A prefabricated beam column joint bolt fastening robot based on laser positioning

Abstract

The utility model belongs to the prefabricated beam assembly construction technical field discloses a prefabricated beam column node bolt fastening robot based on laser positioning, including walking mechanism, laser positioning mechanism and executing mechanism, the walking mechanism includes base and four groups of swing arms that are rotatably connected on the base, and the end of each group swing arm is equipped with rotatable walking roller, the executing mechanism includes multi -shaft mechanical arm and installs the actuator at the end of multi -shaft mechanical arm, the laser positioning mechanism includes main locator and installs the sub -positioner on the actuator, the multi -shaft mechanical arm includes at least one drive joint that can drive the actuator relative rotation, in conclusion, the utility model provides the bolt fastening robot that can walk along the prefabricated beam automatically, to realize the automatic fastening of the bolt assembly of each node of prefabricated beam, effectively promotes construction efficiency, precision and fastening quality, and avoids the situation that appears to miswinding, wrong twist or miss twist.

Description

Technical Field

[0001] This utility model belongs to the field of precast beam assembly construction technology, specifically involving a robot for fastening bolts at precast beam-column joints based on laser positioning. Background Technology

[0002] In modern building construction, prefabricated components are often used for assembly to improve construction efficiency, and prefabricated beams are a typical example of prefabricated building components. Based on the raw materials used, prefabricated beams are generally divided into prefabricated concrete beams and prefabricated steel beams. In particular, for prefabricated steel beams, fastening bolts and other accessories are required during assembly to achieve the connection of multiple nodes such as columns, main beams, and side beams.

[0003] The current construction method involves manually inspecting and tightening each bolt at every node, which is difficult and risky. In addition, during manual tightening, the limited skill level of the construction technicians often leads to mis-tightening, incorrect tightening, and omissions, which makes the nodes of the precast beam prone to safety hazards, and makes it difficult to guarantee construction efficiency, accuracy, and tightening quality. Utility Model Content

[0004] In view of this, in order to solve the problems mentioned in the background art, the purpose of this utility model is to provide a laser-based robot for fastening bolts at precast beam-column joints.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A laser-based robot for fastening bolts at precast beam-column joints includes a walking mechanism, a laser positioning mechanism, and an execution mechanism.

[0007] The walking mechanism includes a base and four sets of swing arms rotatably connected to the base, and each set of swing arms is provided with a rotatable walking roller at its end.

[0008] The actuator includes a multi-axis robotic arm and an actuator installed at the end of the multi-axis robotic arm;

[0009] The laser positioning mechanism includes a main positioner and a secondary positioner mounted on the actuator.

[0010] Preferably, the walking mechanism further includes a drive cylinder for driving the swing arm to rotate, and the two ends of the drive cylinder are respectively rotatably connected to the base and the swing arm.

[0011] Preferably, the traveling roller includes an end seat, a roller, and a drive motor. The drive motor is fixed on the end seat and is used to drive the roller to rotate relative to the end seat.

[0012] Preferably, a mounting base is fixed to the end of the swing arm, and a rotary motor for driving the end seat to rotate is fixed on the mounting base, wherein the rotation center axis of the end seat is perpendicular to the rotation center axis of the roller.

[0013] Preferably, the actuator further includes a base rotatably mounted at the center of the base, the multi-axis robotic arm rotatably mounted on the base, and the main positioner fixedly mounted on the base.

[0014] Preferably, the multi-axis robotic arm includes at least one drive joint capable of driving the actuator to rotate relative to it.

[0015] Preferably, the at least one drive joint includes an R-axis joint, and when the R-axis joint drives the actuator to rotate relative to each other, its rotation center R-axis is perpendicular to the actuator's central axis.

[0016] Preferably, the at least one drive joint further includes a P-axis joint, and when the P-axis joint drives the actuator to rotate relative to each other, its rotation center P-axis is perpendicular to the rotation center R-axis.

[0017] Preferably, the multi-axis robotic arm further includes a drive arm connected between two adjacent drive joints.

[0018] Preferably, the actuator is used to drive the self-locking bolt to tighten, the self-locking bolt includes an elastic locking sleeve, a self-locking nut, a self-locking screw and a locking head, and the actuator includes an actuator motor, a fixed disk, a drive sleeve and a positioning pressure ring;

[0019] Both the actuator motor and the fixed plate are fixed to the end of the multi-axis robotic arm;

[0020] The drive sleeve is rotatably mounted inside the fixed disk and is driven to rotate by the actuator motor. The drive sleeve is provided with a locking hole into which a self-locking screw and a self-locking nut can be inserted.

[0021] The auxiliary positioner and the positioning pressure ring are both fixed on the fixed plate, and the positioning pressure ring is sleeved outside the drive sleeve and is used to press the elastic lock sleeve.

[0022] Compared with the prior art, this utility model has the following advantages:

[0023] (1) This utility model provides a bolt tightening robot that can automatically walk along the precast beam, thereby realizing the automatic tightening of bolts at each node of the precast beam, effectively improving construction efficiency, accuracy and tightening quality, and avoiding mis-tightening, incorrect tightening or omission of bolts.

[0024] (2) In this utility model, the walking mechanism includes four swing arms that can swing and walking rollers set at the ends of the swing arms. By adjusting the rotation of the swing arms, the walking rollers can be stably pressed against the surface of the precast beam, thereby realizing the stable walking of the whole robot and flexibly applicable to precast beams of different specifications.

[0025] (3) In this utility model, the end of the swing arm is provided with a mounting base and a rotary motor, which can drive the walking roller to perform rotational avoidance. On the one hand, it is convenient to realize obstacle avoidance in the overall robot walking process, and on the other hand, it is convenient to change the walking track of the overall robot in conjunction with the swing arm.

[0026] (4) In this utility model, the actuator includes a multi-axis robotic arm and an actuator. The multi-axis robotic arm flexibly adjusts the operating angle of the actuator so that the actuator can work with the self-locking bolts to achieve rapid connection and assembly at the precast beam node. Attached Figure Description

[0027] Figure 1 This is a perspective view of the present invention;

[0028] Figure 2 This is a schematic diagram of the walking mechanism in this utility model;

[0029] Figure 3 This is a schematic diagram of the assembly of the swing arm, drive cylinder and traveling roller in this utility model;

[0030] Figure 4 This is an exploded view of the traveling roller in this utility model;

[0031] Figure 5 This is a schematic diagram of the actuator in this utility model;

[0032] Figure 6 This is an exploded view of the actuator in this utility model;

[0033] Figure 7 This is an exploded view of the self-locking bolt in this utility model;

[0034] In the diagram: Walking mechanism - 100; Base - 110; Swing arm - 120; Mounting seat - 121; Rotary motor - 122; Walking roller - 130; End seat - 131; Roller - 132; Drive motor - 133; Drive cylinder - 140; Laser positioning mechanism - 200; Main positioner - 201; Secondary positioner - 202; Actuator - 300; Multi-axis robotic arm - 310; Drive joint - 311; R-axis joint - 312; P-axis joint - 313; Drive arm - 314; Actuator - 320; Actuating motor - 321; Fixed plate - 322; Drive sleeve - 323; Positioning pressure ring - 324; Lock hole - 325; Base - 330. Detailed Implementation

[0035] To further understand the content of this utility model, a detailed description of it is provided in conjunction with the accompanying drawings and embodiments. The structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art; they are not intended to limit the implementation of this utility model and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives of this utility model, should still fall within the scope of the technical content disclosed herein. Similarly, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this utility model. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein.

[0036] like Figure 1 As shown, the present invention provides a laser-positioning-based precast beam-column node bolt tightening robot, comprising a walking mechanism 100, a laser positioning mechanism 200, and an execution mechanism 300. Specifically: the walking mechanism 100 is mounted on the precast beam and moves automatically along the precast beam; the laser positioning mechanism 200 is used to detect the walking path and the node positions on the walking path where bolt tightening is required; the execution mechanism 300 is used to perform bolt tightening operations at the node positions, thereby achieving automatic tightening of bolts at each node of the precast beam.

[0037] Continue to refer to Figure 2 As shown, the walking mechanism 100 includes a base 110 and four sets of swing arms 120 rotatably connected to the base 110. Each set of swing arms 120 has a rotatable walking roller 130 at its end. Specifically, in conjunction with... Figure 1 As shown, the traveling rollers 130 are arranged vertically and abut against the surface of the precast beam. Thus, when the traveling rollers 130 rotate, the friction between them and the precast beam surface drives the entire traveling mechanism 100 to achieve self-drive. The swing arm 120 adjusts the position of the traveling rollers 130 by rotation. For example, if the swing arm 120 at point a rotates counterclockwise and the swing arm 120 at point b rotates clockwise, the two sets of traveling rollers 130 (a and b) will move closer to each other, corresponding to... Figure 1 The assembly method of the walking mechanism 100 on the precast beam shown allows the walking mechanism 100 to flexibly adapt to precast beams with smaller widths.

[0038] It is worth noting that the rotation drive of the swing arm 120 is achieved by a drive cylinder 140 rotatably connected between the base 110 and the swing arm 120. (Combined) Figure 2 As shown, the base 110, the drive cylinder 140 and the swing arm 120 are combined to form a triangular connection structure. When the drive cylinder 140 extends, it means that one side of the triangle extends. Since all three sides of the triangle are rotatably connected, the side where the swing arm 120 is located can be driven to swing and rotate.

[0039] Continue to refer to Figure 4 As shown, the traveling roller 130 includes an end base 131, a roller 132, and a drive motor 133. The drive motor 133 is fixed to the end base 131 and is used to drive the roller 132 to rotate relative to the end base 131. Specifically, the roller 132 has a hollow internal structure. An inner roller is fixed on the drive shaft of the drive motor 133. The inner roller is coaxially fixed inside the roller 132, and its length is less than the length of the roller 132. This allows the drive motor 133 to be accommodated inside the roller 132, ensuring that the roller 132 can be effectively driven while achieving a reasonable assembly of the overall structure. It is worth noting that the surface of the roller 132 can be provided with an anti-slip and wear-resistant layer to reduce the wear of the roller 132 and increase the friction between the roller 132 and the surface of the precast beam, thereby ensuring the stability of the traveling mechanism 100 during self-driven travel. In addition, in adapting to achieve such Figure 1 When assembling the I-beam shown, the roller 132 fits on both sides of the I-beam wing plate. However, due to the small thickness of the wing plate, the contact area between the roller 132 and the wing plate is small. In this example, a convex spherical limiting part is formed on the surface of the roller 132, and the spherical limiting part abuts against the inner surface of the wing plate, thereby achieving a stable fit between the roller 132 and the I-beam wing plate, thus ensuring the stability of the overall robot installation and movement.

[0040] In one example embodiment, the end of the swing arm 120 is fixed with as follows Figure 3 The mounting base 121 shown has a rotary motor 122 fixed on it for driving the end seat 131 to rotate. The rotation axis of the end seat 131 is perpendicular to the rotation axis of the roller 132. Specifically, a U-shaped groove is provided on one side of the mounting base 121, and the end seat 131 is rotatably mounted in the U-shaped groove. Driven by the rotary motor 122, the traveling roller 130 can rotate towards the opening side of the U-shaped groove.

[0041] For example, when the walking mechanism 100 travels to... Figure 1When assembling the precast beam at the joint, the traveling roller 130 at point c / d reaches the joint first and is blocked. At this time, the drive cylinder 140 drives the swing arm 120 to rotate and swing away from the precast beam, thus providing the traveling roller 130 with space to avoid the obstacle. The rotary motor 122 drives the traveling roller 130 to rotate from a vertical state to a horizontal state, thereby enabling the traveling roller 130 at point c / d to pass over the top of the joint (the traveling roller 130 at point c / d drives the overall traveling mechanism 100 to move), thus realizing the obstacle crossing of the overall traveling mechanism 100. The traveling roller 130 at point a / b completes obstacle crossing based on the same principle. After obstacle crossing, the traveling roller 130 is reset by driving the drive cylinder 140 and the rotary motor 122.

[0042] Another example is when the walking mechanism 100 needs to... Figure 1 When changing tracks at the assembly nodes of precast beams, for example, changing from the main beam to the side beam via the travel track: First, the travel roller 130 at c / d is moved across the node to the right side of the side beam using the obstacle avoidance method described above, while the travel roller 130 at a / b remains on the left side of the side beam. Then, the swing arm 120 at b / c is driven to swing, so that the travel roller 130 at b / c abuts against both sides of the side beam. Then, the travel roller 130 at b / c is used to drive the overall travel mechanism 100 to move along the side beam, while the travel roller 130 at a / d completes obstacle avoidance crossing using the obstacle avoidance method described above, until the travel roller 130 at a / d also moves to both sides of the side beam. Then, the swing arm 120 at a / d is driven to swing, so that the travel roller 130 at a / d also abuts against both sides of the side beam, completing the complete track switching.

[0043] Continue to refer to Figure 5 As shown, the actuator 300 includes a base 330, a multi-axis robotic arm 310, and an actuator 320 mounted at the end of the multi-axis robotic arm 310. Specifically, the base 330 is rotatably mounted at the center of the base 110 (driven to rotate by a motor), the multi-axis robotic arm 310 is rotatably mounted on the base 330, and the main positioner 201 is fixedly mounted on the base 330.

[0044] The multi-axis robotic arm 310 includes at least one drive joint 311 capable of driving the actuator 320 to rotate relative to each other, and adjacent drive joints 311 are connected by drive arms 314. Specifically, at least one drive joint 311 includes an R-axis joint 312 and a P-axis joint 313. The R-axis joint 312 causes the two adjacent drive arms 314 connected thereto to rotate around the rotation center R-axis, and the rotation center R-axis is always perpendicular to the central axis of the actuator 320 regardless of the rotation state of the multi-axis robotic arm 310. The P-axis joint 313 causes the two adjacent drive arms 314 connected thereto to rotate around the rotation center P-axis, and the rotation center P-axis is always perpendicular to the rotation center R-axis regardless of the rotation state of the multi-axis robotic arm 310, thereby flexibly realizing multi-angle and multi-position adjustment of the actuator 320. Figure 5 In the case of a multi-axis robotic arm 310, there are three R-axis joints 312 and three P-axis joints 313, and the R-axis joints 312 and P-axis joints 313 are distributed alternately.

[0045] For example, this utility model Figure 5 In the middle, the base 330 is equipped with multi-axis robotic arms 310 on both sides, that is, the overall bolt fastening robot is specifically manifested as a dual-arm robot.

[0046] Continue to refer to Figure 6 and Figure 7 As shown, the actuator 320 is used to drive the self-locking bolt to tighten. The self-locking bolt includes an elastic locking sleeve, a self-locking nut, a self-locking screw, and a locking head. The actuator 320 includes an actuator motor 321, a fixed disk 322, a drive sleeve 323, and a positioning pressure ring 324. Specifically, the actuator motor 321 and the fixed disk 322 are both fixed to the end of the multi-axis robotic arm 310. The drive sleeve 323 is rotatably mounted inside the fixed disk 322 and is driven to rotate by the actuator motor 321. The drive sleeve 323 has a locking hole 325 inside which the self-locking screw and the self-locking nut can be inserted. The positioning pressure ring 324 is fixed on the fixed disk 322 and is sleeved on the outside of the drive sleeve 323, and is used to press the elastic locking sleeve.

[0047] For example, when the actuator 320 provided by this utility model is used to drive the self-locking bolt to tighten, the self-locking bolt follows... Figure 1The bolts are fitted into the mounting holes at the precast beam connection points. In their initial state, the locking head is fixed to one end of the self-locking screw, the elastic sleeve is nested outside the locking head, and the self-locking nut is screwed onto the other end of the self-locking screw. A washer is fixed to the end of the elastic sleeve near the self-locking nut. Using the adjustment of the multi-axis robotic arm 310, the positioning ring 324 of the actuator 320 presses against the elastic sleeve and washer, while the self-locking nut is inserted into the locking hole 325 within the drive sleeve 323. The actuator motor 321 drives the drive sleeve 323 to rotate, thereby rotating the self-locking nut. The self-locking nut engages with the self-locking screw, causing the self-locking screw and locking head to move towards the elastic sleeve. The locking head takes on a frustum shape, causing the elastic sleeve to deform and open. The elastic sleeve deforms on one side of the precast beam, and the self-locking nut locks on the other side, effectively completing the tightening of the precast beam node bolts and the assembly and fixing of the precast beam node.

[0048] It is worth noting that a secondary positioner 202 is fixed on the fixed plate 322, located outside the positioning pressure ring 324. This secondary positioner 202 precisely positions each self-locking bolt, ensuring that the actuator 320 can accurately tighten each self-locking bolt. Specifically, the main positioner 201 and the secondary positioner 202 work together to form a laser positioning mechanism 200 that achieves overall robot positioning.

[0049] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0050] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A laser-based positioning-based robot for fastening bolts at precast beam-column joints, characterized in that: It includes a walking mechanism (100), a laser positioning mechanism (200), and an actuator (300); The walking mechanism (100) includes a base (110) and four sets of swing arms (120) rotatably connected to the base (110). Each set of swing arms (120) has a rotatable walking roller (130) at its end. The actuator (300) includes a multi-axis robotic arm (310) and an actuator (320) installed at the end of the multi-axis robotic arm (310); The laser positioning mechanism (200) includes a main positioner (201) and a secondary positioner (202) mounted on the actuator (320).

2. The laser-based positioning-based precast beam-column joint bolt fastening robot according to claim 1, characterized in that: The walking mechanism (100) also includes a drive cylinder (140) for driving the swing arm (120) to rotate. The two ends of the drive cylinder (140) are rotatably connected to the base (110) and the swing arm (120) respectively.

3. The laser-based positioning-based precast beam-column joint bolt fastening robot according to claim 1, characterized in that: The traveling roller (130) includes an end seat (131), a roller (132) and a drive motor (133). The drive motor (133) is fixed on the end seat (131) and is used to drive the roller (132) to rotate relative to the end seat (131).

4. The laser-positioning-based precast beam-column joint bolt fastening robot according to claim 3, characterized in that: The swing arm (120) is fixed with a mounting base (121) at its end. A rotary motor (122) for driving the end seat (131) to rotate is fixed on the mounting base (121). The rotation center axis of the end seat (131) is perpendicular to the rotation center axis of the roller (132).

5. The laser-based positioning-based precast beam-column joint bolt fastening robot according to claim 1, characterized in that: The actuator (300) further includes a base (330) rotatably mounted at the center of the base (110), the multi-axis robotic arm (310) rotatably mounted on the base (330), and the main locator (201) fixedly mounted on the base (330).

6. The laser-based positioning-based precast beam-column joint bolt fastening robot according to claim 5, characterized in that: The multi-axis robotic arm (310) includes at least one drive joint (311) capable of driving the actuator (320) to rotate relative to each other.

7. A laser-based precast beam-column joint bolt fastening robot according to claim 6, characterized in that: The at least one drive joint (311) includes an R-axis joint (312), and when the R-axis joint (312) drives the actuator (320) to rotate relative to each other, its rotation center R-axis is perpendicular to the central axis of the actuator (320).

8. The laser-based positioning-based precast beam-column joint bolt fastening robot according to claim 7, characterized in that: The at least one drive joint (311) further includes a P-axis joint (313), and when the P-axis joint (313) drives the actuator (320) to rotate relative to each other, its rotation center P-axis is perpendicular to the rotation center R-axis.

9. A laser-based positioning-based precast beam-column joint bolt tightening robot according to claim 8, characterized in that: The multi-axis robotic arm (310) also includes a drive arm (314) connected between two adjacent drive joints (311).

10. A laser-based positioning-based precast beam-column joint bolt tightening robot according to claim 1, characterized in that: The actuator (320) is used to drive the self-locking bolt to lock. The self-locking bolt includes an elastic locking sleeve, a self-locking nut, a self-locking screw and a locking head. The actuator (320) includes an actuator motor (321), a fixed plate (322), a drive sleeve (323) and a positioning pressure ring (324). The actuator motor (321) and the fixed disk (322) are both fixed to the end of the multi-axis robotic arm (310); The drive sleeve (323) is rotatably mounted inside the fixed disk (322) and driven to rotate by the actuator motor (321). The drive sleeve (323) is provided with a locking hole (325) into which a self-locking screw and a self-locking nut can be inserted. The sub-positioner (202) and the positioning pressure ring (324) are both fixed on the fixed plate (322), and the positioning pressure ring (324) is sleeved on the outside of the drive sleeve (323) and used to press the elastic lock sleeve.

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