nut sleeve telescopic rod, which in turn drives the nut sleeve to move up and down via a nut sleeve swing arm, adjusting the vertical position of the nut so that the nut can accurately contact the end of the screw.

[0058] The tightening mechanism drives the nut sleeve to rotate and tighten the nut. This mechanism includes a nut tightening geared motor, a drive pulley, a follower pulley, and a timing belt. The nut tightening geared motor is fixed to the nut sleeve's rocker arm via an L-shaped base (allowing it to rise and fall with the nut sleeve). The drive pulley is mounted on the output shaft of the nut tightening geared motor, driving the follower pulley, which is mounted on the nut sleeve's rocker arm and coaxial with the nut sleeve, to rotate via the timing belt, thus rotating the nut sleeve. The tightening mechanism also integrates a torque detection device; when the tightening torque reaches a preset value, the motor automatically stops rotating to ensure the tightening torque is qualified.

[0059] Operation and Control: The entire equipment can be controlled via a handheld remote control, allowing operators to control the equipment's start, stop, travel speed, and the actions of each actuator. A miniature camera can also be installed on the equipment to monitor the screw placement and nut tightening process in real time, facilitating operator observation and adjustments.

[0060] Example 2: A method for automatically tightening duct flange bolts using the self-propelled duct flange bolt automatic tightening equipment provided in Example 1, including: a screw placement step and a nut placement and tightening step. During the process, the screw placement device and the nut placement and tightening device use the same robot frame. The screws already placed by the former can be located via a remote control device.

[0061] The screw installation steps are as follows:

[0062] (1) Place the screw laying device on the surface of the duct and attach it to the surface of the duct. Place the upper and lower magnetic wheels of the first self-propelled mechanism on both sides of the duct angle steel flange and place them symmetrically with the duct angle steel flange as the axis.

[0063] (2) Adjust the position of the nailing tube so that the distance between its end and the upper surface of the duct flange is greater than the thickness of the screw end and less than the length of the screw;

[0064] (3) Place the screws into the nail feeding tube in sequence, with the number limited to the maximum number that the nail tube can hold, and blow the screws to the end of the nail tube using the first air pump;

[0065] (4) Using a remote control device, start the magnetic wheel servo motor and make the screw laying device move along the parallel direction of the duct flange. Under its own gravity, the screws fall into the bolt holes of the duct flange in sequence. The quality of the screw laying is observed manually in real time through the miniature camera on the device. For screws that do not fall into the bolt holes smoothly, the magnetic wheel servo motor is paused through the remote control device, and the air pump is started to pressurize and complete the screw insertion. In this way, the screw laying work is completed.

[0066] The steps for nut installation and tightening are as follows:

[0067] (1) Place the nut laying and tightening device on the surface of the duct, and place the upper and lower magnetic wheels of the second self-propelled mechanism on both sides of the duct angle steel flange, symmetrically with the duct angle steel flange as the axis.

[0068] (2) Place one nut into the nut slide and blow it into the nut sleeve in the reserved position by the second air pump.

[0069] (3) By using a remote control device, the nut laying and tightening device is controlled to run to the first bolt hole position, and the nut sleeve telescopic motor and the screw sleeve telescopic motor are controlled to move, so that the end of the nut sleeve contacts the lower surface of the air duct flange and the end of the screw extends into the reserved position at the end of the screw sleeve, thus realizing the initial contact between the screw and the nut.

[0070] (4) Turn on the nut tightening reduction motor to drive the nut to rotate, so that the nut and the screw can be tightened together. At the same time, the torque detection device of the nut tightening reduction motor automatically detects the resistance. When the resistance reaches the design value, the nut tightening reduction motor stops rotating, and the screw and nut are tightened. At the same time, the nut sleeve and the screw sleeve automatically return to the initial position.

[0071] (5) Using the remote control device, control the device to move to the next bolt hole position, and complete the tightening of all screws and nuts based on steps (2) to (4). When any device moves to the junction of two adjacent surfaces of the air duct (such as the edge of the air duct or the corner of the angle steel flange), the flexible structure of its robot frame (arch-shaped flexible main side plate and middle beam) comes into play, and through elastic deformation, the magnetic wheel group of the device can adapt to the surface change, so as to smoothly cross to the adjacent surface to continue the operation.

[0072] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A self-propelled automatic bolt tightening device for duct flanges, used for bolting angle steel flanges of ducts, characterized in that, include: A screw placement device for placing screws into bolt holes of the duct flange, the screw placement device comprising: a first self-propelled mechanism for adhering to the surface of the duct, a first robot frame for supporting the screw placement device, and a screw placement cylinder for guiding the screws into the bolt holes; A nut placement and tightening device is used to place nuts on the pre-placed screws and tighten them. The nut placement and tightening device includes: a second self-propelled mechanism for adhering to the surface of the air duct; a second robot frame supporting the nut placement and tightening device; a nut slide for guiding the nut to a pre-reserved position; a screw adjustment assembly for adjusting the vertical position of the screw; a nut adjustment assembly for adjusting the vertical position of the nut so that the screw contacts the nut; a nut sleeve for accommodating the nut and transmitting rotational torque; and a tightening mechanism for driving the nut sleeve to rotate. The first self-propelled mechanism and the second self-propelled mechanism have the same structure, both including at least two pairs of magnetic wheel groups distributed back and forth along the walking direction of the screw laying device. Each pair of magnetic wheel groups includes at least one active magnetic wheel connected to the drive motor and a follower magnetic wheel to drive the corresponding device to walk along the duct flange. Furthermore, the first robot frame and the second robot frame have the same structure, both having a flexible structure to allow the corresponding devices to move across the adjacent surfaces of the air duct. The first robot frame and the second robot frame each include: At least two flexible main side plates in the shape of an arch bridge are disposed on both sides of the corresponding active magnetic wheel and follower magnetic wheel, and the axles of the active magnetic wheel and follower magnetic wheel are mounted on the flexible main side plates; Support columns connecting adjacent flexible main side plates; And the arch-shaped central beam connecting the flexible main side plate assemblies at the upper and lower levels or at the front and rear positions; The arch-shaped flexible main side plate and the arch-shaped central beam work together to enable the corresponding robot frame to adapt to the relative position and angle changes between the front and rear or upper and lower parts of the first or second self-propelled mechanism through its own elastic deformation when crossing the adjacent surface of the air duct.

2. The self-propelled automatic duct flange bolt tightening device according to claim 1, characterized in that, The screw placement device further includes a screw delivery pipe connected to the screw placement cylinder and a first air pump. The first air pump is used to blow the screw through the screw delivery pipe to the screw placement cylinder, and / or to apply pressure to force the screw into the bolt hole when the screw does not fall smoothly.

3. The self-propelled automatic duct flange bolt tightening device according to claim 1, characterized in that, The nut placement and tightening device also includes a second air pump, which is connected to the nut slide and is used to blow the nut through the nut slide to the nut reserved position of the nut sleeve.

4. The self-propelled automatic duct flange bolt tightening device according to claim 1, characterized in that, The screw adjustment assembly includes a screw sleeve and a screw telescopic mechanism that drives the screw sleeve to move up and down. The upper part of the screw sleeve is provided with a screw end pre-reserved position. The nut adjustment assembly includes a nut sleeve and a nut telescopic mechanism that drives the nut sleeve to move up and down. The upper part of the nut sleeve is provided with a nut pre-reserved position, and the lower part is a hollow structure with a cylindrical hole for accommodating a screw. The screw sleeve and the nut sleeve are respectively connected to the second robot frame through the screw telescopic mechanism and the nut telescopic mechanism. The screw telescopic mechanism and the nut telescopic mechanism respectively drive the screw sleeve and the nut sleeve to perform lifting and lowering movements to adjust the relative position of the screw or nut.

5. The self-propelled automatic duct flange bolt tightening device according to claim 4, characterized in that, The screw telescopic mechanism includes a screw sleeve swing rod, a screw sleeve telescopic rod, a screw telescopic motor support plate, and a screw sleeve telescopic motor. The screw sleeve telescopic motor is fixed to the flexible main side plate through the screw telescopic motor support plate. The output shaft of the screw sleeve telescopic motor is connected to the screw sleeve telescopic rod. The screw sleeve telescopic rod is connected to the screw sleeve through the screw sleeve swing rod, so that the screw sleeve telescopically extends and retracts synchronously with the screw sleeve telescopic rod. The nut telescopic mechanism includes a nut sleeve swing rod, a nut sleeve telescopic rod, a nut telescopic motor support plate, and a nut sleeve telescopic motor. The nut sleeve telescopic motor is fixed to the flexible main side plate through the nut telescopic motor support plate. The output shaft of the nut sleeve telescopic motor is connected to the nut sleeve telescopic rod. The nut sleeve telescopic rod is connected to the nut sleeve through the nut sleeve swing rod, so that the nut sleeve telescopically extends and retracts synchronously with the nut sleeve telescopic rod.

6. The self-propelled automatic duct flange bolt tightening device according to claim 5, characterized in that, The tightening mechanism includes a nut tightening reduction motor, a drive pulley, and a follower pulley. The nut tightening reduction motor is connected and fixed to the nut sleeve rocker arm via an L-shaped base. A drive pulley is mounted on the output shaft of the nut tightening reduction motor. The drive pulley drives the follower pulley to rotate via a synchronous belt. The follower pulley is mounted on the nut sleeve rocker arm and is coaxial with the nut sleeve. The nut tightening reduction motor drives the drive pulley to rotate, and the follower pulley rotates accordingly, causing the nut sleeve to rotate in coordination. The nut tightening reduction motor is equipped with a torque detection device, which is used to control the nut tightening reduction motor to stop rotating when the tightening torque reaches a preset value.

7. The self-propelled automatic duct flange bolt tightening device according to claim 1, characterized in that, Also includes: A handheld remote control device is used to control the start, stop, and movement of the device; and / or A miniature camera is used to observe in real time the placement of the screws and / or the tightening of the nuts.

8. The self-propelled automatic duct flange bolt tightening device according to claim 1, characterized in that, The active magnetic wheel and / or follower magnetic wheel have grooves at the points where they contact the duct to increase friction.

9. A method for automatically tightening duct flange bolts using the self-propelled duct flange bolt automatic tightening device according to any one of claims 1 to 8, characterized in that, Includes the following steps: (1) Drive the first self-propelled mechanism to make the screw laying device travel along the duct flange to the predetermined bolt hole position; (2) The screw is blown into the nail-laying cylinder of the screw-laying device through the nail-feeding pipe by the first air pump, and the screw falls into or is pushed into the bolt hole of the air duct flange. (3) Drive the second self-propelled mechanism to make the nut placement and tightening device travel along the duct flange to the screw that has been placed; place the nut on the screw that has been placed and tighten it by the nut placement and tightening device, including the following sub-steps: (301) The nut is blown through the nut slide to the nut reserved position of the nut sleeve by the second air pump; (302) Drive the nut sleeve telescopic motor to make the nut sleeve telescopic rod drive the nut sleeve swing rod to move, thereby making the nut sleeve together with the nut inside rise and fall to a predetermined position close to the lower surface of the air duct flange; (303) Drive the screw sleeve telescopic motor to make the screw sleeve telescopic rod drive the screw sleeve swing rod to move, thereby making the screw sleeve rise and fall, and making the screw end of the screw sleeve pre-reserved position aligned with and partially accommodate the head of the already laid screw, so as to stabilize the screw. (304) The nut sleeve telescopic motor and / or the screw sleeve telescopic motor are driven in concert to finely adjust the relative position of the nut and the end of the screw in the nut sleeve, so as to achieve the initial alignment and contact of the nut and the screw; (305) Start the nut tightening reduction motor in the tightening mechanism, and drive the nut sleeve to rotate through the drive pulley, the timing belt and the follower pulley, so that the nut is screwed onto the screw; (306) During the tightening process, the torque detection device detects the tightening torque in real time. When the tightening torque reaches the preset value, the nut tightening reduction motor is controlled to stop rotating to complete the tightening. (307) Drive the telescopic motor of the nut sleeve and the telescopic motor of the screw sleeve to reset the nut sleeve and the screw sleeve; (4) Repeat steps (1) to (3) to perform the bolt tightening operation at the next bolt hole. When the screw laying device, nut laying and tightening device are running to the junction of the two adjacent sides of the air duct, the flexible structure of the first robot frame and the second robot frame is used to allow the corresponding device to cross over to the adjacent surface of the air duct to continue working.

Images