Bolt tightening machine walking mechanism based on electromagnetic suction seat

Abstract

The utility model relates to steel box girder high-strength bolt operation, in particular to a bolt tightening machine walking mechanism based on an electromagnetic suction seat. The bolt tightening machine walking mechanism based on the electromagnetic suction base is used for supporting a bolt tightening machine frame body so as to move on a steel box girder top plate. The walking mechanism comprises a moving part support, walking wheels and an electromagnetic assembly. The upper end of the moving part bracket is connected with a bolt tightening machine frame main body; the walking wheel is an electric control automatic walking device and is arranged at the bottom end of the moving part bracket; the electromagnetic assembly is arranged on the lower portion of the moving part support and used for switching on and off according to the signals so that the electromagnetic assembly can selectively open or make contact with the adsorption state of the top of the steel box girder. The electromagnetic assembly selectively adsorbs or releases the steel structure in an electric control mode, the stability and flexibility of the device in the operation process are enhanced, the device is suitable for various operation scenes, and stepless switching and accurate positioning of the bolt tightening device under complex working conditions can be achieved.

Description

Technical Field

[0001] The utility model relates to the field of high-strength bolt operations for steel box girders, and particularly to a traveling mechanism for a bolt tightening machine based on an electromagnetic suction seat. Background Technique

[0002] As the core load-bearing component of modern long-span bridges, the construction quality of steel box girders is directly related to the safety and durability of the overall bridge structure. In the assembly construction of steel box girders, high-strength bolt connection is a key process to ensure the reliable fixation of each segment. Traditional bolt tightening operations are mostly completed by manual operation or semi-automatic equipment. However, with the increase in bridge span and the complexity of steel box girder structures, some problems have emerged in the existing technologies. For example, the walking positioning accuracy is insufficient. That is, traditional walking mechanisms mostly directly carry equipment using a wheeled structure, which is prone to slipping on the smooth surface of the steel box girder top plate. Especially on an inclined working surface, the self-weight of the equipment cannot provide sufficient adhesion, resulting in positioning deviation and affecting the bolt hole alignment accuracy. During construction, it is necessary to frequently adjust the equipment working position. Although existing pneumatic adsorption or mechanical clamping devices can improve stability, each shift requires manual release of the fixation, and the operation process is cumbersome, significantly reducing the construction efficiency. While the pure wheeled structure is convenient for movement, it cannot meet the anti-overturning requirements during high-torque operations. There are often irregular features such as weld protrusions and anti-corrosion coatings on the surface of the steel box girder. If traditional vacuum suction cups are used, adsorption failure is likely to occur due to uneven contact surfaces, and mechanical clamps have specific installation position requirements for the edge structure of the box girder, greatly limiting the operation coverage of the equipment.

[0003] In view of the above technical bottlenecks, the industry urgently needs a walking mechanism that combines fast movement ability and instantaneous rigid fixation, which can achieve stepless switching of the adsorption state, so as to ensure the precise positioning and efficient transfer of the bolt tightening equipment under complex working conditions. Content of the Utility Model

[0004] In view of the above technical problems, the utility model provides a traveling mechanism for a bolt tightening machine based on an electromagnetic suction seat, which can achieve stepless switching of the adsorption state by adopting a specific magnetic suction device structure, in order to ensure the precise positioning of the bolt tightening equipment under complex working conditions.

[0005] On the one hand, the present utility model provides a traveling mechanism of a bolt tightening machine based on an electromagnetic suction seat. The traveling mechanism of the bolt tightening machine based on the electromagnetic suction seat is used to support the main body of the bolt tightening machine frame to move on the top plate of the steel box girder. The traveling mechanism includes a moving part support, traveling wheels, and an electromagnetic component. The upper end of the moving part support is used to connect the main body of the bolt tightening machine frame; the traveling wheels are electrically controlled automatic traveling devices, which are arranged at the bottom end of the moving part support and are used to drive the moving part support to move on the top plate of the steel box girder according to signals; the electromagnetic component is arranged at the lower part of the moving part support and is used to turn on and off the power according to signals so that it can selectively turn on or release the adsorption state with the top of the steel box girder.

[0006] This solution provides a traveling mechanism of a bolt tightening machine with automatic moving and controllable adsorption capabilities. By setting electrically controlled traveling wheels, the automatic traveling of the bolt tightening machine on the top plate of the steel box girder is realized; the electromagnetic component realizes the selective adsorption or release of the steel structure through an electric control method, enhancing the stability and flexibility of the equipment during the operation process, being applicable to various operation scenarios, and enabling stepless switching and precise positioning of the bolt tightening equipment under complex working conditions.

[0007] In some embodiments, the moving part support of the traveling mechanism of the bolt tightening machine includes a main support, a transmission group, and a power group. The traveling wheels are rotatably arranged at the lower end of the main support; the transmission group is arranged on the main support and is in transmission connection with the traveling wheels; the power group is arranged on the main support and is in transmission connection with the transmission group, and is used to drive the traveling wheels through the transmission group; a cavity with an open bottom is arranged inside the main support, and the electromagnetic component is arranged in the cavity and at least a part of it can extend out of the cavity through the opening at the bottom of the cavity.

[0008] By integrating the transmission group and the power group into the main support, the efficient drive and control of the traveling wheels are realized. At the same time, a cavity with an open bottom is formed inside the main support, providing space for the installation of the electromagnetic component, enabling it to be telescopically arranged, which helps to realize the precise adsorption and detachment control of the steel box girder. This structure is compact, the modules are distinct, and it is convenient for installation and maintenance.

[0009] In some embodiments, the transmission group is arranged on one side plate surface of the main support in the traveling direction; the transmission group is in transmission connection with the traveling wheels; the power group is arranged on the other side plate surface of the main support in the traveling direction, and at least a part of the power group or the transmission group penetrates through the cavity of the main support so that the power group and the transmission group are in transmission connection.

[0010] By arranging the transmission group and the power group on both sides of the main support in the traveling direction respectively and connecting them through the cavity, the internal space layout is optimized, the structural complexity is effectively reduced, the transmission efficiency is improved, and at the same time, such a symmetrical structure helps to keep the center of gravity of the equipment stable and improve the anti-overturning ability during traveling.

[0011] In some embodiments, the electromagnetic assembly includes a first support plate, an electric cylinder support, an electric cylinder, a guide rod, and an electromagnetic suction seat. The first support plate is disposed within the cavity and connected to the main bracket; the electric cylinder support is disposed within the cavity and connected to the main bracket or the first support plate; the upper end of the electric cylinder is hinged to the electric cylinder support; the guide rod is slidably disposed through the first support plate and arranged in parallel with the lead screw of the electric cylinder; the upper end of the electromagnetic suction seat is connected to the lower end of the guide rod and the lower end of the lead screw of the electric cylinder, and the electromagnetic suction seat is used to magnetically attract a target object when energized.

[0012] This structure enables the electromagnetic suction seat to move up and down under the drive of the electric cylinder, and restricts its movement direction through the guide rod to ensure smooth movement. The electromagnetic suction seat can firmly adsorb the steel structure during operation and can be quickly released during movement, improving the response speed of the equipment for adsorption and release, and ensuring that the equipment can adapt to complex working surfaces.

[0013] In some embodiments, a first through hole is formed on the first support plate, and a first sleeve arranged in parallel with the lead screw is provided on the first through hole; the guide rod is slidably fitted within the first sleeve.

[0014] The sliding fit between the guide rod and the sleeve makes the movement of the electromagnetic suction seat in the vertical direction more stable, reliable, and free of jamming, reducing the load on the electric cylinder and enhancing the mechanical stability of the electromagnetic assembly.

[0015] In some embodiments, a second through hole is formed on the first support plate, and the electric cylinder is disposed through the second through hole, and a gap is left between the electric cylinder and the hole wall of the second through hole.

[0016] Leaving a gap when the electric cylinder passes through the first support plate ensures that the electric cylinder can still retain a certain degree of freedom in the horizontal direction during expansion and contraction, reducing unnecessary movement interference and ensuring the stability of the system operation.

[0017] In some embodiments, in the horizontal direction where the electric cylinder can swing after being hinged to the electric cylinder support, the size of the second through hole extends in this direction, so that the electric cylinder can swing or rotate in this direction within the second through hole.

[0018] By enabling the electric cylinder to swing or rotate in the through hole, it can also compensate for the installation error of the electric cylinder or the minor deviation during operation to a certain extent, improve the fault tolerance of the system, prevent damage to the components due to rigid connection, and increase the overall service life.

[0019] In some embodiments, a second support plate is further disposed within the cavity below the first support plate, and the lower section of the guide rod is disposed through the second support plate; a second through hole is formed on the second support plate, and a second sleeve arranged in parallel with the lead screw is provided on the second through hole; the lower section of the guide rod is slidably fitted within the second sleeve.

[0020] The second support plate and the guide rod form a double-point guidance, improving the parallelism and stability of the suction plate during the entire movement process, preventing the suction plate from skewing and jamming, and enhancing the adsorption reliability to be applicable to high-intensity repetitive operations.

[0021] In some embodiments, the second support plate is connected to the main bracket, and the lower end of the lead screw is hinged to the upper plate surface of the second support plate; alternatively, the lower end of the lead screw is hinged to the upper plate surface of the second support plate, and the second support plate is suspended below the first support plate through the lead screw.

[0022] This provides multiple installation method options. That is, the hinge can improve flexibility and swing compensation, generally increasing the installation freedom and structural adaptability, and being suitable for tightening machine frames of different sizes or forms.

[0023] In some embodiments, an installation plate is provided at the upper end of the electromagnetic suction seat, and connecting pins are provided on the upper plate surface of the installation plate; the connecting pins penetrate through the second support plate and the heads of the connecting pins are located above the second support plate, and the connecting pins are slidably connected to the second support plate. Springs can be sleeved on part of the guide rod between the installation plate and the second support plate.

[0024] Through the sliding connection of the connecting pins, the electromagnetic suction seat is restricted by the guiding structure during the telescopic process, maintaining the smoothness of vertical movement and preventing problems of offset or jamming caused by lateral forces.

[0025] On the one hand, a walking mechanism of a bolt tightening machine based on an electromagnetic suction seat provided by the present utility model is arranged on a high-strength bolt automatic tightening machine, and the automatic tightening machine is used for tightening high-strength bolts on a steel box girder. The automatic tightening machine includes a multi-axis moving support, a tightening assembly, and a control unit;

[0026] The multi-axis moving support has a moving part for enabling the walking mechanism of the electromagnetic suction seat-based bolt tightening machine to move on the top plate of the steel box girder; the multi-axis moving support further includes a multi-axis bracket arranged on the moving part; the tightening assembly is used for butting or clamping high-strength bolts on the steel box girder and driving the high-strength bolts to rotate by a power part configured according to the tightening assembly; the tightening assembly is arranged on the multi-axis bracket, and a driving assembly is configured on the multi-axis bracket for driving the tightening assembly to be movable on multiple spatial axes; the control unit is connected to the tightening assembly and the multi-axis moving support for controlling the tightening assembly and the multi-axis moving support according to input instructions; wherein, the tightening assembly includes a tightening frame for clamping the steel box girder from both sides of the steel box girder and an image acquisition group for identifying the bolt position, and the control unit is connected to the image acquisition group for generating a three-dimensional motion path through the bolt pose data collected by the image acquisition group; first and second screwdriver heads are respectively arranged at both ends of the tightening frame for clamping, the first screwdriver head is used for adapting to and fixing or screwing the nut of the high-strength bolt, and the second screwdriver head is used for adapting to and fixing or screwing the high-strength screw rod, and at least one point on the connection line between the centers of the working end faces of the first screwdriver head and the second screwdriver head moves along the three-dimensional motion path according to the received instruction. This can be regarded as that the connection line between the centers of the working end faces of the first screwdriver head and the second screwdriver head always intersects with the generated three-dimensional motion path line. Here, the three-dimensional motion path can be a virtual channel with a width in the XZ plane, that is, there is a certain adjustable margin or amplitude in the direction of the channel width.

[0027] By adopting a walking mechanism of an electromagnetic suction seat-based bolt tightening machine of the present application, this solution realizes three-dimensional positioning and automatic tightening of high-strength bolts of a steel box girder through the collaborative design of a multi-axis moving support and a machine vision system. Specifically, the multi-axis moving support realizes planar movement on the top plate of the steel box girder through a moving part (such as an X / Y axis platform driven by a servo), and its multi-axis bracket (such as a main cross beam, a vertical frame and a lifting shaft can be set) provides three-dimensional spatial degrees of freedom, and drives the tightening assembly to accurately adjust the position and pose to adapt to the distribution of the bolt group; the tightening assembly adopts a two-station design, the first screwdriver head (nut end fitting) and the second screwdriver head (screw rod end fitting) are respectively fixed on both sides of the gantry-type lifting shaft, and are symmetrically arranged in cooperation with the image acquisition group to synchronously collect the position data of the nut and the screw rod of the bolt, and a three-dimensional motion path can be generated to guide the centering. This structural design solves the problems of low efficiency and large error of traditional manual positioning, and provides a rigid support basis for automatic screwing.

[0028] In some embodiments, the multi-axis bracket includes a main cross beam and a vertical frame; the main cross beam is arranged on the moving part; the vertical frame is movably arranged on the cross beam, and the tightening assembly is movably arranged on the vertical frame; two photoelectric limit switches are arranged on the main cross beam on both sides of the vertical frame for respectively detecting the distances between the vertical frame and the two photoelectric limit switches;

[0029] The vertical frame includes a secondary crossbeam and a gantry. The secondary crossbeam is movably arranged on the main crossbeam and is used to selectively move along the length direction of the main crossbeam. The gantry includes lifting shafts that are respectively vertically movably connected to both ends of the secondary crossbeam. The upper ends of the two lifting shafts are connected by a connecting rod to form a doorframe structure. The tightening assembly is arranged at the lower end of the lifting shaft. The first tightening head and the second tightening head are respectively located at the lower ends of the two lifting shafts and are arranged oppositely.

[0030] The photoelectric limit switch on the main crossbeam real-time detects the moving range of the vertical frame to ensure the positioning accuracy. The gantry structure realizes the adaptive adjustment of the tightening assembly in the Z-axis direction through the combination of the secondary crossbeam and the lifting shaft, covering complex working surfaces such as the web and diaphragm of the steel box girder.

[0031] Specifically, this solution realizes the three-dimensional space positioning and synchronous tightening functions through the multi-stage motion design of the main crossbeam, vertical frame, and gantry. The multi-axis bracket consists of a main crossbeam (fixed to the moving part) and a vertical frame. The vertical frame horizontally moves along the length direction of the main crossbeam (X-axis) through the secondary crossbeam and realizes height adjustment through the vertical movement (Z-axis) of the two side lifting shafts, forming the motion ability of two degrees of freedom in X / Z. The gantry structure forms a doorframe by connecting the upper ends of the two lifting shafts with a connecting rod to ensure the synchronous movement of the two side lifting shafts. The first tightening head (fitting nut) and the second tightening head (fitting screw) are respectively installed at the lower ends of the two side lifting shafts, and bilateral clamping tightening is realized through the relative layout. Photoelectric limit switches are arranged on both sides of the main crossbeam to real-time detect the moving range of the vertical frame (such as detecting the distance between the vertical frame and the limit switch), preventing over-travel and calibrating the positioning accuracy.

[0032] The overall structure of this solution improves the adaptability to different specifications of bolts through modular design (such as replaceable tightening heads, rigid connection of the gantry), and at the same time covers the bolt group operation requirements of the complex curved surface of the steel box girder through a multi-stage motion mechanism (horizontal drive of the main crossbeam + vertical drive of the lifting shaft).

[0033] In some embodiments, the tightening frame includes a tightening seat, a linear module, and a force sensor. The tightening seat is used to support the second tightening head or the first tightening head. The tightening seat is arranged on the linear module and is used to selectively move on the linear module. The force sensor is arranged on the tightening seat. The force sensor is connected to the second tightening head and is used to collect the torque data and axial force data of the second tightening head. The force sensor is connected to the control unit, and the control unit is used to real-time receive the dynamic signal of the force sensor and adjust the output parameters. The above-mentioned force sensor can be installed between the tightening seat and the second tightening head to detect torque and axial force.

[0034] The dynamic adjustment and precise control of the tightening component are achieved through the integrated design of the linear module and the force sensor in this tightening frame. Specifically, the tightening seat is horizontally or vertically moved along a preset path through a linear module (such as a ball screw mechanism driven by a servo), thereby adjusting the relative position between the second tightening head and the bolt; the force sensor (such as a multi-dimensional torque-axial force composite sensor) is directly integrated on the tightening seat to collect the torque data and axial force data of the second tightening head in real time, and the dynamic signal is analyzed through a control unit (such as a PLC or an industrial PC), and then the output parameters such as the rotation speed and torque threshold of the servo motor are adjusted. Among them, the rigid transmission characteristics of the linear module and the closed-loop feedback mechanism of the force sensor work together to ensure the stability of the tightening quality under complex working conditions. This structural design solves the problem of over-tightening / under-tightening caused by the lack of real-time force feedback in traditional tightening equipment.

[0035] In some embodiments, the image acquisition group includes: a first camera and a second camera; the first camera is arranged inside the first tightening head or on the tightening seat adjacent to the first tightening head; the second camera is arranged inside the second tightening head or on the tightening seat adjacent to the second tightening head; the first camera and the second camera are arranged opposite to each other and the imaging directions are on the same straight line in space.

[0036] In some embodiments, at least two ultrasonic rangefinders are arranged on the tightening frame, and the two ultrasonic rangefinders are arranged in parallel; the ultrasonic rangefinders located on both sides of the steel box girder are arranged facing each other; the measuring direction of the ultrasonic rangefinder is parallel to the telescopic direction of the first tightening head or the second tightening head.

[0037] In some embodiments, an electromagnetic suction seat is arranged on the multi-axis bracket or the moving part, and the electromagnetic suction seat is connected to the control unit and is used to perform opening and closing operations on the electromagnetic suction seat according to the instructions received by the control unit. Description of the Drawings

[0038] Figure 1 It is a schematic external structure diagram of the traveling mechanism of the bolt tightening machine based on the electromagnetic suction seat in the embodiment for illustration;

[0039] Figure 2 It is a schematic structure diagram of the traveling mechanism of the bolt tightening machine based on the electromagnetic suction seat after hiding the main bracket in the embodiment for illustration;

[0040] Figure 3 It is a schematic structure diagram of the electromagnetic component of the traveling mechanism of the bolt tightening machine based on the electromagnetic suction seat in the embodiment for illustration;

[0041] Figure 4 It is a schematic structure diagram of the traveling mechanism of the bolt tightening machine based on the electromagnetic suction seat in the embodiment for illustration;

[0042] Figure 5Schematic structural diagram of the traveling mechanism of a bolt tightening machine based on an electromagnetic suction seat in the embodiments for illustration;

[0043] 10 - Moving part support; 11 - Main support; 12 - Transmission group; 13 - Power group; 20 - Traveling wheel; 60 - Electromagnetic component; 61 - First support plate; 61a - Second support plate; 62 - Electric cylinder support; 63 - Electric cylinder; 64 - Guide rod; 65 - Lead screw; 66 - First sleeve; 67 - Second sleeve; 68 - Second perforation; 69 - Spring; 100 - Multi-axis moving support; 110 - Moving part; 120 - Multi-axis support; 121 - Main cross beam; 122 - Vertical frame; 124 - Auxiliary cross beam; 125 - Gantry; 126 - Lifting shaft; 127 - Connecting rod; 200 - Tightening component; 210 - Tightening frame; 211 - First tightening head; 212 - Second tightening head; 213 - Tightening seat; 214 - Linear module; 300 - Photoelectric limit switch; 410 - First camera; 420 - Second camera; 500 - Ultrasonic rangefinder; 600 - Electromagnetic suction seat; 610 - Mounting plate; 620 - Connecting pin; 700 - Electric push cylinder. Specific embodiments

[0044] The following describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. In the embodiments of the present application, words such as "exemplarily" or "for example" are used to represent examples, illustrations or explanations.

[0045] Embodiment 1:

[0046] Combined with Figure 1 、 Figure 2 and Figure 3 A traveling mechanism of a bolt tightening machine based on an electromagnetic suction seat 600. The traveling mechanism of the bolt tightening machine based on the electromagnetic suction seat 600 is used to support the main body of the bolt tightening machine frame to move on the top plate of the steel box girder. The traveling mechanism includes a moving part support 10, a traveling wheel 20, and an electromagnetic component 60. The upper end of the moving part support 10 is used to connect the main body of the bolt tightening machine frame; the traveling wheel 20 is an electronically controlled automatic traveling device, and the traveling wheel 20 is arranged at the bottom end of the moving part support 10 and is used to drive the moving part support 10 to move on the top plate of the steel box girder according to a signal; the electromagnetic component 60 is arranged at the lower part of the moving part support 10 and is used to turn on and off the power according to a signal so that it can selectively turn on or release the adsorption state with the top of the steel box girder.

[0047] The moving part support 10 is arranged at the bottom of the device main body, used to support the entire traveling mechanism, the electromagnetic suction seat 600 and connect the upper and lower components. That is, it serves as the main frame body of the traveling mechanism, the installation main body of the electromagnetic suction seat 600 and the traveling wheels 20, and also serves as the support main body for supporting the bolt tightening machine frame body above. The above-mentioned moving part support 10 adopts a rectangular welded steel beam, with an anti-corrosion coating sprayed on the surface, and is connected to the bolt tightening machine frame body through a bolt group (such as M16 bolts) at the upper end. The above-mentioned traveling wheels 20 are selected as PU-coated driving wheels, with a built-in reduction motor (such as DC24 V / 50 W) and an encoder, and are installed in the rotary bearing seats at the bottom end of the moving part support 10. The above-mentioned electromagnetic component 60 is composed of the electromagnetic suction seat 600 and the supporting wires and the control module. Its structural configuration will be elaborated in detail below. This electromagnetic component 60 is fixed in the cavity at the lower part of the moving part support 10.

[0048] The solution of this embodiment aims at the problems that the traditional traveling mechanism is prone to slip due to gravity and vibration on the top plate of the steel box girder, and cannot maintain stable positioning and stepless switching. Through the electromagnetic component 60, it can be synchronously powered on for adsorption or powered off for release before and after traveling, enhancing the stability and efficiency during the operation process, and realizing stepless switching of the adsorption state to ensure the precise positioning of the bolt tightening equipment under complex working conditions.

[0049] Embodiment Two:

[0050] Combined with Figure 1 、 Figure 2 and Figure 3 The moving part support 10 of the bolt tightening machine traveling mechanism includes a main support 11, a transmission group 12, and a power group 13. The traveling wheels 20 are rotatably arranged at the lower end of the main support 11; the transmission group 12 is arranged on the main support 11 and is in transmission connection with the traveling wheels 20; the power group 13 is arranged on the main support 11 and is in transmission connection with the transmission group 12, used to drive the traveling wheels 20 through the transmission group 12. Here, the transmission connection can adopt transmission methods such as belt drive, gear drive, worm and worm gear or lead screw, etc., as long as the power can be transmitted smoothly; a cavity with an open bottom is arranged inside the main support 11, and the electromagnetic component 60 is arranged in this cavity and at least a part of it can extend out of the cavity from the opening at the bottom of the cavity. When setting this cavity, it should be adapted to the overall size of the electromagnetic component 60 to ensure that each component of the electromagnetic component 60 can be installed conveniently and smoothly. Figure 2 The chain on the transmission gear in

[0051] The above-mentioned main bracket 11 is formed by welding or integrally casting two side plates and an upper plate, and an open cavity is left inside the side plates. The transmission group 12 is installed on the side of the main bracket 11 and includes a gearbox meshing with the driving gear of the traveling wheel 20, and transmits force through a transmission shaft. The power group 13 is installed on the other side of the main bracket 11 and is connected to the transmission group 12, including a reduction motor and a coupling, and the output end is connected to the transmission shaft passing through the main bracket through the coupling.

[0052] In this embodiment, the power group 13 and the transmission group 12 are compactly arranged inside the main bracket 11, and the power is efficiently transmitted through the coupling and the gearbox; the open cavity below provides a free telescopic stroke for the electromagnetic assembly 60, realizing the unobstructed extension and retraction of the adsorption surface.

[0053] Embodiment 3:

[0054] Combined with Figure 1 、 Figure 2 and Figure 3 The transmission group 12 is arranged on one side plate surface of the main bracket 11 in the traveling direction; the transmission group 12 is in transmission connection with the traveling wheel 20; the power group 13 is arranged on the other side plate surface of the main bracket 11 in the traveling direction, and at least a part of the power group 13 or the transmission group 12 penetrates through the cavity of the main bracket so that the power group 13 and the transmission group 12 are in transmission connection.

[0055] To avoid the structural imbalance that may easily occur if the power and transmission are placed on the same side; the transmission group 12 is arranged on the outer side plate surface of the main bracket 11 in the traveling direction, and the shell of the transmission group 12 is fixedly connected by multiple bolts and meshes with the driving gear of the traveling wheel 20. The power group is also installed by bolts, and the output shaft of its reduction motor passes through the cavity through the coupling and is connected to the input end of the transmission group 12. In this solution, the two sides are connected through the cavity to achieve connection without increasing the complexity of the external layout. In this solution, the transmission group 12 and the power group 13 are arranged symmetrically left and right, so that the center of gravity of the main bracket 11 is centered; the power group 13 is connected through the coupling in the cavity, keeping the overall appearance of the machine simple and convenient for maintenance.

[0056] Embodiment 4:

[0057] Combined with Figure 1 、 Figure 2 and Figure 3, the electromagnetic component 60 includes a first support plate 61, an electric cylinder support 62, an electric cylinder 63, a guide rod 64, and an electromagnetic suction seat 600. The first support plate 61 is disposed within the cavity and connected to the main bracket 11; the electric cylinder support 62 is disposed within the cavity, and the electric cylinder support 62 is connected to the main bracket 11 or the first support plate 61; the upper end of the electric cylinder 63 is hinged to the electric cylinder support 62; the guide rod 64 is slidably disposed through the first support plate 61 and arranged in parallel with the lead screw 65 of the electric cylinder 63; the upper end of the electromagnetic suction seat 600 is connected to the lower end of the guide rod 64 and the lower end of the lead screw 65 of the electric cylinder 63, and the electromagnetic suction seat 600 is used to magnetically attract the target object (steel box girder top plate) when energized. The upper end of the above-mentioned electric cylinder 63 is the end configured with a motor.

[0058] A first through hole is formed on the first support plate 61, and a first sleeve 66 arranged in parallel with the lead screw 65 is provided on the first through hole; the guide rod 64 is slidably adapted within the first sleeve 66. The first sleeve 66 provides precise guidance.

[0059] The above-mentioned first support plate 61 is selected as a steel plate and welded and fixed to the side wall of the cavity of the main bracket 11. The electric cylinder support 62 can be manufactured by casting, installed above the first support plate 61, and can be connected by bolts or welded to ensure the hinge stiffness. The model of the electric cylinder 63 is a DC electric push rod (L type), and the upper end is hinged to the electric cylinder support 62 through a hinge pin. The guide rod 64 can be selected as a stainless steel rod, passing through the first sleeve 66 on the first support plate 61 and arranged in parallel with the lead screw 65. The upper end of the electromagnetic suction seat 600 is fixedly connected to the connecting piece at the lower end of the guide rod 64 and the lower end of the lead screw 65, and adsorbs the steel box girder top plate when energized. The double constraints of the electric cylinder 63 and the guide rod 64 enable the electromagnetic suction seat 600 to always move vertically within the upper linear stroke and avoid the movement interference during the movement of the electric cylinder 63. The articulated electric cylinder support 62 eliminates the installation stress caused by eccentric loads.

[0060] Embodiment Five:

[0061] Combined with Figure 1 、 Figure 2 and Figure 3 , a second through hole 68 is formed on the first support plate 61, the electric cylinder 63 is disposed through the second through hole 68, and a gap is left between the electric cylinder 63 and the hole wall of the second through hole 68. The electric cylinder 63 will generate a small amount of radial vibration during the stroke. With this arrangement, the situation of easy jamming or damage to the hole wall due to no gap is avoided.

[0062] In the horizontally swingable direction after the electric cylinder 63 is hinged to the electric cylinder support 62, the size of the second through hole 68 extends along this direction, so that the electric cylinder 63 can swing or rotate in this direction within the second through hole 68. The extended hole diameter design provides a horizontal swing space, and the electric cylinder 63 is not restricted during the stroke and inclination, improving the overall reliability.

[0063] Example Six:

[0064] Combined with Figure 1 、 Figure 2 and Figure 3 , a second support plate 61a is further arranged in the cavity below the first support plate 61, and the lower section of the guide rod 64 passes through the second support plate 61a; a second through hole 68 is formed in the second support plate 61a, and a second sleeve 67 arranged parallel to the lead screw 65 is arranged on the second through hole 68; the lower section of the guide rod 64 is slidably adapted to the second sleeve 67.

[0065] The second support plate 61a is connected to the main bracket 11, the lower end of the lead screw 65 is hinged to the upper plate surface of the second support plate 61a, and the first support plate 61 and the second support plate 61a are double-point guided to realize the parallel and stable movement of the guide rod 64 throughout the process, ensuring the uniform fitting of the adsorption surface.

[0066] Another arrangement can also be adopted here, that is, the lower end of the lead screw 65 is hinged to the upper plate surface of the second support plate 61a, and the second support plate 61a is suspended below the first support plate 61 through the lead screw 65. In this way, different hinged or suspended forms correspond to different installation space limitations and vibration compensation requirements, and stiffness and flexibility need to be considered. Two connection methods are available. Hinging improves the installation flexibility; suspension reduces the lower constraints and improves the adaptability of the adsorption surface to uneven surfaces.

[0067] An installation plate 610 is arranged at the upper end of the electromagnetic suction seat 600, and a connecting pin 620 is arranged on the upper plate surface of the installation plate 610; the connecting pin 620 penetrates through the second support plate 61a and the head of the connecting pin 620 is located above the second support plate 61a, and the connecting pin 620 is slidably connected to the second support plate 61a. Here, the connecting pin 620 and the sliding connection method take into account both structural positioning and displacement compensation, avoid jamming, and at the same time ensure the precise guidance of the electromagnetic suction seat 600. A spring 69 can be sleeved on a part of the guide rod 64 between the installation plate 610 and the second support plate 61a.

[0068] Example Seven:

[0069] Such as Figure 4 and Figure 5 , a walking mechanism of a bolt tightening machine based on an electromagnetic suction seat, which is used to tighten high-strength bolts on a steel box girder. The walking mechanism of the bolt tightening machine based on the electromagnetic suction seat includes a multi-axis moving support 100, a tightening assembly 200, and a control unit;

[0070] The multi-axis moving support 100 has a moving part 110 for enabling the walking mechanism of the electromagnetic suction seat-based bolt tightening machine to move on the top plate of the steel box girder; the multi-axis moving support 100 further includes a multi-axis bracket 120 disposed on the moving part 110; the tightening assembly 200 is used for butting or clamping high-strength bolts on the steel box girder and driving the high-strength bolts to rotate by a power part configured according to the tightening assembly 200; the tightening assembly 200 is disposed on the multi-axis bracket 120, and a driving assembly is configured on the multi-axis bracket 120 for driving the tightening assembly 200 to be movable on multiple spatial axes; the control unit is connected to the tightening assembly 200 and the multi-axis moving support 100 for controlling the tightening assembly 200 and the multi-axis moving support 100 according to input instructions; wherein, the tightening assembly 200 includes a tightening frame 210 for clamping the steel box girder from both sides of the steel box girder and an image acquisition group for identifying the bolt position, and the control unit is connected to the image acquisition group for generating a three-dimensional motion path through the bolt pose data collected by the image acquisition group; first screw heads 211 for adapting to and fixing or screwing the nuts of the high-strength bolts and second screw heads 212 for adapting to and fixing or screwing the high-strength screw rods are respectively disposed at both ends clamped by the tightening frame 210, and at least one point on the connection line between the centers of the working end faces of the first screw head 211 and the second screw head 212 moves along the three-dimensional motion path according to the received instructions. Here, the working end face is the end face closest to the steel box girder.

[0071] This multi-axis moving support 100 is the core support and moving platform of the walking mechanism of the electromagnetic suction seat-based bolt tightening machine, and its function is to enable the entire machine to move and position flexibly and precisely on the top plate of the steel box girder. This multi-axis moving support 100 can be an XYZ three-axis motion platform, driven by a servo motor and a ball screw to achieve high-precision three-dimensional movement, or it can be a robot arm structure with a multi-joint design, providing a larger moving range and flexibility. As long as it can ensure that the machine accurately reaches the specified position on the top plate of the steel box girder.

[0072] The above-mentioned moving part 110 can be a part of the multi-axis moving support 100, responsible for driving the physical displacement of the entire machine on the top plate of the steel box girder to ensure that the entire device can move smoothly on the top surface of the steel box girder. Here, the moving part 110 can be a wheeled chassis equipped with a motor and rubber wheels, moving on the top plate of the steel box girder by electric drive, or a suspended moving system can be adopted, sliding on the top plate of the steel box girder fixed by a slide rail or a guide rail, etc.

[0073] The multi-axis support 120 can be used as a part of the multi-axis mobile support 100 to support the tightening assembly 200 and provide multi-axis motion capability. It can be a gantry 125 structure to provide linear motion capability of the X, Y, and Z axes. As long as it can support the tightening assembly 200 and achieve precise movement, it can also be a multi-joint robotic arm, which can drive the tightening assembly 200 to move in three-dimensional space through joint motors and flexibly adjust the posture.

[0074] The above-mentioned first screw head 211 and second screw head 212 are devices that directly interact with high-strength bolts and are responsible for docking, clamping and rotating the bolts. The tightening action is completed by the drive of the power unit. Its appearance can be an electric wrench that rotates the bolts through a motor drive, or it can be a pneumatic tightening tool that extends in the radial direction like a clamp and uses compressed air to provide high torque output. It can also use smart wrenches and socket wrenches with force feedback, etc., which adapt to the shape and size of the nut and automatically adjust the torque and speed through sensors.

[0075] The tightening frame 210 is designed as a frame mechanical structure, on which an electric push cylinder 700 or a hydraulic cylinder, etc. can be configured to drive the first screwing head 211 and the second screwing head 212 to move in the axial direction.

[0076] The control unit can be an industrial computer running dedicated control software to process input instructions and sensor data, or a PLC (programmable logic controller) or embedded system, as long as it can meet the real-time control requirements. The image acquisition group can include multiple high-definition cameras installed on the side of the tightening frame 210 facing the steel box girder to capture the two-dimensional image of the bolt, or a laser scanner to generate three-dimensional point cloud data of the bolt, and an infrared sensor can be configured to assist in identifying the bolt in a low-light environment, as long as it can adapt to different environmental conditions.

[0077] The above-mentioned power unit can be a servo motor, a pneumatic motor or a hydraulic system, as long as it can provide precise rotational force. The driving assembly is used to drive the tightening assembly 200 to move on multiple spatial axes to ensure that it can reach the bolts at different positions on the steel box girder. It can include a linear motor and a guide rail to achieve the linear movement of the tightening assembly 200. The three-dimensional motion path in this scheme is a motion trajectory generated by the control unit based on the bolt posture data collected by the image acquisition group, which is used to guide the movement of the tightening assembly 200. It can be generated by an algorithm. The three-dimensional motion path can also be a pre-programmed range channel trajectory, which is set according to the bolt distribution law. The bolts close to or covering the range are tightened in sequence. The path can be dynamically adjusted through real-time visual feedback to adapt to changes in the bolt position.

[0078] This embodiment proposes a walking mechanism for a bolt tightening machine based on an electromagnetic suction seat. Through the collaborative design of a multi-axis moving bracket and an advanced machine vision system, three-dimensional spatial precise positioning and efficient automated tightening operations of high-strength bolts for steel box girders are achieved.

[0079] The multi-axis moving support 100 can adopt an X / Y-axis motion platform driven by a servo motor, which can achieve high-precision two-dimensional planar movement on the surface of the steel box girder top plate, ensuring the flexible deployment of the tightening machine on complex working surfaces. At the same time, the multi-axis bracket 120 provides multi-degree-of-freedom (X / Y / Z-axis) motion capabilities in three-dimensional space through its carefully designed structure (such as the combination of the main cross beam 121, vertical support frames, and lifting shaft 126), enabling the tightening assembly 200 to dynamically adjust its posture according to the spatial distribution of the bolt group to meet the requirements of precise alignment. The tightening assembly 200 adopts an innovative dual-station design. Among them, the first screwdriver head 211 adapts to and fixes or turns the nut end of the high-strength bolt, and the second screwdriver head 212 is for the screw end. The two are respectively installed on both sides of the gantry 125-type lifting shaft 126 to form a stable clamping and screwing system. In addition, the image acquisition group equipped in the tightening assembly 200 is arranged in a symmetric layout. The spatial position data of the bolt nut and screw are synchronously collected through high-resolution vision sensors, and an accurate three-dimensional motion path is generated in combination with image processing algorithms, thereby guiding the tightening assembly 200 to complete high-precision centering operations. This structural design effectively overcomes the limitations of the traditional manual positioning method, such as low efficiency, large errors, and difficult-to-guarantee consistency, provides a solid rigid support foundation for the automated screwing of high-strength bolts for steel box girders, and significantly improves the construction efficiency.

[0080] Embodiment Eight:

[0081] Based on the above Embodiment One, the multi-axis bracket 120 includes a main cross beam 121 and a vertical frame 122; the main cross beam 121 is arranged on the moving part 110; the vertical frame 122 is movably arranged on the main cross beam 121, and the tightening assembly 200 is movably arranged on the vertical frame 122; two photoelectric limit switches 300 are arranged on the main cross beam 121 on both sides of the vertical frame 122, which are used to respectively detect the distances between the vertical frame 122 and the two photoelectric limit switches 300;

[0082] The vertical frame 122 includes a secondary cross beam 124 and a gantry 125; the secondary cross beam 124 is movably arranged on the main cross beam 121 and is used to selectively move along the length direction of the main cross beam 121; the gantry 125 includes lifting shafts 126 respectively vertically movably connected to both ends of the secondary cross beam 124, and the upper ends of the two lifting shafts 126 are connected by a connecting rod 127 to form a door frame structure, and the tightening assembly 200 is arranged at the lower end of the lifting shaft 126; the first screwdriver head 211 and the second screwdriver head 212 are respectively located at the lower ends of the two lifting shafts 126 and are arranged oppositely.

[0083] The utility model significantly improves the positioning accuracy and operation adaptability through the designed multi-stage motion mechanism and detection system. The photoelectric limit switch 300 configured on the main crossbeam 121 can monitor the moving range of the vertical frame 122 in real time, accurately detect the distance between the vertical frame 122 and the limit switch through high-sensitivity photoelectric induction technology, ensure that the positioning accuracy is controlled within millimeters, thus effectively avoiding over-travel phenomena and providing a reliable calibration basis for the system. At the same time, the gantry 125 structure realizes the height adaptive adjustment of the tightening assembly 200 in the Z-axis direction through the coordinated combination of the secondary crossbeam 124 and the lifting shaft 126, and its motion range is sufficient to cover the diverse requirements of complex working surfaces such as the web and diaphragm of the steel box girder.

[0084] In terms of structural design, this solution adopts a multi-stage motion system composed of the main crossbeam 121, the vertical frame 122 and the gantry 125, realizing the functions of high-efficiency positioning and synchronous tightening in three-dimensional space. The main crossbeam 121 can be welded from high-strength steel (such as Q345B steel) or made of lightweight and high-rigidity aluminum alloy profiles (such as 6061-T6) through precision machining. It is fixed on the moving part 110 to provide stable horizontal support for the entire system. The vertical frame 122 realizes horizontal movement along the length direction (X-axis) of the main crossbeam 121 through the secondary crossbeam 124. The secondary crossbeam 124 can be equipped with a ball screw drive mechanism or a linear motor drive to ensure smooth and high-precision displacement control. In addition, the lifting shafts 126 on both sides of the vertical frame 122 realize vertical movement (Z-axis) through a gear-rack system or a hydraulic cylinder driven by a servo motor, forming a two-degree-of-freedom motion ability in the X / Z directions. The gantry 125 structure consists of the upper ends of two lifting shafts 126 forming an integral door frame through high-strength connecting rods 127 (such as carbon steel welded parts or integrally formed aluminum alloy rods), ensuring the synchronism and rigidity of the two sides of the lifting shafts 126. The first wrench head 211 (fitted to the nut end) and the second wrench head 212 (fitted to the screw end) are respectively installed at the lower ends, and bilateral clamping tightening operations are realized through symmetric layout. The photoelectric limit switches 300 on both sides of the main crossbeam 121 adopt industrial-grade photoelectric sensors (such as infrared or laser types) to monitor the dynamic position of the vertical frame 122 in real time, and the detection accuracy can reach ±0.1 mm, effectively preventing over-travel of the motion and optimizing positioning calibration.

[0085] The overall structure of this solution adopts a modular design. For example, the first wrench head 211 and the second wrench head 212 can be designed as quickly replaceable tool heads to support the adaptation requirements of different specifications of bolts (such as M20, M24); the rigid connection of the gantry 125 is fixed by high-strength bolts or pins to ensure structural stability. At the same time, the combination of the horizontal drive of the main crossbeam 121 and the vertical drive of the lifting shaft 126 can flexibly meet the requirements of the bolt group distribution on the complex curved surface of the steel box girder (such as the intersection of the web and the diaphragm). In this way, not only the entire working surface is covered, but also the tightening efficiency is significantly improved through the high-rigidity structure and precise motion control.

[0086] Embodiment Nine:

[0087] Based on the above embodiments, the tightening frame 210 includes a tightening seat 213, a linear module 214, and a force sensor; the tightening seat 213 is used to support the second tightening head 212 or the first tightening head 211; the tightening seat 213 is arranged on the linear module 214 and is used to move on the linear module 214 selectively; the force sensor is arranged on the tightening seat 213, and the force sensor is connected to the second tightening head 212 and is used to collect the torque data and axial force data of the second tightening head 212; the force sensor is connected to the control unit, and the control unit is used to receive the dynamic signal of the force sensor in real time and adjust the output parameters.

[0088] In this embodiment, the tightening seat 213 is used as the core load-bearing component, and precise displacement control along the preset path is realized relying on the linear module 214. The linear module 214 can adopt a ball screw mechanism driven by a servo motor, and its high-rigidity transmission characteristics ensure the stable movement of the tightening seat 213 in the horizontal or vertical direction, so as to accurately adjust the relative position between the second tightening head 212 and the target bolt; or an optional slide rail system driven by a linear motor can be configured to provide a higher dynamic response speed and positioning accuracy, up to ±0.01 mm. At the same time, the force sensor adopts a multi-dimensional torque-axial force composite sensor, which is directly embedded in the stress node of the tightening seat 213, and can collect the torque data of the second tightening head 212 during the tightening process in real time, with an accuracy of up to ±0.1 N·m. The axial force data includes tension and thrust, and these dynamic signals are transmitted to the control unit. The control unit can select an industrial-grade PLC or a high-performance industrial PC, and perform real-time analysis on the collected data through the built-in high-speed signal processing algorithm, and then dynamically adjust the operating parameters of the servo motor, such as the rotation speed, torque threshold (supporting multi-level setting, such as the initial tightening of 10 N·m and the final tightening of 50 N·m), etc., to meet the tightening requirements under different working conditions.

[0089] Through the above design, the tightening frame 210 realizes excellent performance in dynamic adjustment and high-precision control of the tightening assembly 200 through the high integration of the linear module 214 and the force sensor.

[0090] Embodiment Ten:

[0091] Based on the above embodiments, the image acquisition group includes: a first camera 410 and a second camera 420; the first camera 410 is arranged inside the first tightening head 211 or on the tightening seat 213 adjacent to the first tightening head 211; the second camera 420 is arranged inside the second tightening head 212 or on the tightening seat 213 adjacent to the second tightening head 212; the first camera 410 and the second camera 420 are arranged opposite to each other and the imaging directions are on the same straight line in space.

[0092] The first camera 410 and the second camera 420 can be coaxially and embeddedly installed, such as integrating a micro industrial camera inside the screwdriver head or symmetrically installing it outside, to ensure that the optical axes of the two cameras are collinear and coincide with the axis of the bolt, thereby establishing a spatial pose reference line. Here, a ring structured light can be integrated around the camera to project a coded pattern onto the end face of the bolt, enhancing the texture information (such as hexagonal corner points or thread profiles) of the nut / screw through feature points. For example, using a high-precision calibration plate (chessboard / concentric circles) to appear in the fields of view of both cameras simultaneously can ensure feature extraction in a low-contrast environment.

[0093] After the first camera 410 captures the image of the nut, it extracts the hexagonal contour based on Canny edge detection, locates the center of the circle through Hough transform, and establishes a local coordinate system using SIFT feature descriptors.

[0094] The second camera 420 analyzes the thread inclination angle in combination with the current structured light stripe technology, aligns the feature points of the two views through regional correlation matching, generates a disparity map and calculates the depth information. Based on the Zhang calibration method, the coordinate systems of the two cameras are mapped to the global coordinate system, and the lens distortion is eliminated using the homography matrix.

[0095] In this solution, the three-dimensional coordinates of the nut center (X1, Y1, Z1) and the center of the end face of the screw rod (X2, Y2, Z2) can be used to calculate the bolt axis equation and generate the path parameters for the screwdriver head to move along the axis;

[0096] where the displacement ΔL = , and the inclination angle θ = arctan[(Z2 - Z1) / ΔL)].

[0097] The two cameras synchronously scan the target area, quickly lock the approximate position of the bolt based on template matching, and trigger the tightening frame 210 to move to the preset working position. The first camera 410 extracts the center of the nut, analyzes the plane normal vector in combination with the structured light stripe, and calculates the end attitude of the nut (yaw angle α, pitch angle β). The second camera 420 uses the region growing algorithm to segment the thread area and fits the axis direction of the screw rod by the least squares method. The control unit receives the pose data at both ends, adjusts the position of the screwdriver head until the optical axes of the two cameras coincide with the actual axis of the bolt (error < ±0.2 mm), completing the centering. If the centering time exceeds the threshold or the error is too large, it is determined that there is a situation of bolt skew, and a warning message is issued and the coordinate position of the bolt is calibrated.

[0098] This camera can transmit the image to the industrial computer through the GigEVision protocol. After being processed by the vision algorithm, motion commands are generated and sent to the servo driver via the EtherCAT bus.

[0099] The human-machine interaction interface configured for the camera corresponding terminal can develop a visual control panel based on ROS (Robot Operating System) to display the bolt pose, tightening torque curve, and abnormal alarm information in real time. Deploy the lightweight YOLOv5s-T network on the embedded GPU.

[0100] Example XI:

[0101] Based on the above embodiments, two ultrasonic rangefinders 500 (a total of four, two on each side) are provided on the tightening frame 210, and the two ultrasonic rangefinders 500 are arranged in parallel with their orientations. The ultrasonic rangefinders 500 located on both sides of the steel box girder are arranged facing each other; the measuring direction of the ultrasonic rangefinder 500 is parallel to the telescopic direction of the first screwdriver head 211 or the second screwdriver head 212. The core function of the ultrasonic rangefinder 500 is to dynamically calibrate the parallelism between the translation direction of the tightening frame 210 and the steel box girder plate surface through bilateral distance synchronous detection. Specifically, the two ultrasonic rangefinders 500 are installed facing each other on the tightening frames 210 on both sides of the steel box girder, and their measuring directions are strictly parallel to the telescopic direction of the screwdriver head (Z-axis). By measuring the distance difference (ΔS = |S1 - S2|) between the two rangefinders on both sides to the steel box girder plate surface in real time, where S1 is the real-time measured distance from the ultrasonic rangefinder 500 installed on one side of the steel box girder to the plate surface of this side, and S2 is the real-time measured distance from the ultrasonic rangefinder 500 installed on the other side of the steel box girder to the plate surface of the opposite side. Determine whether the moving direction of the tightening frame 210 is consistent with the normal direction of the plate surface: If ΔS exceeds the preset threshold, it indicates that the tightening frame 210 is tilted or offset from the steel box girder plate surface. At this time, the control unit can immediately adjust the driving parameters of the multi-axis bracket 120 (such as X / Y-axis compensation movement or Z-axis lifting correction) to ensure that the first screwdriver head 211 and the second screwdriver head 212 are always centered with the bolt axis during the screwing process, or perform manual intervention according to the feedback warning information to verify whether it is a sudden change in the parallelism of the steel box girder plate surface or an offset of the tightening frame 210, thereby eliminating the risk of tightening failure caused by uneven plate surface or installation deviation.

[0102] Example XII:

[0103] Based on the above embodiments, an electromagnetic suction seat 600 is provided on the multi-axis bracket 120 or the moving part 110. The electromagnetic suction seat 600 is connected to the control unit and is used to perform opening and closing operations on the electromagnetic suction seat 600 according to the instructions received by the control unit. In this way, the rapid switching of the adsorption state can be realized through the control unit instructions, providing stable connection and positioning switching for the multi-axis bracket 120 or the moving part 110. Specifically, the electromagnetic suction seat 600 is integrated at the bottom of the multi-axis bracket 120 or the moving part 110. After receiving the operation instruction through the control unit, the electromagnet is triggered to conduct or cut off the power: when energized, the electromagnetic suction seat 600 generates a strong magnetic field and adsorbs on the surface of the steel box girder top plate, forming an adsorption force to ensure the rigid fixation of the equipment and the workpiece during the processing; when the power is cut off, the magnetic field disappears and the adsorption force is released, facilitating the rapid transfer of the equipment to the working position. By precisely controlling the on-off of the current, the instantaneous establishment and elimination of the adsorption force are realized, avoiding the positioning time-consuming problem of traditional mechanical fixtures.

[0104] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. The walking mechanism of a bolt tightening machine based on an electromagnetic suction seat, characterized in that The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat is used to support the main body of the bolt tightening machine frame to move on the top plate of the steel box girder. The walking mechanism includes: A moving part bracket, the upper end of which is used to connect the main body of the bolt tightening machine frame; A walking wheel, which is an electrically controlled automatic walking device. The walking wheel is arranged at the bottom end of the moving part bracket and is used to drive the moving part bracket to move on the top plate of the steel box girder according to a signal; An electromagnetic component, which is arranged at the lower part of the moving part bracket and is used to be powered on and off according to a signal so that it can selectively turn on or release the adsorption state with the top of the steel box girder.

2. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 1, characterized in that The moving part bracket includes: A main bracket, and the walking wheel is rotatably arranged at the lower end of the main bracket; A transmission group, which is arranged on the main bracket and is in transmission connection with the walking wheel; A power group, which is arranged on the main bracket and is in transmission connection with the transmission group, and is used to drive the walking wheel through the transmission group; A cavity with an open bottom is arranged inside the main bracket, and the electromagnetic component is arranged in the cavity and at least a part of it can extend out of the cavity through the opening at the bottom of the cavity.

3. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 2, characterized in that The transmission group is arranged on one side plate surface of the main bracket in the walking direction; the transmission group is in transmission connection with the walking wheel; The power group is arranged on the other side plate surface of the main bracket in the walking direction, and at least a part of the power group or the transmission group penetrates through the cavity of the main bracket so that the power group and the transmission group are in transmission connection.

4. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 2 or 3, characterized in that The electromagnetic component includes: A first support plate, which is arranged in the cavity and is connected to the main bracket; An electric cylinder support seat, which is arranged in the cavity, and the electric cylinder support seat is connected to the main bracket or the first support plate; An electric cylinder, the upper end of which is hinged to the electric cylinder support seat; A guide rod, which is slidably penetrated through the first support plate and is arranged in parallel with the lead screw of the electric cylinder; An electromagnetic suction seat, the upper end of which is connected to the lower end of the guide rod and the lower end of the lead screw of the electric cylinder, and the electromagnetic suction seat is used to magnetically attract the target object when powered on.

5. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 4, characterized in that A first through hole is formed on the first support plate, and a first sleeve arranged in parallel with the lead screw is arranged on the first through hole; The guide rod is slidably adapted to the first sleeve.

6. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 4, characterized in that A second through hole is formed on the first support plate, and the electric cylinder is penetrated through the second through hole, and a gap is left between the electric cylinder and the hole wall of the second through hole.

7. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 6, characterized in that In the horizontal direction where the electric cylinder can swing after being hinged to the electric cylinder support seat, the size of the second through hole extends along this direction so that the electric cylinder can swing or rotate in this direction in the second through hole.

8. The walking mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 4, characterized in that A second support plate located below the first support plate is further arranged in the cavity, and the lower section of the guide rod passes through the second support plate. A second through hole is formed in the second support plate, and a second sleeve arranged parallel to the lead screw is arranged on the second through hole; the lower section of the guide rod is slidably fitted in the second sleeve.

9. The traveling mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 8, wherein the second support plate is connected to the main bracket, and the lower end of the lead screw is hinged to the upper plate surface of the second support plate; or the lower end of the lead screw is hinged to the upper plate surface of the second support plate, and the second support plate is suspended below the first support plate through the lead screw.

10. The traveling mechanism of the bolt tightening machine based on an electromagnetic suction seat according to claim 8, wherein an installation plate is arranged at the upper end of the electromagnetic suction seat, and connection pins are arranged on the upper plate surface of the installation plate; the connection pins penetrate through the second support plate and the heads of the connection pins are located above the second support plate, and the connection pins are slidably connected to the second support plate.

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