Screw fastening robot based on steel structure

Abstract

A screw fastening robot based on a steel structure comprises a device body and a plurality of manipulators, the device body comprises a first camera, a fixing assembly and a marking assembly, the fixing assembly comprises a second camera, an electric sleeve and a first electric telescopic rod, and the output end of the first camera is connected with the input end of the second camera. The output end of the second camera is connected with the input end of the first electric telescopic rod; the marking assembly comprises a marking pen and a second electric telescopic rod. The output end of the first camera is connected with the input end of the second electric telescopic rod. During use, when it is found that a screw is loosened, the mechanical arm drives the device body to get close to the position where the screw is loosened, a second camera accurately positions the screw needing to be fastened in the moving process, then a first electric telescopic rod drives an electric motor to extend, and the screw is tightened through an electric sleeve; the manipulator drives the mobile terminal to move to the corrosion position, and then the second electric telescopic rod drives the marking pen to extend and mark.

Description

Technical Field

[0001] The utility model belongs to the field of robots, in particular to a steel structure screw fastening robot. Background Art

[0002] With economic development and the improvement of science and technology, more and more people use machines to inspect products to ensure human safety, such as inspecting and repairing screws of steel structures. However, there are some difficult problems in the inspection and repair of steel structure screws: loose or corroded screws at high places will cause the steel structure to fall and hit the ground. However, for screw inspection and troubleshooting, it is usually necessary to manually climb to a high place and then inspect and replace the loose or corroded screws. This method is time-consuming and labor-intensive, and there are great safety hazards. Utility Model Content

[0003] In view of the above, the utility model provides a steel structure screw fastening robot to solve the problems raised in the above background technology.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a steel structure screw tightening robot, including a device body, a plurality of manipulators, the plurality of manipulators are fixed at the bottom of the device body, and a battery is arranged inside the device body; the device body includes a first camera for judging the corrosion condition by the rust area on the surface of the steel structure and judging the tightness of the screw by the distance between the nut and the stud, a fixing component for tightening the screw, and a marking component for marking the corrosion condition of the steel structure, the first camera is located in front of the device body, the fixing component and the marking component are respectively located on the left and right sides of the device body, and the output end of the first camera is respectively connected to the output end of the fixing component, the output end of the marking component and the output end of the manipulator; the fixing component includes a second camera for determining the specific position of the screw, a screwdriver, and a screwdriver. An electric sleeve for tightening screws, and a first electric telescopic rod for driving the electric sleeve to move up and down, the two ends of the first electric telescopic rod are respectively connected and fixed to the device body and the electric sleeve, the output end of the first camera is connected to the input end of the second camera, and the output end of the second camera is connected to the input end of the first electric telescopic rod; the marking component includes a marking pen for marking the surface of the steel structure with rust, and a second electric telescopic rod for driving the marking pen to move telescopically, the two ends of the second electric telescopic rod are respectively connected and fixed to the device body and the marking pen, and the output end of the first camera is connected to the input end of the second electric telescopic rod; when in use, the device body walks on the steel structure, the first camera finds the approximate position of the loose screw or the rusty screw and moves to this position, and then the electric sleeve tightens the loose screw, and the marking pen marks the rusty screw.

[0005] Furthermore, several of the manipulators are fixed with mechanical moving ends divided into two groups of different magnetic poles and with strong magnetism at the bottom ends, the manipulator joints are connected by hinges, and a rotating motor is provided at the hinge connection to drive the hinge to rotate, and the output end of the mechanical moving end is connected to the input end of the rotating motor. When one group of mechanical moving ends is attracted to the steel structure, the other group of mechanical moving ends is repelled from the steel structure. When the mechanical moving ends are repelled from the steel structure, the mechanical moving ends are not in contact with the steel structure. At this time, the rotating motor drives the manipulator to bend forward, thereby cooperating with each other to complete the movement of the manipulator.

[0006] Furthermore, the number of the manipulators is no less than two, and the manufacturer will manufacture robots with different numbers of manipulators when they are released, which can be selected according to actual conditions, wherein four manipulators are preferably used, and the output terminal of the first camera is connected to the input terminal of the manipulator.

[0007] Furthermore, an opening and closing cover is arranged above the battery, and the battery can be charged or replaced by opening the cover.

[0008] Furthermore, the device body is connected to a wireless terminal, and the device body can be operated on the mobile terminal.

[0009] Furthermore, the device body and the manipulator are made of metal. The metal material has good durability, is not easy to age, and is not easily contaminated by dust and pollutants.

[0010] Furthermore, the lower end surface of the device body is respectively provided with openings for the fixing component and the marking component to extend or shorten. When the fixing component and the marking component are extended, the screws or marking screws are tightened through the openings, and the second camera is located on both sides of the opening of the fixing component.

[0011] The beneficial effects of the utility model are as follows: the robot can be operated by a mobile terminal, and the robot can climb to a high place of the steel structure to reinforce the loose screws, mark the corroded and rusted surface and then replace them manually. Therefore, there is no need to climb to a high place to reinforce the screws, nor is there any need to check the rusted screws. This method greatly saves time and physical strength, and greatly reduces safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the folded structure of the utility model.

[0013] Figure 2 It is a structural schematic diagram of the utility model.

[0014] exist Figure 1-Figure 2In the figure, 1. device body; 101. manipulator; 102. mechanical moving end; 103. first camera; 104. battery; 105. cover; 2. fixing component; 201. second camera; 202. electric sleeve; 203. first electric telescopic rod; 3. marking component; 301. marking pen; 302. second electric telescopic rod. DETAILED DESCRIPTION

[0015] The utility model is further described below in conjunction with the accompanying drawings and some implementation methods.

[0016] exist Figure 1-Figure 2In the invention, a robot for fastening screws based on steel structures comprises a device body 1, a plurality of manipulators 101, wherein the plurality of manipulators 101 are fixed at the bottom of the device body 1, and a battery 104 is arranged inside the device body 1; the device body 1 comprises a first camera 103 for judging the corrosion condition by the rust area on the surface of the steel structure and judging the tightness of the screw by the distance between the nut and the stud, a fixing component 2 for fastening the screw, and a marking component 3 for marking the corrosion condition of the steel structure, wherein the farther the distance between the nut and the stud is, the looser the screw is, and vice versa, the tighter the screw is; the first camera 103 is located in front of the device body 1, the fixing component 2 and the marking component 3 are respectively located on the left and right sides inside the device body 1, and the output end of the first camera 103 is connected to the output end of the fixing component 2 respectively. The output end, the output end of the marking component 3 and the output end of the manipulator 101 are connected; the fixing component 2 includes a second camera 201 for determining the specific position of the screw, an electric sleeve 202 for tightening the screw, and a first electric telescopic rod 203 for driving the electric sleeve 202 to move up and down. When the screws are of different sizes in different areas, the corresponding electric sleeve 202 can be replaced according to actual conditions. The two ends of the first electric telescopic rod 203 are respectively connected and fixed to the device body 1 and the electric sleeve 202, the output end of the first camera 103 is connected to the input end of the second camera 201, the first camera 103 transmits the approximate position information to the second camera 201, the output end of the second camera 201 is connected to the input end of the first electric telescopic rod 203, and the first camera is connected to the input end of the second camera 201 during the climbing process. 103 continuously scans the looseness and corrosion of the screws. When a loose screw is found, the manipulator 101 drives the device body 1 to move closer to the position of the loose screw. During the movement, the second camera 201 accurately locates the screw that needs to be tightened. Then the first electric telescopic rod 203 drives the electric extension and tightens the screw through the electric sleeve 202. When the distance between the nut and the stud is small, it proves that the screw is tightened. Then the first electric telescopic rod 203 drives the electric sleeve 202 to shorten and complete the process of tightening the screw; the marking component 3 includes a marking pen 301 for marking the surface of the steel structure with rust, and a second electric telescopic rod 302 for driving the marking pen 301 to move telescopically. The two ends of the second electric telescopic rod 302 are respectively connected to the device body 1 and the marking pen 301. The output end of the first camera 103 is connected to the input end of the second electric telescopic rod 302. During the climbing process, the first camera 103 continuously scans the looseness and corrosion of the screws. When the first camera 103 finds corrosion, the manipulator 101 drives the mobile terminal to move to the corrosion position, and then the second electric telescopic rod 302 drives the marker 301 to extend and mark. When the marker 301 contacts the steel structure, the device body 1 will move forward one step to leave a mark, and then the second electric telescopic rod 302 will shorten to complete the marking process. When in use, the device body 1 walks on the steel structure, the first camera 103 finds the approximate position of the loose screws or rusty screws and moves to this position, and then the electric sleeve 202 tightens the loose screws, and the marker 301 marks the rusty screws.

[0017] In this embodiment, a plurality of the manipulators 101 are provided with fixed mechanical moving ends 102 having two groups of different magnetic poles and strong magnetism at the bottom ends, the manipulators 101 are connected at their joints by hinges, and a rotating motor for driving the hinges to rotate is provided at the hinge connection, and the rotating motor is a common rotating motor device, such as a GB / T4831-2016 model, a Y160M-4 model rotating motor, etc. The output end of the mechanical moving end 102 is connected to the input end of the rotating motor, and when one group of mechanical moving ends 102 is attracted to the steel structure, the other group of mechanical moving ends 102 is repelled from the steel structure, and when the mechanical moving ends 102 are repelled from the steel structure, the mechanical moving ends 102 are not in contact with the steel structure, and at this time, the rotating motor drives the manipulator 101 to bend forward, for example, like a dog walking, the dog will alternately lift up its right front foot and left hind foot, and then lift up its left front foot and right hind foot, and walk forward in this rhythm, and the manipulators 101 also cooperate with each other to complete the movement of the manipulators 101.

[0018] In this embodiment, there are no less than two manipulators 101 . The manufacturer will manufacture robots with different numbers of manipulators 101 when they are released. The selection can be made according to actual conditions. Four manipulators 101 are preferably used. The output end of the first camera 103 is connected to the input end of the manipulator 101 .

[0019] In this embodiment, an opening and closing cover 105 is provided above the battery 104. The cover 105 can be opened to charge or replace the battery 104. The output end of the battery 104 is connected to the input end of the device body 1 and the input end of the manipulator 101 to provide them with power. When the battery 104 is less than 10% in power, it will automatically return to prevent the device body 1 from falling from a height.

[0020] In this embodiment, the device body 1 is connected to a wireless terminal, which is an electronic product such as a computer or a mobile phone. The device body 1 can be operated on the mobile terminal.

[0021] In this embodiment, the device body 1 and the robot 101 are made of metal. Metal materials have good durability, are not easy to age, and are not easily contaminated by dust and pollutants.

[0022] In this embodiment, the lower end surface of the device body 1 is respectively provided with openings for the fixing component 2 and the marking component 3 to extend or shorten. When in use, the fixing component 2 and the marking component 3 are extended to pass through the openings to tighten the screws or mark the corrosion conditions. When not in use, the fixing component 2 and the marking component 3 are retracted into the interior of the device body 1 through the openings. The second camera 201 is located on both sides of the opening of the fixing component 2. When the first camera 103 is determined to be near the screws that need to be tightened, the second camera 201 accurately locates the specific position of the screws.

[0023] In this embodiment, the first electric telescopic rod 203 and the second electric telescopic rod 302 are common electric telescopic devices, such as HB-DJ806, HTKC-55, NKLA34 telescopic rod devices, etc.

[0024] In this embodiment, the control circuit of the utility model is a common circuit in the circuit field. The device of the utility model can provide power for the device through a built-in battery, which can be implemented by technicians in the relevant technical field and will not be described in detail here.

[0025] The utility model is implemented in detail as follows: when in use, the robot is manipulated at the mobile terminal, and the robot will conduct inspections in the designated area. At this time, the mechanical mobile terminal 102 climbs upwards through the principle of magnetic attraction. During the climbing process, the first camera 103 continuously scans the looseness and corrosion of the screws. When a loose screw is found, the manipulator 101 drives the device body 1 to approach the position of the loose screw. During the movement, the second camera 201 accurately locates the screw that needs to be tightened, and then the first electric telescopic rod 203 drives the electric extension and tightens the screw through the electric sleeve 202. When the distance between the nut and the stud is small, it proves that the screw is tightened. Then the first electric telescopic rod 203 drives the electric sleeve 202 to shorten the process of tightening the screw. When the first camera 103 finds corrosion, the manipulator 10 1 drives the mobile terminal to move to the corrosion position, and then the second electric telescopic rod 302 drives the marking pen 301 to extend and mark. When the marking pen 301 contacts the steel structure, the device body 1 will move forward one step to leave a mark, and then the second electric telescopic rod 302 will shorten to complete the marking process. During the process of tightening the screws and marking, the first camera 103 and the second camera 201 will take pictures and send them to the mobile terminal. During the process of tightening the screws, the first camera 103 and the second camera 201 judge the tightness of the screws by the distance from the nut to the stud, so there is a certain error. During the marking process, the first camera 103 judges the corrosion situation by the color difference of the steel structure pattern and the like, and the first camera 103 can only judge the approximate position. Therefore, when dealing with rust, workers need to check the corrosion situation around the mark.

[0026] It is worth noting that: in the description of the present utility model, the meaning of "multiple" is two or more than two, unless otherwise clearly and specifically defined. In the present utility model, unless otherwise clearly specified and defined, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; the circuits described in the present utility model are all commonly used circuits in the field, and other related components are all existing commonly used components. For ordinary technicians in the field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0027] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A steel structure screw fastening robot, comprising a device body and a plurality of manipulators, wherein the plurality of manipulators are fixed at the bottom of the device body, characterized in that: A battery is arranged inside the main body of the device; the main body of the device comprises a first camera for judging the corrosion condition by the rust area on the surface of the steel structure and judging the tightness of the screw by the distance between the nut and the stud, a fixing component for tightening the screw, and a marking component for marking the corrosion condition of the steel structure, the first camera is located in front of the main body of the device, the fixing component and the marking component are respectively located on the left and right sides of the main body of the device, and the output end of the first camera is respectively connected to the output end of the fixing component, the output end of the marking component and the output end of the manipulator; The fixing assembly includes a second camera for determining the specific position of the screw, an electric sleeve for tightening the screw, and a first electric telescopic rod for driving the electric sleeve to move up and down, wherein both ends of the first electric telescopic rod are respectively connected and fixed to the device body and the electric sleeve, the output end of the first camera is connected to the input end of the second camera, and the output end of the second camera is connected to the input end of the first electric telescopic rod; The marking component includes a marking pen for marking the surface of the steel structure with rust, and a second electric telescopic rod that drives the marking pen to telescope, the two ends of the second electric telescopic rod are respectively connected and fixed to the device body and the marking pen, and the output end of the first camera is connected to the input end of the second electric telescopic rod; when in use, the device body walks on the steel structure, the first camera finds the approximate position of the loose screw or the rusty screw and moves to this position, then the electric sleeve tightens the loose screw, and the marking pen marks the rusty screw.

2. The steel structure screw fastening robot according to claim 1, characterized in that: A plurality of mechanical moving ends with two groups of different magnetic poles and strong magnetism are fixed at the bottom of the manipulators. The joints of the manipulators are connected by hinges, and a rotating motor is arranged at the hinge connection to drive the hinge to rotate.

3. The steel structure screw fastening robot according to claim 2, characterized in that: There are no less than two of the plurality of manipulators, and the output end of the first camera is connected to the input end of the manipulator.

4. The steel structure screw fastening robot according to claim 1, characterized in that: An opening and closing cover is arranged above the storage battery.

5. The steel structure screw fastening robot according to claim 1, characterized in that: The device body is connected to a wireless terminal.

6. The steel structure screw fastening robot according to claim 1, characterized in that: The device body and the manipulator are made of metal.

7. The steel structure screw fastening robot according to claim 1, characterized in that: The lower end surface of the device body is respectively provided with openings for the fixing component and the marking component to extend or shorten, and the second camera is located on both sides of the fixing component opening.

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