Automatic mounting robot for building steel structure assembly

Abstract

The invention discloses an automatic mounting robot for a building steel structure assembly, and relates to the field of steel structure mounting equipment, and the technical scheme is that the automatic mounting robot comprises a trolley, an opening is formed in the front end of the trolley, a U-shaped rotating disc is rotationally arranged on the trolley, and a group of bolt operation modules for tightening steel structure bolts are arranged on each of the two sides of the opening end of the rotating disc; the two groups of bolt operation modules are linked through a linkage mechanism; a positioning mechanism for positioning the trolley is also arranged on the trolley; the outer surface of the rotating disc is in an arc shape and provided with teeth, a driving motor is fixedly arranged in the middle of the trolley, a driving gear is coaxially and fixedly arranged on a motor shaft of the driving motor, and the driving gear is meshed with the teeth. The device has the beneficial effects that automatic positioning of the trolley is achieved through the positioning mechanism, the two sets of bolt operation modules synchronously tighten bolts through the linkage mechanism, the traditional mode that nuts are manually screwed one by one is replaced, the efficiency of batch installation is improved to several times of that of manual operation, and construction time consumption and human input are remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the field of steel structure installation equipment, and in particular to an automatic installation robot for building steel structure components. Background Art

[0002] As one of the main structural types, building steel structure is composed of steel beams, steel columns, steel trusses and other components made of steel sections and steel plates. It is rust-proofed through processes such as silanization and galvanizing. The components are connected by welds, bolts or rivets to form a frame structure. Due to its light weight and convenient construction, it is widely used in large factories, venues, super high-rise buildings and bridges.

[0003] Steel structure columns are the core components of a building that form a fixed support with the ground. They are usually installed in the following way: a reinforced base with reinforcing ribs welded to the bottom of the column is fixed to the anchor bolts embedded in the concrete pouring on the ground. The hexagonal nuts at the upper and lower ends of the reinforced base are then used to lock the anchor bolts together, and finally the concrete is backfilled. During this process, the verticality of the column installation must be ensured, the installation height must be adjusted, and the locking must be completed with a large number of bolts.

[0004] However, the existing installation process has significant defects: Large amount of manual work and low efficiency: Steel structure columns are mostly installed in batches, and a large number of bolts need to be tightened at the upper and lower ends of each reinforced base. Manual operation one by one is time-consuming and laborious; Small installation space and inconvenient operation: The nut locking position is close to the ground, and the working space is limited. A single nut can only be tightened less than half a turn each time, requiring construction workers to bend over and squat on the ground to operate, which is labor-intensive. Summary of the Invention

[0005] In response to the above technical problems, the present invention provides a robot for automatically installing building steel structure components.

[0006] The technical solution is as follows: it includes a trolley with an opening at the front end thereof, a U-shaped turntable rotatably provided on the trolley, and a set of bolt operation modules for tightening steel structure bolts provided on both sides of the open end of the turntable, respectively. The two sets of bolt operation modules are linked by a linkage mechanism; The trolley is also provided with a positioning mechanism for positioning the trolley; The outer surface of the turntable is arc-shaped and provided with teeth. A driving motor is fixedly arranged in the middle of the trolley. A driving gear is coaxially fixed on the motor shaft of the driving motor, and the driving gear is engaged with the teeth.

[0007] Preferably, the linkage mechanism includes screw rods rotatably arranged on both sides of the open end of the turntable, a transverse motor is fixedly arranged on the turntable on one side of each screw rod, the motor shaft of the transverse motor is coaxially fixed with the adjacent screw rod, a slider is threadedly connected to each screw rod, the slider is slidably connected to the turntable, and a drive shaft is rotatably arranged on the turntable on one side of the screw rod; The bolt operating module is slidably arranged on the sliding block.

[0008] Preferably, the bolt operating module includes a frame slidably connected to the slider, the lower end of the frame is L-shaped, a slot is provided on the horizontal portion of the lower end of the frame, and a tightening motor is fixedly provided on the upper end of the frame; A sleeve is fixedly provided at the upper end of the frame, an inner wall of the sleeve is provided with an internal thread, the internal thread of the sleeve is connected to a lifting member, and the lifting member is connected to the motor shaft of the tightening motor; The lifting member includes a nut threadedly connected to the inner wall of the sleeve, the middle part of the nut is slidably connected to the motor shaft of the tightening motor, a lifting cylinder is fixedly provided on the lower surface of the nut, a driving wheel is rotatably provided in the lifting cylinder, the driving wheel is located at the lower end of the lifting cylinder, a plurality of fins are fixedly provided on the outer wall of the driving wheel, a plurality of ratchet teeth are provided at the lower end of the inner wall of the lifting cylinder, and the fins are engaged with the ratchet teeth; A sleeve mounting piece is fixedly provided on the driving wheel, and a bolt tightening sleeve is detachably provided on the sleeve mounting piece.

[0009] Preferably, a connecting rod is rotatably provided on the frame, a transfer rod is rotatably provided on the movable end of the connecting rod, and the transfer rod is slidably connected to the slider; A swing arm is slidably provided on the driving shaft, a long groove is provided at the movable end of the swing arm, and the connecting shaft between the connecting rod and the transfer rod slides in the long groove; A driving arm is fixedly provided at one end of the driving shaft, and two driving arms are arranged opposite to each other, and a driving rod is rotatably provided at the movable end of each driving arm; Two control rods are rotatably provided in the middle of the turntable, and the movable end of each control rod is rotatably connected to an adjacent driving rod; An electric push rod is provided between the two control rods, the fixed end of the electric push rod is rotatably connected to the middle part of one of the control rods, and the movable end of the electric push rod is rotatably connected to the middle part of the other control rod.

[0010] Preferably, the positioning mechanism includes a mounting seat fixedly provided on the trolley, two clamping arms slidably provided on the mounting seat, each of the clamping arms includes a sliding rod slidably connected to the mounting seat, a clamping plate is fixedly provided at one end of the sliding rod, and a clamping rod is fixedly provided at the lower end of the clamping plate; The sliding rod of the clamping arm is slidably connected to the clamping plate of the other clamping arm; The rod body of the sliding rod is provided with a tooth groove, and the tooth grooves of the two sliding rods are arranged opposite to each other; An intermediate gear is rotatably provided in the middle of the mounting seat, and the intermediate gear is respectively engaged with the tooth grooves of the two sliding rods; A locator is slidably provided at the middle of the mounting seat, and the locator drives the intermediate gear to rotate.

[0011] Preferably, the positioner includes a screw threadedly connected to the intermediate gear, the screw being slidably connected to the mounting seat, a positioning rod being fixedly provided at one end of the screw, a guide rod being fixedly provided at each end of the positioning rod, and the guide rod being slidably connected to the mounting seat; A spring is sleeved on the outer side of the screw rod, one end of the spring is fixedly connected to the mounting seat, and the other end of the spring is fixedly connected to the positioning rod.

[0012] Preferably, two limiters are slidably provided on the trolley, and limiting teeth are provided on the upper surfaces of the limiters; A notch is provided on the rod body of the guide rod, and the notch corresponds to the limiter; A plurality of limiting rods are fixedly provided at one end of the notch away from the positioning rod, and the limiting rods are engaged with the limiting teeth.

[0013] Preferably, an inclined sliding groove is respectively formed at both ends of the limiter, and the end of the sliding groove close to the mounting seat is a low horizontal end; A mounting shaft is fixedly provided on the trolley, and the mounting shaft slides in the sliding groove; A foot pedal is rotatably provided on the trolley, and the foot pedal is connected to the two limiters via connecting rods respectively.

[0014] Preferably, a compression spring is fixedly provided at both ends of each limiter, and the compression spring abuts against the trolley.

[0015] The technical solutions provided by the embodiments of the present invention have the following beneficial effects: 1. Automated positioning and installation, significantly reducing the amount of manual operation: The trolley is automatically positioned through a positioning mechanism, and two sets of bolt operation modules are synchronously tightened through a linkage mechanism, replacing the traditional method of manually tightening nuts one by one. This improves the efficiency of batch installation to several times that of manual labor, significantly reducing construction time and manpower input; 2. Adapt to narrow space operations and improve operational convenience: construction workers can accurately locate the bolt position without bending over or squatting; the tightening sleeve can automatically rotate and descend through the lifting part, and the bolt can be tightened in a single time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the usage status of an embodiment of the present invention.

[0017] Figure 2 Schematic diagram of the overall structure of an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of a turntable and accessories according to an embodiment of the present invention.

[0019] Figure 4 Schematic diagram of a slider and bolt operating module according to an embodiment of the present invention.

[0020] Figure 5 Schematic diagram of a lifting member and a sleeve mounting member according to an embodiment of the present invention.

[0021] Figure 6 Schematic diagram of a lifting cylinder and a driving wheel according to an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of a positioning mechanism according to an embodiment of the present invention.

[0023] Figure 8 2 is a partial schematic diagram of a positioning mechanism according to an embodiment of the present invention.

[0024] Figure 9 Schematic diagram of the limiter structure according to an embodiment of the present invention.

[0025] The accompanying drawings are marked as follows: 1. trolley; 2. turntable; 3. bolt operating module; 4. linkage mechanism; 5. positioning mechanism; 6. driving motor; 7. driving gear; 8. screw rod; 9. traverse motor; 10. slider; 11. driving shaft; 12. frame; 13. slot; 14. tightening motor; 15. sleeve; 16. lifting member; 17. nut; 18. lifting cylinder; 19. driving wheel; 20. fin; 21. ratchet; 22. sleeve mounting member; 23. , bolt tightening sleeve; 24, connecting rod; 25, adapter rod; 26, swing arm; 27, drive arm; 28, drive rod; 29, control rod; 30, electric push rod; 31, mounting seat; 32, clamping arm; 33, sliding rod; 34, splint; 35, intermediate gear; 36, positioner; 37, screw; 38, positioning rod; 39, guide rod; 40, spring; 41, slide; 42, foot pedal; 43, connecting rod; 44, steel structure component; 45, limiter. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. Of course, the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] Example 1 See also Figures 1 to 9 The present invention provides a robot for automatically installing building steel structure components, comprising a trolley 1, the front end of which is provided with an opening, universal wheels being provided on both sides of the opening, and running wheels being rotatably provided on the end of the trolley 1 away from the universal wheels, a U-shaped turntable 2 being rotatably provided on the trolley 1, and a set of bolt operation modules 3 for tightening steel structure bolts being respectively provided on both sides of the open end of the turntable 2, and the two sets of bolt operation modules 3 being linked by a linkage mechanism 4; The trolley 1 is also provided with a positioning mechanism 5 for positioning the trolley 1; The outer surface of the turntable 2 is arc-shaped and provided with teeth. A driving motor 6 is fixedly provided in the middle of the trolley 1. A driving gear 7 is coaxially fixed on the motor shaft of the driving motor 6, and the driving gear 7 is engaged with the teeth.

[0031] The installation position is determined by the positioning mechanism 5 on the trolley 1, and the trolley 1 is driven to move to the target position. The two sets of bolt operation modules 3 act synchronously through the linkage mechanism 4 to tighten the bolts of the building steel structure assembly 44 to complete the installation; After the bolts on both sides are tightened, the drive motor 6 is started, and the motor shaft drives the driving gear 7 to rotate. The driving gear 7 engages with the teeth on the outer surface of the turntable 2, thereby driving the turntable 2 to rotate on the trolley 1, causing the turntable 2 to rotate 90 degrees, and the bolts on the other two sides are tightened; Automatic positioning and angle adjustment are achieved through the positioning mechanism 5 and the drive motor 6, reducing manual intervention. The two sets of bolt operation modules 3 are linked through the linkage mechanism 4 to synchronously complete the bolt tightening, thereby improving installation efficiency and accuracy.

[0032] The linkage mechanism 4 includes screw rods 8 rotatably arranged on both sides of the open end of the turntable 2, a traverse motor 9 is fixedly arranged on the turntable 2 on one side of each screw rod 8, the motor shaft of the traverse motor 9 is coaxially fixed with the adjacent screw rod 8, a slider 10 is threadedly connected to each screw rod 8, the slider 10 is slidably connected to the turntable 2, and a drive shaft 11 is rotatably arranged on the turntable 2 on one side of the screw rod 8; The bolt operating module 3 is slidably disposed on the slider 10 .

[0033] When it is necessary to tighten the bolts at different positions, the screw rod 8 is driven to rotate by the transverse motor 9. The rotation of the screw rod 8 causes the threaded slider 10 to slide along the direction of the screw rod 8 on the turntable 2. The sliding of the slider 10 drives the bolt operating module 3 to move to different bolt positions; at this time, the two groups of bolt operating modules 3 tighten the bolts at relative positions on both sides of the steel structure component 44. After the operation is completed, the transverse motor 9 drives the bolt operating module 3 to move to other positions to tighten the bolts.

[0034] The bolt operating module 3 includes a frame 12 slidably connected to the slider 10. The lower end of the frame 12 is L-shaped, and a slot 13 is provided on the horizontal portion of the lower end of the frame 12. A tightening motor 14 is fixedly provided on the upper end of the frame 12. The card slot 13 provided at the lower end of the frame 12 is mainly used to form a card engagement with the bolt or nut below the steel structure assembly 44 during the bolt tightening operation, thereby ensuring the precise alignment of the bolt operating module 3 with the bolt position, preventing the frame 12 from shifting during the tightening process, and ensuring the stability and accuracy of the bolt tightening; A sleeve 15 is fixedly provided at the upper end of the frame 12 , and an internal thread is provided on the inner wall of the sleeve 15 , and the internal thread of the sleeve 15 is connected to a lifting member 16 , and the lifting member 16 is connected to the motor shaft of the tightening motor 14 ; The lifting member 16 includes a nut 17 threadedly connected to the inner wall of the sleeve 15. The middle portion of the nut 17 is slidably connected to the motor shaft of the tightening motor 14. A lifting cylinder 18 is fixedly provided on the lower surface of the nut 17. A driving wheel 19 is rotatably provided inside the lifting cylinder 18. The driving wheel 19 is located at the lower end of the lifting cylinder 18. A plurality of fins 20 are fixedly provided on the outer wall of the driving wheel 19. A plurality of ratchet teeth 21 are provided at the lower end of the inner wall of the lifting cylinder 18. The fins 20 are engaged with the ratchet teeth 21. A sleeve mounting member 22 is fixedly provided on the driving wheel 19 , and a bolt tightening sleeve 23 is detachably provided on the sleeve mounting member 22 .

[0035] When the robot moves to the target position, the traverse motor 9 drives the slider 10 to move the bolt operating module 3 to the side of the bolt. Under the action of the linkage mechanism 4, the bolt operating module 3 moves above the bolt, and the tightening motor 14 is started. The motor shaft drives the nut 17 in the lifting member 16 to rotate. Since the inner wall of the sleeve 15 has an internal thread, the nut 17 moves downward along the sleeve 15, thereby driving the lifting cylinder 18 and the driving wheel 19 to descend. Because the fins 20 on the outer wall of the driving wheel 19 are engaged with the ratchet teeth 21 on the inner wall of the lifting cylinder 18, the driving wheel 19 can rotate with the nut 17, thereby driving the sleeve mounting member 22 and the tightening sleeve 23 to rotate, realizing the operation of lowering and tightening the bolts while rotating; When the tightening operation is completed, the tightening motor 14 is reversed. At this time, the fin 20 cannot drive the driving wheel 19 to rotate under the action of the ratchet 21. Only the nut 17 rises along the internal thread of the sleeve 15, so that the tightening sleeve 23 only rises but does not rotate, thereby avoiding loosening of the tightened bolt.

[0036] By cooperating with the internal thread of the sleeve 15 and the nut 17 when the tightening motor 14 rotates forward, the rotation and automatic lowering of the tightening sleeve 23 are synchronized, and the bolt can be tightened without additional operation, thereby improving installation efficiency; When the tightening motor 14 reverses, the clamping structure of the fin 20 and the ratchet 21 causes the tightening sleeve 23 to only rise without rotating, preventing the bolt from loosening due to the sleeve reversal during the lifting process, thereby ensuring the reliability of the bolt tightening.

[0037] A connecting rod 24 is rotatably provided on the frame 12, and a transfer rod 25 is rotatably provided on the movable end of the connecting rod 24, and the transfer rod 25 is slidably connected to the slider 10; A swing arm 26 is slidably provided on the drive shaft 11, and a long groove is provided at the movable end of the swing arm 26, and the connecting shaft of the connecting rod 24 and the transfer rod 25 slides in the long groove; A driving arm 27 is fixedly provided at one end of the driving shaft 11, and two driving arms 27 are arranged opposite to each other, and a driving rod 28 is rotatably provided at the movable end of each driving arm 27; Two control rods 29 are rotatably provided in the middle of the turntable 2, and the movable end of each control rod 29 is rotatably connected to an adjacent driving rod 28; An electric push rod 30 is provided between the two control rods 29 . The fixed end of the electric push rod 30 is rotatably connected to the middle of one of the control rods 29 , and the movable end of the electric push rod 30 is rotatably connected to the middle of the other control rod 29 .

[0038] When the position of the bolt operating module 3 needs to be adjusted, the electric push rod 30 is started, the movable end of the electric push rod 30 retracts, and the two control rods 29 are pushed to rotate around the middle of the turntable 2. The rotation of the control rod 29 drives the driving rod 28 to move, and the driving rod 28 drives the driving arm 27 to rotate around the driving shaft 11; Since the swing arm 26 is slidably provided on the driving shaft 11, when the driving arm 27 rotates, the long groove of the swing arm 26 forms a sliding fit with the connecting shaft of the connecting rod 24 and the adapter rod 25, and then the frame 12 is driven to rotate on the slider 10 through the connecting rod 24 and the adapter rod 25, thereby realizing the position adjustment of the bolt operating module 3, so that the tightening sleeve 23 of the bolt operating module 3 is located above the bolt; At the same time, due to the sliding of the swing arm 26 on the drive shaft 11, it can follow the relative position changes of the slider 10 to ensure smooth transmission. When the tightening operation is completed, the electric push rod 30 extends to drive the bolt operating module 3 away from the bolt, making it easier for the transverse motor 9 to drive the bolt operating module 3 to adjust the position.

[0039] The positioning mechanism 5 includes a mounting base 31 fixedly mounted on the trolley 1, two clamping arms 32 slidably mounted on the mounting base 31, each clamping arm 32 including a sliding rod 33 slidably connected to the mounting base 31, a clamping plate 34 fixedly mounted on one end of the sliding rod 33, and a clamping rod fixedly mounted on the lower end of the clamping plate 34; The sliding rod 33 of the clamping arm 32 is slidably connected to the clamping plate 34 of the other clamping arm 32; The rod body of the sliding rod 33 is provided with teeth and grooves, and the teeth and grooves of the two sliding rods 33 are arranged opposite to each other; An intermediate gear 35 is rotatably provided in the middle of the mounting base 31 , and the intermediate gear 35 is respectively engaged with the tooth grooves of the two sliding rods 33 ; A positioner 36 is slidably provided in the middle of the mounting seat 31 , and the positioner 36 drives the intermediate gear 35 to rotate.

[0040] When the trolley 1 moves close to the building steel structure component 44, the positioning rod in the middle of the mounting seat 31 first contacts the edge of the steel structure component 44. As the trolley 1 continues to move, the positioner 36 is blocked by the component and slides inside the mounting seat 31. The sliding process drives the intermediate gear 35 in the middle of the mounting seat 31 to rotate. Since the intermediate gear 35 is engaged with the teeth of the two sliding rods 33, and the teeth of the two sliding rods 33 are arranged opposite to each other, the rotation of the intermediate gear 35 will drive the two sliding rods 33 to slide in opposite directions along the mounting seat 31, and the sliding rod 33 drives the clamping plate 34 and the clamping rod at the lower end to move synchronously, so that the two clamping arms 32 gradually clamp in the direction of the assembly, ensuring that the steel structure assembly 44 is finally located in the center position of the turntable 2, providing a precise positioning reference for subsequent bolt tightening operations.

[0041] The linkage design of the locator 36 and the intermediate gear 35 enables the robot to automatically trigger the movement of the clamping arm 32 through the passive sliding of the locator 36 when approaching the component. The component can be accurately positioned at the center of the turntable 2 without the need for additional sensors, thereby improving installation accuracy.

[0042] The positioner 36 includes a screw 37 threadedly connected to the intermediate gear 35, the screw 37 is slidably connected to the mounting base 31, a positioning rod 38 is fixedly provided at one end of the screw 37, and a guide rod 39 is fixedly provided at each end of the positioning rod 38, and the guide rod 39 is slidably connected to the mounting base 31; A spring 40 is sleeved on the outer side of the screw rod 37 . One end of the spring 40 is fixedly connected to the mounting seat 31 , and the other end is fixedly connected to the positioning rod 38 .

[0043] When the robot approaches the steel structure component 44, the end of the positioning rod 38 first contacts the edge of the component. As the trolley 1 continues to move, the positioning rod 38 is blocked by the component and compresses the spring 40 backward, while driving the screw 37 to slide in the direction of the guide rod 39 within the mounting seat 31. Since the screw 37 is threadedly connected to the intermediate gear 35, the linear sliding movement of the screw 37 is converted into the rotational movement of the intermediate gear 35. The intermediate gear 35 drives the two sliding rods 33 to move in the opposite direction, causing the clamping arms 32 to clamp toward the component until the clamping rod fixes the component to the center of the turntable 2. When the installation is completed, the trolley 1 moves away from the assembly, the elastic force of the spring 40 pushes the positioning rod 38 to reset forward, the screw 37 drives the intermediate gear 35 to rotate in the opposite direction, the clamping arm 32 is released, and the guide rod 39 ensures that the sliding trajectory of the positioning rod 38 is accurate when it is reset to avoid deviation.

[0044] The setting of the spring 40 enables the positioning rod 38 to have a buffering effect when contacting the component, reducing the damage to the equipment caused by rigid collision. At the same time, it can automatically reset after installation is completed, preparing for the next positioning and improving operation continuity.

[0045] The threaded connection between the screw 37 and the intermediate gear 35 accurately converts the sliding amount of the positioning rod 38 into the rotation angle of the intermediate gear 35, so that the moving distance of the clamping arm 32 is directly related to the force applied to the positioning rod 38, ensuring the accuracy and consistency of component positioning.

[0046] Two limiters 45 are slidably provided on the trolley 1, and limiting teeth are provided on the upper surfaces of the limiters 45; The guide rod 39 has a notch formed on its body, the notch corresponding to the stopper 45; A plurality of limiting rods are fixedly provided on one end of the slot away from the positioning rod 38 , and the limiting rods are engaged with the limiting teeth.

[0047] When the trolley 1 approaches the steel structure assembly 44, the positioning rod 38 contacts the edge of the assembly and drives the guide rod 39 to slide backward. As the trolley 1 continues to move, the positioning rod is inserted into the limiting teeth on the upper surface of the limiter 45, forming a locking engagement. At this time, the locator 36 is fixed on the trolley 1 to prevent the guide rod 39 from accidentally sliding due to force in subsequent operations. When the clamping arm 32 completes the clamping of the component and the turntable 2 adjusts the angle and tightens the bolts, the limiting teeth of the limiter 45 and the clamping structure of the guide rod 39 continue to keep the position of the guide rod 39 stable, ensuring that the component is always in the center of the turntable 2; after the installation is completed, the trolley 1 moves in the opposite direction, the positioning rod 38 disengages from the component, the spring 40 pushes the guide rod 39 to reset, the positioning rod disengages from the limiting teeth, and the locator 36 resumes the sliding state, making it convenient for the robot to move to the next installation position.

[0048] The limiting teeth of the limiter 45 engage with the limiting rod in the groove of the guide rod 39 to form a mechanical locking structure, which prevents the positioning rod 38 from being displaced due to vibration or force during the bolt tightening process, ensuring that the steel structure component 44 always remains accurately aligned and improves installation accuracy.

[0049] An inclined slide groove 41 is formed at each end of the limiter 45, and the end of the slide groove 41 close to the mounting seat 31 is a low horizontal end; A mounting shaft is fixedly provided on the trolley, and the mounting shaft slides in the slide groove 41; A foot pedal 42 is rotatably provided on the trolley, and the foot pedal 42 is connected to two limiters 45 via connecting rods 43 respectively.

[0050] When the robot completes the bolt tightening operation on the steel structure component 44 and needs to move to the next position, the user steps on the pedal 42 on the trolley. The pedal 42 rotates through the connecting rod 43 to drive the two limiters 45 to move synchronously. The limiters 45 slide toward the lower horizontal end along the inclined slide grooves 41 at both ends. As the stopper 45 moves, the limiting teeth on its upper surface separate from the limiting rod in the notch of the guide rod 39, releasing the lock on the guide rod 39. At this time, the positioning rod 38 returns forward under the elastic force of the spring 40, driving the intermediate gear 35 to rotate in the opposite direction, and the clamping arm 32 releases the steel structure assembly 44. Then, the user releases the pedal 42, and the limiter 45 is reset along the slide groove 41 under the guidance of the installation shaft, ready for the next positioning and locking, and the robot can drive the trolley 1 to move to the new installation position.

[0051] The limiter 45 can be quickly unlocked through the mechanical linkage of the foot pedal 42 and the connecting rod 43, without the need for a complex electronic control system, and the operation is simple and the response is fast; the purely mechanical structure design of the foot pedal 42, the connecting rod 43, the limiter 45 and the slide 41 reduces the dependence on electronic components, has strong anti-interference ability, and can still work stably in complex environments such as dust and vibration in industrial sites, thereby ensuring the durability of the equipment.

[0052] A compression spring is fixedly provided at both ends of each limiter 45 , and the compression spring is pressed against the trolley 1 .

[0053] When the user steps on the foot pedal 42, the foot pedal 42 drives the limiter 45 through the connecting rod 43 to overcome the elastic force of the compression spring and move downward along the inclined slide 41, so that the limit tooth separates from the positioning rod 38 and the lock is released; After the foot pedal 42 is released, the elastic force of the compression spring pushes the limiter 45 to reset upward along the slide groove 41 until the limit tooth returns to the initial position, ready for the next positioning and locking.

[0054] When the present invention is used, the installation position is determined by the positioning mechanism 5 on the trolley 1, the trolley 1 is driven to move to the target position, and the two sets of bolt operation modules 3 are synchronously operated through the linkage mechanism 4 to tighten the bolts of the building steel structure assembly 44 to complete the installation; After the bolts on both sides are tightened, the drive motor 6 is started, and the motor shaft drives the driving gear 7 to rotate. The driving gear 7 engages with the teeth on the outer surface of the turntable 2, thereby driving the turntable 2 to rotate on the trolley 1, causing the turntable 2 to rotate 90 degrees, and the bolts on the other two sides are tightened; Automatic positioning and angle adjustment are achieved through the positioning mechanism 5 and the drive motor 6, reducing manual intervention. The two sets of bolt operation modules 3 are linked through the linkage mechanism 4 to synchronously complete the bolt tightening, thereby improving installation efficiency and accuracy.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot for automatically installing building steel structure components, characterized in that: The invention comprises a trolley (1), wherein the front end of the trolley (1) is provided with an opening, a U-shaped turntable (2) is rotatably provided on the trolley (1), and a group of bolt operating modules (3) for tightening steel structure bolts are respectively provided on both sides of the open end of the turntable (2), and the two groups of bolt operating modules (3) are linked by a linkage mechanism (4); The trolley (1) is also provided with a positioning mechanism (5) for positioning the trolley (1); The outer surface of the turntable (2) is arc-shaped and provided with teeth. A driving motor (6) is fixedly provided in the middle of the trolley (1). A driving gear (7) is coaxially fixedly provided on the motor shaft of the driving motor (6), and the driving gear (7) is meshed with the teeth.

2. The automatic installation robot for building steel structure components according to claim 1, characterized in that: The linkage mechanism (4) includes screw rods (8) rotatably arranged on both sides of the open end of the turntable (2), a transverse motor (9) is fixedly arranged on the turntable (2) on one side of each screw rod (8), the motor shaft of the transverse motor (9) is coaxially fixed with the adjacent screw rod (8), a slider (10) is threadedly connected to each screw rod (8), the slider (10) is slidably connected to the turntable (2), and a drive shaft (11) is rotatably arranged on the turntable (2) on one side of the screw rod (8); The bolt operating module (3) is slidably arranged on the sliding block (10).

3. The automatic installation robot for building steel structure components according to claim 2, characterized in that: The bolt operating module (3) includes a frame (12) slidably connected to the slider (10), the lower end of the frame (12) is L-shaped, a slot (13) is provided on the horizontal portion of the lower end of the frame (12), and a tightening motor (14) is fixedly provided at the upper end of the frame (12); A sleeve (15) is fixedly provided at the upper end of the frame (12), an inner wall of the sleeve (15) is provided with an internal thread, the internal thread of the sleeve (15) is connected to a lifting member (16), and the lifting member (16) is connected to the motor shaft of the tightening motor (14); The lifting member (16) includes a nut (17) threadedly connected to the inner wall of the sleeve (15), the middle part of the nut (17) is slidably connected to the motor shaft of the tightening motor (14), a lifting cylinder (18) is fixedly provided on the lower surface of the nut (17), a driving wheel (19) is rotatably provided in the lifting cylinder (18), the driving wheel (19) is located at the lower end of the lifting cylinder (18), a plurality of fins (20) are fixedly provided on the outer wall of the driving wheel (19), a plurality of ratchet teeth (21) are provided at the lower end of the inner wall of the lifting cylinder (18), and the fins (20) are engaged with the ratchet teeth (21); A sleeve mounting piece (22) is fixedly provided on the driving wheel (19), and a bolt tightening sleeve (23) is detachably provided on the sleeve mounting piece (22).

4. The automatic installation robot for building steel structure components according to claim 3, characterized in that: A connecting rod (24) is rotatably provided on the frame (12), a transfer rod (25) is rotatably provided on the movable end of the connecting rod (24), and the transfer rod (25) is slidably connected to the slider (10); A swing arm (26) is slidably provided on the driving shaft (11), a long groove is provided at the movable end of the swing arm (26), and a connecting shaft between the connecting rod (24) and the transfer rod (25) slides in the long groove; A driving arm (27) is fixedly provided at one end of the driving shaft (11), two driving arms (27) are arranged opposite to each other, and a driving rod (28) is rotatably provided at the movable end of each driving arm (27); Two control rods (29) are rotatably provided in the middle of the turntable (2), and the movable end of each control rod (29) is rotatably connected to an adjacent driving rod (28); An electric push rod (30) is provided between the two control rods (29), wherein the fixed end of the electric push rod (30) is rotationally connected to the middle of one of the control rods (29), and the movable end of the electric push rod (30) is rotationally connected to the middle of the other control rod (29).

5. The automatic installation robot for building steel structure components according to claim 1, characterized in that: The positioning mechanism (5) includes a mounting seat (31) fixedly mounted on the trolley (1), two clamping arms (32) slidably mounted on the mounting seat (31), each clamping arm (32) including a sliding rod (33) slidably connected to the mounting seat (31), a clamping plate (34) fixedly mounted on one end of the sliding rod (33), and a clamping rod fixedly mounted on the lower end of the clamping plate (34); The sliding rod (33) of the clamping arm (32) is slidably connected to the clamping plate (34) of the other clamping arm (32); The rod body of the sliding rod (33) is provided with a tooth groove, and the tooth grooves of the two sliding rods (33) are arranged opposite to each other; An intermediate gear (35) is rotatably provided in the middle of the mounting seat (31), and the intermediate gear (35) is respectively engaged with the tooth grooves of the two sliding rods (33); A positioner (36) is slidably provided in the middle of the mounting seat (31), and the positioner (36) drives the intermediate gear (35) to rotate.

6. The automatic installation robot for building steel structure components according to claim 5, characterized in that: The positioner (36) includes a screw (37) threadedly connected to the intermediate gear (35), the screw (37) being slidably connected to the mounting seat (31), a positioning rod (38) being fixedly provided at one end of the screw (37), and a guide rod (39) being fixedly provided at each end of the positioning rod (38), and the guide rod (39) being slidably connected to the mounting seat (31); A spring (40) is sleeved on the outer side of the screw rod (37), one end of the spring (40) is fixedly connected to the mounting seat (31), and the other end is fixedly connected to the positioning rod (38).

7. The automatic installation robot for building steel structure components according to claim 6, characterized in that: Two limiters (45) are slidably provided on the trolley (1), and limit teeth are provided on the upper surfaces of the limiters (45); The guide rod (39) has a notch formed on its body, the notch corresponding to the stopper (45); A plurality of limiting rods are fixedly provided at one end of the notch away from the positioning rod (38), and the limiting rods are engaged with the limiting teeth.

8. The automatic installation robot for building steel structure components according to claim 7, characterized in that: An inclined chute (41) is respectively formed at both ends of the limiter (45), and one end of the chute (41) close to the mounting seat (31) is a low horizontal end; A mounting shaft is fixedly provided on the trolley, and the mounting shaft slides in the slide groove (41); A foot pedal (42) is rotatably provided on the trolley, and the foot pedal (42) is connected to the two limiters (45) via connecting rods (43) respectively.

9. The automatic installation robot for building steel structure components according to claim 8, characterized in that: A compression spring is fixedly provided at each end of each limiter (45), and the compression spring is in contact with the trolley (1).

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