An automatic installation robot for building steel structural components

Abstract

The application discloses a kind of building steel structure assembly automatic installation robot, it is related to steel structure installation equipment field, technical scheme is, including trolley, the front end of trolley is provided with opening, U-shaped turntable is rotationally arranged on trolley, the opening end of turntable is respectively provided with a group of bolt operation module for steel structure bolt tightening, and two groups of bolt operation module are connected through linkage mechanism;Positioning mechanism for trolley positioning is further provided on trolley;The outer surface of turntable is arc-shaped and is provided with gear teeth, and driving motor is fixedly arranged in the middle of trolley, driving motor shaft is coaxially fixedly arranged with driving gear, and driving gear is engaged with gear teeth.The beneficial effects of the present application are: the trolley is automatically positioned by the positioning mechanism, the two groups of bolt operation modules are tightened synchronously by the linkage mechanism, replacing the traditional manual nut screwing method, the efficiency of batch installation is improved to several times of manual, and the construction time and manpower input are significantly reduced.

Description

Technical Field

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

[0002] As one of the main structural types, steel structure buildings are composed of steel beams, steel columns, steel trusses and other components made of steel profiles and steel plates. They are treated with rust prevention through processes such as silanization and galvanizing. The components are connected by welds, bolts or rivets to form a frame structure. Due to their light weight and convenient construction, they are widely used in large factories, stadiums, super high-rise buildings and bridges.

[0003] Steel structure columns are the core components that provide fixed support to the ground in a building. They are usually installed in the following way: a reinforced base with reinforcing ribs is welded to the bottom of the column and fixed to the anchor bolts embedded in the concrete. The hexagonal nuts at the top and bottom of the reinforced base are then used to lock the anchor bolts in place. Finally, concrete is backfilled. During this process, it is necessary to ensure the verticality of the column installation, adjust the installation height, and lock it in place with a large number of bolts.

[0004] However, existing installation techniques have significant drawbacks: The manual operation is extensive and inefficient: steel structure columns are mostly installed in batches, and a large number of bolts need to be tightened at the top and bottom of each reinforcing base. Manual operation is time-consuming and labor-intensive. Limited installation space and inconvenient operation: The nut locking position is close to the ground, and the working space is limited. Each time, only a single nut can be turned less than half a turn, requiring the construction personnel to bend over and squat down to operate, which is labor-intensive. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an automated installation robot for building steel structure components.

[0006] The technical solution includes a trolley with an opening at the front end and a U-shaped turntable rotatably mounted on the trolley. A set of bolt operation modules for tightening steel structure bolts are respectively set on both sides of the opening end of the turntable, and the two sets of bolt operation modules are linked by a linkage mechanism. The vehicle is also equipped with a positioning mechanism for positioning the vehicle. The outer surface of the turntable is arc-shaped and has teeth. A drive motor is fixedly installed in the middle of the trolley. A drive gear is coaxially fixed on the motor shaft of the drive motor and meshes with the teeth.

[0007] Preferably, the linkage mechanism includes lead screws rotatably disposed on both sides of the open end of the turntable, a transverse motor is fixedly disposed on the turntable on one side of each lead screw, the motor shaft of the transverse motor is coaxially fixed with the adjacent lead screw, a slider is threadedly connected to each lead screw, the slider is slidably connected to the turntable, and a drive shaft is rotatably disposed on the turntable on one side of the lead screw; The bolt operation module is slidably mounted on the slider.

[0008] Preferably, the bolt operation 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 part of the lower end of the frame, and a tightening motor is fixedly installed at the upper end of the frame; A sleeve is fixedly installed at the upper end of the frame. The inner wall of the sleeve is provided with an internal thread. The internal thread of the sleeve is connected to a lifting component. The lifting component is connected to the motor shaft of the tightening motor. The lifting component includes a nut that is threaded 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 drive wheel is rotatably provided inside the lifting cylinder. The drive wheel is located at the lower end of the lifting cylinder. Several fins are fixedly provided on the outer wall of the drive wheel. Several ratchet teeth are provided at the lower end of the inner wall of the lifting cylinder. The fins are engaged with the ratchet teeth. A sleeve mounting component is fixedly installed on the drive wheel, and bolts are detachably installed on the sleeve mounting component to tighten the sleeve.

[0009] Preferably, a connecting rod is rotatably mounted on the frame, and a transition rod is rotatably mounted on the movable end of the connecting rod, the transition rod being slidably connected to the slider; A swing arm is slidably mounted on the drive shaft, and an elongated groove is provided at the movable end of the swing arm. The connecting shaft between the connecting rod and the adapter rod slides within the elongated groove. A drive arm is fixedly provided at one end of the drive shaft, and two drive arms are arranged facing each other. A drive rod is rotatably provided at the movable end of each drive arm. Two control levers are rotatably mounted in the center of the turntable, and the movable end of each control lever is rotatably connected to an adjacent drive lever. An electric actuator is provided between the two control levers. The fixed end of the electric actuator is rotatably connected to the middle of one of the control levers, and the movable end of the electric actuator is rotatably connected to the middle of the other control lever.

[0010] Preferably, the positioning mechanism includes a mounting base fixedly mounted on the trolley, two clamping arms slidably mounted on the mounting base, each clamping arm including a sliding rod slidably connected to the mounting base, a clamping plate fixedly mounted at one end of the sliding rod, and a clamping rod fixedly mounted 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 sliding rod has a toothed groove on its body, and the toothed grooves of the two sliding rods are arranged opposite each other; An intermediate gear is rotatably mounted in the middle of the mounting base, and the intermediate gear meshes with the tooth grooves of the two sliding rods respectively; A locator is slidably disposed in the middle of the mounting base, 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 base, a positioning rod fixedly disposed at one end of the screw, and a guide rod fixedly disposed at each end of the positioning rod, the guide rod being slidably connected to the mounting base; A spring is fitted on the outside of the screw, one end of the spring is fixedly connected to the mounting base, and the other end is fixedly connected to the positioning rod.

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

[0013] Preferably, an inclined groove is provided at each of the two ends of the limiter, and the end of the groove near the mounting base is a low horizontal end; The trolley is fixedly equipped with a mounting shaft, which slides within the slide groove; A foot pedal is rotatably mounted on the trolley, and the foot pedal is connected to the two limiters via connecting rods.

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

[0015] The beneficial effects of the technical solution provided by the embodiments of the present invention are: 1. Automated positioning and installation, greatly reducing manual operation: The positioning mechanism realizes the automatic positioning of the trolley, and the two sets of bolt operation modules tighten the bolts synchronously through the linkage mechanism, replacing the traditional manual method of tightening nuts one by one, which increases the efficiency of batch installation to several times that of manual labor, and significantly reduces construction time and manpower input. 2. Adaptable to operation in confined spaces, improving ease of operation: Construction workers can accurately locate bolt positions without bending over or squatting; the tightening sleeve automatically rotates and descends via a lifting mechanism, allowing bolt tightening to be completed in a single operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the usage state of an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the overall structure of an embodiment of the present invention.

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

[0019] Figure 4 This is a schematic diagram of the slider and bolt operation module according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the lifting component and sleeve mounting component according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the lifting cylinder and drive wheel according to an embodiment of the present invention.

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

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

[0024] Figure 9 This is a schematic diagram of the limiter structure according to an embodiment of the present invention.

[0025] The attached figures are labeled as follows: 1. Cart; 2. Turntable; 3. Bolt operation module; 4. Linkage mechanism; 5. Positioning mechanism; 6. Drive motor; 7. Drive gear; 8. Lead screw; 9. Transverse motor; 10. Slider; 11. Drive shaft; 12. Frame; 13. Slot; 14. Tightening motor; 15. Sleeve; 16. Lifting component; 17. Nut; 18. Lifting cylinder; 19. Drive wheel; 20. Fin; 21. Ratchet; 22. Sleeve mounting component; 23. 1. Bolt tightening sleeve; 24. Connecting rod; 25. Adapter rod; 26. Swing arm; 27. Drive arm; 28. Drive rod; 29. ​​Control rod; 30. Electric actuator; 31. Mounting base; 32. Clamping arm; 33. Sliding rod; 34. Clamping plate; 35. Intermediate gear; 36. Positioner; 37. Screw; 38. Positioning rod; 39. Guide rod; 40. Spring; 41. Slide groove; 42. Foot pedal; 43. Connecting rod; 44. Steel structure component; 45. Limiter. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] Example 1 See Figures 1 to 9 The present invention provides an automatic installation robot for building steel structure components, including a trolley 1, an opening at the front end of the trolley 1, universal wheels on both sides of the opening, a walking wheel at the end away from the universal wheels, a U-shaped turntable 2 on the trolley 1, and a set of bolt operation modules 3 for tightening steel structure bolts on both sides of the opening end of the turntable 2, and the two sets of bolt operation modules 3 are linked by a linkage mechanism 4. The vehicle 1 is also equipped with a positioning mechanism 5 for positioning the vehicle 1; The outer surface of the turntable 2 is arc-shaped and has teeth. The drive motor 6 is fixedly installed in the middle of the trolley 1. The drive gear 7 is coaxially fixed on the motor shaft of the drive motor 6 and meshes 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 move synchronously through the linkage mechanism 4 to tighten the bolts of the building steel structure component 44 and complete the installation. After the bolts on both sides are tightened, start the drive motor 6. The motor shaft drives the drive gear 7 to rotate. The drive gear 7 meshes with the teeth on the outer surface of the turntable 2, thereby driving the turntable 2 to rotate on the trolley 1, so that the turntable 2 rotates 90 degrees to tighten the bolts on the other two sides. Automatic positioning and angle adjustment are achieved through positioning mechanism 5 and drive motor 6, reducing manual intervention. The two sets of bolt operation modules 3 are linked by linkage mechanism 4 to complete bolt tightening synchronously, improving installation efficiency and accuracy.

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

[0033] When bolts in different positions need to be tightened, the transverse motor 9 drives the lead screw 8 to rotate. The rotation of the lead screw 8 causes the threaded slider 10 to slide on the turntable 2 along the direction of the lead screw 8. The sliding slider 10 drives the bolt operation module 3 to move to different bolt positions. At this time, the two sets of bolt operation modules 3 tighten the bolts at the opposite positions on both sides of the steel structure component 44. After the operation is completed, the transverse motor 9 drives the bolt operation module 3 to move to other positions to tighten the bolts.

[0034] The bolt operation module 3 includes a frame 12 that is 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 part of the lower end of the frame 12. A tightening motor 14 is fixedly installed on the upper end of the frame 12. The slot 13 at the lower end of the frame 12 is mainly used to engage with the bolts or nuts below the steel structure component 44 during bolt tightening operations, thereby ensuring the precise alignment of the bolt operation module 3 with the bolt position, preventing the frame 12 from shifting during tightening, and ensuring the stability and accuracy of bolt tightening. A sleeve 15 is fixedly installed at the upper end of the frame 12. The inner wall of the sleeve 15 is provided with internal threads. The sleeve 15 is connected to the lifting component 16 through the internal threads. The lifting component 16 is connected to the motor shaft of the tightening motor 14. The lifting component 16 includes a nut 17 that is 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 drive wheel 19 is rotatably provided inside the lifting cylinder 18. The drive wheel 19 is located at the lower end of the lifting cylinder 18. Several fins 20 are fixedly provided on the outer wall of the drive wheel 19. Several 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 component 22 is fixedly installed on the drive wheel 19, and a bolt is detachably installed on the sleeve mounting component 22 to tighten the sleeve 23.

[0035] When the robot moves to the target position, the transverse motor 9 drives the slider 10 to move the bolt operation module 3 to one side of the bolt. Under the action of the linkage mechanism 4, the bolt operation module 3 moves to the top of the bolt, the tightening motor 14 starts, and the motor shaft drives the nut 17 in the lifting component 16 to rotate. Since the inner wall of the sleeve 15 has internal threads, the nut 17 will move downward along the sleeve 15, thereby driving the lifting cylinder 18 and the drive wheel 19 to descend. Since the fins 20 on the outer wall of the drive wheel 19 engage with the ratchet 21 on the inner wall of the lifting cylinder 18, the drive wheel 19 can rotate with the nut 17, thereby driving the sleeve mounting part 22 and the tightening sleeve 23 to rotate, realizing the operation of rotating and descending while tightening the bolts. When the tightening operation is completed, the tightening motor 14 reverses. At this time, the fins 20 cannot drive the drive 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 and does not rotate, thus avoiding loosening of the tightened bolts.

[0036] By engaging the internal thread of the sleeve 15 with the nut 17 when the tightening motor 14 rotates forward, the rotation and automatic descent of the tightening sleeve 23 are synchronized, and the bolt tightening can be completed without additional operation, thus improving installation efficiency. When the tightening motor 14 reverses, the snap-fit ​​structure between the fins 20 and the ratchet 21 causes the tightening sleeve 23 to only rise and not rotate, preventing the bolt from loosening due to the sleeve reversing during the lifting process and ensuring the reliability of bolt tightening.

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

[0038] When the position of the bolt operation module 3 needs to be adjusted, the electric actuator 30 is activated. The movable end of the electric actuator 30 retracts, pushing the two control rods 29 to rotate around the center of the turntable 2. The rotation of the control rods 29 drives the drive rod 28 to move. The drive rod 28 pushes the drive arm 27 to rotate around the drive shaft 11. Since the swing arm 26 is slidably mounted on the drive shaft 11, when the drive 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, thereby driving the frame 12 to rotate on the slider 10 through the connecting rod 24 and the adapter rod 25, realizing the position adjustment of the bolt operation module 3, so that the tightening sleeve 23 of the bolt operation module 3 is located above the bolt. Meanwhile, due to the sliding of the swing arm 26 on the drive shaft 11, it can follow the relative position change of the slider 10 to ensure smooth transmission. When the tightening operation is completed, the electric push rod 30 extends and drives the bolt operation module 3 away from the bolt, so that the transverse motor 9 can drive the bolt operation module 3 to adjust its position.

[0039] The positioning mechanism 5 includes a mounting base 31 fixedly mounted on the trolley 1. Two clamping arms 32 are slidably mounted on the mounting base 31. Each clamping arm 32 includes a sliding rod 33 slidably connected to the mounting base 31. A clamping plate 34 is fixedly mounted at one end of the sliding rod 33, and a clamping rod is fixedly mounted at 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 sliding rod 33 has a toothed groove on its body, and the toothed grooves of the two sliding rods 33 are arranged opposite each other; An intermediate gear 35 is rotatably mounted in the middle of the mounting base 31, and the intermediate gear 35 meshes with the tooth grooves of the two sliding rods 33 respectively. A positioner 36 is slidably disposed in the middle of the mounting base 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 base 31 first contacts the edge of the steel structure component 44. As the trolley 1 continues to move, the locator 36 is blocked by the component and slides in the mounting base 31. Its sliding process drives the intermediate gear 35 in the middle of the mounting base 31 to rotate. Since the intermediate gear 35 meshes with the tooth grooves of the two sliding rods 33, and the tooth grooves of the two sliding rods 33 are arranged opposite each other, the rotation of the intermediate gear 35 will drive the two sliding rods 33 to slide in the opposite direction along the mounting base 31. The sliding rods 33 drive the clamping plate 34 and the clamping rod at the lower end to move synchronously, so that the two clamping arms 32 gradually clamp towards the component, ensuring that the steel structure component 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 between the locator 36 and the intermediate gear 35 enables the robot to automatically trigger the movement of the gripper arm 32 by the passive sliding of the locator 36 when it approaches the component. This allows the component to be accurately positioned to the center of the turntable 2 without the need for additional sensors, thus improving installation accuracy.

[0042] The positioner 36 includes a screw 37 threadedly connected to the intermediate gear 35, the screw 37 being slidably connected to the mounting base 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 of the two ends of the positioning rod 38, the guide rod 39 being slidably connected to the mounting base 31; A spring 40 is fitted on the outside of the screw 37. One end of the spring 40 is fixedly connected to the mounting base 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. At the same time, it drives the screw 37 to slide in the mounting base 31 along the direction of the guide rod 39. Since the screw 37 is threadedly connected to the intermediate gear 35, the linear sliding of the screw 37 is converted into the rotational motion of the intermediate gear 35. The intermediate gear 35 drives the two sliding rods 33 to move in opposite directions, so that the clamping arm 32 clamps the component in the direction of the component until the clamping rod fixes the component in the center of the turntable 2. Once installation is complete, the trolley 1 moves away from the assembly, the spring force of the spring 40 pushes the positioning rod 38 forward to reset, 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 resets, avoiding deviation.

[0044] The spring 40 provides a buffer when the positioning rod 38 contacts the component, reducing damage to the equipment from rigid collisions. It also automatically resets after installation, preparing for the next positioning and improving operational 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 on the positioning rod 38, ensuring the accuracy and consistency of component positioning.

[0046] Two limiters 45 are slidably installed on the trolley 1, and limit teeth are provided on the upper surface of the limiters 45. A slot is opened on the rod body of guide rod 39, and the slot corresponds to limiter 45; Several limiting rods are fixedly installed at the 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 component 44, the positioning rod 38 contacts the edge of the component 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 to form 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 during 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 snap-fit ​​structure of the guide rod 39 continue to keep the guide rod 39 in a stable position, 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 locating rod 38 disengages from the component, the spring 40 pushes the guide rod 39 to reset, the locating rod disengages from the limiting teeth, and the locator 36 returns to the sliding state, making it easy 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, preventing the positioning rod 38 from shifting due to vibration or force during bolt tightening, ensuring that the steel structure component 44 always maintains precise alignment and improving installation accuracy.

[0049] An inclined groove 41 is provided at each of the two ends of the limiter 45, and the end of the groove 41 near the mounting base 31 is the low horizontal end. A mounting shaft is fixedly installed on the trolley, and the mounting shaft slides within the slide groove 41. A foot pedal 42 is mounted on the trolley and is connected to two limiters 45 via connecting rods 43.

[0050] After the robot finishes tightening the bolts of the steel structure component 44, it needs to move to the next position. The user steps on the foot pedal 42 on the trolley. The foot pedal 42 rotates and drives the two limiters 45 to move synchronously through the connecting rod 43. The limiters 45 slide along the inclined slide grooves 41 at both ends to the lower horizontal end. As the limiter 45 moves, the limit teeth on its upper surface separate from the limit rod in the groove of the guide rod 39, releasing the lock on the guide rod 39. At this time, the positioning rod 38 returns to its original position 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 component 44. Subsequently, the user releases the foot pedal 42, and the limiter 45 resets along the slide groove 41 under the guidance of the mounting shaft, preparing for the next positioning lock, and the robot can then drive the trolley 1 to move to the new installation position.

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

[0052] Each limiter 45 has a compression spring fixedly installed at both ends, and the compression spring abuts 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 groove 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 spring force pushes the limiter 45 upward along the slide groove 41 to reset until the limit tooth returns to the initial position, preparing for the next positioning and locking.

[0054] When using this invention, 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 move synchronously through the linkage mechanism 4 to tighten the bolts of the building steel structure component 44, thus completing the installation. After the bolts on both sides are tightened, start the drive motor 6. The motor shaft drives the drive gear 7 to rotate. The drive gear 7 meshes with the teeth on the outer surface of the turntable 2, thereby driving the turntable 2 to rotate on the trolley 1, so that the turntable 2 rotates 90 degrees to tighten the bolts on the other two sides. Automatic positioning and angle adjustment are achieved through positioning mechanism 5 and drive motor 6, reducing manual intervention. The two sets of bolt operation modules 3 are linked by linkage mechanism 4 to complete bolt tightening synchronously, 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 within the protection scope of the present invention.

Claims

1. An automated installation robot for building steel structure components, characterized in that, Includes a trolley (1), 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 set of bolt operation modules (3) for tightening steel structure bolts are respectively provided on both sides of the opening end of the turntable (2), and the two sets of bolt operation modules (3) are linked by a linkage mechanism (4). The trolley (1) is also equipped with a positioning mechanism (5) for positioning the trolley (1); The outer surface of the turntable (2) is arc-shaped and has teeth. A drive motor (6) is fixedly installed in the middle of the trolley (1). A drive gear (7) is fixedly installed on the motor shaft of the drive motor (6) and meshes with the teeth. The linkage mechanism (4) includes lead screws (8) rotatably disposed on both sides of the open end of the turntable (2). A transverse motor (9) is fixedly disposed on the turntable (2) on one side of each lead screw (8). The motor shaft of the transverse motor (9) is coaxially fixed with the adjacent lead screw (8). A slider (10) is threadedly connected to each lead screw (8). The slider (10) is slidably connected to the turntable (2). A drive shaft (11) is rotatably disposed on the turntable (2) on one side of the lead screw (8). The bolt operation module (3) is slidably mounted on the slider (10); The bolt operation module (3) includes a frame (12) slidably connected to the slider (10), a connecting rod (24) is rotatably mounted on the frame (12), and an adapter rod (25) is rotatably mounted on the movable end of the connecting rod (24), and the adapter rod (25) is slidably connected to the slider (10). A swing arm (26) is slidably mounted on the drive shaft (11). The movable end of the swing arm (26) is provided with a long groove. The connecting shaft between the connecting rod (24) and the adapter rod (25) slides in the long groove. One end of the drive shaft (11) is fixedly provided with a drive arm (27), and two drive arms (27) are arranged opposite to each other. Each drive arm (27) has a drive rod (28) rotatably provided at its movable end. Two control levers (29) are rotatably arranged in the middle of the turntable (2), and the movable end of each control lever (29) is rotatably connected to an adjacent drive lever (28); An electric actuator (30) is provided between the two control levers (29). The fixed end of the electric actuator (30) is rotatably connected to the middle of one of the control levers (29), and the movable end of the electric actuator (30) is rotatably connected to the middle of the other control lever (29).

2. The automatic installation robot for building steel structure components according to claim 1, characterized in that, The lower end of the frame (12) is L-shaped, and a slot (13) is provided on the horizontal part of the lower end of the frame (12). A tightening motor (14) is fixedly installed on the upper end of the frame (12). A sleeve (15) is fixedly installed at the upper end of the frame (12). The inner wall of the sleeve (15) is provided with an internal thread. The sleeve (15) is connected to a lifting member (16) through the internal thread. The lifting member (16) is connected to the motor shaft of the tightening motor (14). The lifting component (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 drive wheel (19) is rotatably provided inside the lifting cylinder (18). The drive wheel (19) is located at the lower end of the lifting cylinder (18). Several fins (20) are fixedly provided on the outer wall of the drive wheel (19). Several 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 component (22) is fixedly installed on the drive wheel (19), and a bolt is detachably installed on the sleeve mounting component (22) to tighten the sleeve (23).

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

4. The automatic installation robot for building steel structure components according to claim 3, 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 base (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), the guide rod (39) being slidably connected to the mounting base (31); A spring (40) is sleeved on the outside of the screw (37). One end of the spring (40) is fixedly connected to the mounting base (31), and the other end is fixedly connected to the positioning rod (38).

5. The automatic installation robot for building steel structure components according to claim 4, characterized in that, Two limiters (45) are slidably arranged on the trolley (1), and the upper surface of the limiters (45) is provided with limit teeth; A slot is provided on the rod body of the guide rod (39), and the slot corresponds to the limiter (45); A plurality of limiting rods are fixedly provided at one end of the slot away from the positioning rod (38), and the limiting rods are engaged with the limiting teeth.

6. The automatic installation robot for building steel structure components according to claim 5, characterized in that, The limiter (45) has an inclined groove (41) at each end, and the end of the groove (41) near the mounting base (31) is a low horizontal end. The trolley is fixedly equipped with an installation shaft, which slides within the slide groove (41); A foot pedal (42) is rotatably mounted on the trolley, and the foot pedal (42) is connected to the two limiters (45) by connecting rods (43).

7. The automatic installation robot for building steel structure components according to claim 6, characterized in that, Each of the limiters (45) is fixedly provided with a compression spring at both ends, and the compression spring abuts against the trolley (1).

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