Steel beam assisting robot

Abstract

The utility model discloses a kind of steel beam auxiliary manipulator, belong to construction engineering technical field, and the steel beam auxiliary manipulator includes rack, first walking component, second walking component, driving component and connecting seat, first walking component and second walking component are set in the opposite ends of rack, first walking component includes first walking wheel and second walking wheel, second walking component includes third walking wheel and fourth walking wheel, first walking wheel and third walking wheel can walk in the wing plate edge of H-shaped steel, second walking wheel and fourth walking wheel can walk on the web of H-shaped steel;Connecting seat is set in the output end of driving component, driving component can drive connecting seat to move in the circumferential side of H-shaped steel, connecting seat is configured to be connected for clamping construction tool clamp.The utility model can provide stable support and accurate operation for operation, and then efficiently complete the automation or semi-automation construction to the side of H-shaped steel, improve the precision and efficiency of construction.

Description

Technical Field

[0001] This utility model relates to the field of building engineering technology, and in particular to a steel beam auxiliary manipulator. Background Technology

[0002] Steel beams are core load-bearing components in buildings, bridges, and other engineering projects. Their surfaces require maintenance work such as painting, grinding, and rust removal to ensure structural safety and extend their service life. Currently, these operations are mostly done manually, especially in high-altitude or complex spatial environments, where the construction difficulty and safety risks are prominent.

[0003] In existing technologies, automatic lifting devices are often used to set up suspension points to suspend construction workers to work on the side of steel beams. However, when workers are suspended in mid-air, they lack stable foot support, which not only makes operation inconvenient and prone to fatigue, but also makes moving positions cumbersome. At the same time, in areas with narrow gaps between steel beams, it is difficult for workers to reach the work surface, or even impossible to carry out work, creating blind spots in the construction process, which in turn affects the overall construction quality and efficiency. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a steel beam-assisted robotic arm, which can provide stable support and precise operation for work, flexibly adapt to complex construction scenarios and eliminate blind spots, thereby reducing safety risks and improving construction efficiency and quality.

[0005] According to an embodiment of the present invention, a steel beam-assisted manipulator includes: a frame configured to straddle a wing plate; a first traveling assembly and a second traveling assembly, the first traveling assembly and the second traveling assembly being disposed at opposite ends of the frame; the first traveling assembly including a first traveling wheel and a second traveling wheel, the second traveling assembly including a third traveling wheel and a fourth traveling wheel; the first traveling wheel and the third traveling wheel being symmetrically arranged, the second traveling wheel and the fourth traveling wheel being symmetrically arranged; the first traveling wheel and the third traveling wheel being configured to travel along the edge of the wing plate of the H-beam, and the second traveling wheel and the fourth traveling wheel being configured to travel along the web of the H-beam; a drive assembly fixedly disposed on the frame; and a connecting seat rotatably disposed at the output end of the drive assembly, the drive assembly being able to drive the connecting seat to move around the periphery of the H-beam, the connecting seat being configured to connect to a clamp for holding construction tools.

[0006] The steel beam-assisted manipulator according to this utility model embodiment has at least the following beneficial effects: A first traveling assembly and a second traveling assembly are respectively provided at opposite ends of the frame. The first traveling assembly includes a first traveling wheel and a second traveling wheel, and the second traveling assembly includes a third traveling wheel and a fourth traveling wheel. The first and third traveling wheels are symmetrically arranged on the two edges of the single-side flange of the I-beam and can travel stably along the corresponding edges. The second and fourth traveling wheels symmetrically abut against the two side panels of the web and can roll along the side panels of the web. This four-point contact traveling method allows the entire frame to smoothly straddle the I-beam and move flexibly along its length. The drive assembly is fixedly installed on the frame, and its output end is connected to a connecting seat. The connecting seat has a quick-change function, enabling quick connection and fixation of matching special clamps according to different construction needs such as painting, grinding, and rust removal, thereby adapting to various construction tools. During operation, the frame is first fitted onto the I-beam, ensuring that all wheels are properly engaged with the edges of the flanges and the surface of the web. Then, appropriate clamps are selected based on the work being done and installed onto the connecting seat. Finally, the construction tools are securely fixed. Once preparation is complete, the operator can control the drive assembly to move the connecting seat precisely within a plane parallel to the web. This allows for efficient and safe automated or semi-automated construction of the I-beam's side. This not only effectively avoids the risks of personnel directly entering confined or high-risk spaces but also significantly improves construction precision and efficiency through mechanized operation.

[0007] According to some embodiments of the present invention, it also includes an adjustment component, which is disposed on the frame, connected to the first walking component, and connected to the second walking component. The adjustment component is configured to adjust the distance between the first walking component and the second walking component.

[0008] According to some embodiments of the present invention, the adjustment component includes: a first adjustment part connected to a first walking component; a second adjustment part disposed on the first adjustment part, the second adjustment part being movable relative to the first adjustment part, and the second adjustment part being connected to a second walking component; and a first locking part disposed between the first adjustment part and the second adjustment part, the first locking part being configured to fix the second adjustment part on the first adjustment part.

[0009] According to some embodiments of the present invention, one of the first adjustment part and the second adjustment part is a plug rod, and the other is a slot into which the plug rod is inserted. The plug rod is configured to slide in the slot to adjust the distance between the first walking component and the second walking component.

[0010] According to some embodiments of the present invention, the adjustment assembly further includes: a third adjustment part connected to the first adjustment part, the third adjustment part being movable relative to the first adjustment part, and the third adjustment part being configured to control the distance between the second traveling wheel and the web plate; a second locking part disposed between the third adjustment part and the first adjustment part, and the second locking part being configured to lock the third adjustment part onto the first adjustment part; a fourth adjustment part connected to the second adjustment part, the fourth adjustment part being movable relative to the second adjustment part, and the fourth adjustment part being configured to control the distance between the fourth traveling wheel and the web plate; and a third locking part disposed between the fourth adjustment part and the second adjustment part, and the third locking part being configured to lock the fourth adjustment part onto the second adjustment part.

[0011] According to some embodiments of the present invention, the driving component includes: a first driving member disposed on a frame; a second driving member disposed at the output end of the first driving member, the driving direction of the second driving member being perpendicular to the driving direction of the first driving member, and the output end of the second driving member being connected to a connecting base.

[0012] According to some embodiments of the present invention, both the first driving member and the second driving member are cylinders with a positioning buffer at the end of their stroke. According to some embodiments of the present invention, it also includes a support platform, which is mounted on a frame and configured to support construction tools.

[0013] According to some embodiments of this utility model, both the first and third traveling wheels are nylon track wheels.

[0014] According to some embodiments of the present invention, multiple first walking components and multiple second walking components are provided, and the multiple first walking components and multiple second walking components are symmetrically arranged along the extension direction of the frame.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the steel beam-assisted manipulator according to an embodiment of the present invention; Figure 2 for Figure 1 A diagram illustrating the usage status of the data; Figure 3 for Figure 1 A schematic diagram of the structure of the adjustment component.

[0017] Icon labels: I-beam 1, web 11, flange 12; Rack 2; First walking component 3, first walking wheel 31, second walking wheel 32; Second walking component 4, third walking wheel 41, fourth walking wheel 42; Drive component 5, first drive element 51, second drive element 52; Connector 6; First adjusting part 71, second adjusting part 72, third adjusting part 73, fourth adjusting part 74, first locking part 75; Platform 8. Detailed Implementation

[0018] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first," "second," etc., are used in the description, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0020] In the description of this utility model, unless otherwise explicitly defined, the terms "setting", "installation", "connection", etc. should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in combination with the specific content of the technical solution.

[0021] Reference Figures 1 to 3This utility model discloses a steel beam-assisted manipulator, including a frame 2, a first traveling assembly 3, a second traveling assembly 4, a drive assembly 5, and a connecting seat 6. The frame 2 is configured to straddle a wing plate 12. The first traveling assembly 3 and the second traveling assembly 4 are located at opposite ends of the frame 2. The first traveling assembly 3 includes a first traveling wheel 31 and a second traveling wheel 32, and the second traveling assembly 4 includes a third traveling wheel 41 and a fourth traveling wheel 42. The first traveling wheel 31 and the third traveling wheel 41 are symmetrically arranged, and the second traveling wheel 32 and the fourth traveling wheel 42 are symmetrically arranged. The first traveling wheel 31 and the third traveling wheel 41 are both configured to travel along the edge of the wing plate 12 of the I-beam 1, and the second traveling wheel 32 and the fourth traveling wheel 42 are both configured to travel along the web plate 11 of the I-beam 1. The drive assembly 5 is fixedly mounted on the frame 2. The connecting seat 6 is rotatably mounted at the output end of the drive assembly 5, and the drive assembly 5 can drive the connecting seat 6 to move around the I-beam 1. The connecting seat 6 is configured to connect a clamp for holding construction tools.

[0022] This utility model relates to a steel beam auxiliary manipulator, which is mainly used for side maintenance operations of an I-beam 1. The I-beam 1 includes a web 11 and flanges 12 perpendicularly disposed at opposite ends of the web 11.

[0023] like Figure 1 and Figure 2 As shown, a first traveling assembly 3 and a second traveling assembly 4 are respectively provided at the front and rear ends of the frame 2. The first traveling assembly 3 includes a first traveling wheel 31 and a second traveling wheel 32, and the second traveling assembly 4 includes a third traveling wheel 41 and a fourth traveling wheel 42. The first traveling wheel 31 and the third traveling wheel 41 are symmetrically arranged on the two edges of the single-side flange 12 of the I-beam 1 and can travel stably along the corresponding edges. The second traveling wheel 32 and the fourth traveling wheel 42 symmetrically abut against the two side panels of the web plate 11 and can roll along the side panels of the web plate 11. This four-point contact traveling method allows the entire frame 2 to smoothly straddle the I-beam 1 and move flexibly along its length. The drive assembly 5 is fixedly installed on the frame 2, and its output end is connected to a connecting seat 6. The connecting seat 6 has a quick-change function, which can quickly connect and fix matching special clamps according to different construction needs such as painting, grinding, and rust removal, thereby adapting to various construction tools.

[0024] During operation, first, the frame 2 is mounted on the I-beam 1, ensuring that all wheels are correctly engaged with the edge of the flange 12 and the surface of the web 11. Then, the appropriate clamps are selected according to the construction work and installed on the connecting seat 6, and the construction tools are reliably fixed. After preparation, the operator can control the drive assembly 5 to drive the connecting seat 6 to move the construction tools precisely in a plane parallel to the web 11, thereby efficiently and safely completing the automated or semi-automated construction of the side of the I-beam 1. This not only effectively avoids the risk of personnel directly entering confined or high-risk spaces for work, but also significantly improves the accuracy and efficiency of construction through mechanized operation.

[0025] In some specific embodiments of this utility model, an adjustment component is also included. The adjustment component is disposed on the frame 2, connected to the first walking component 3, and connected to the second walking component 4. The adjustment component is configured to adjust the distance between the first walking component 3 and the second walking component 4.

[0026] like Figure 2 and Figure 3 As shown, the adjustment assembly is mounted on the frame 2, with its two ends connected to the first traveling assembly 3 located at the front and the second traveling assembly 4 located at the rear, respectively. By adjusting the extension or displacement of the adjustment assembly, the relative distance between the two traveling assemblies can be changed synchronously, thereby ensuring that the first traveling wheel 31 and the third traveling wheel 41 can be stably pressed against the edge of the wing plate 12 of the I-beam 1, while the second traveling wheel 32 and the fourth traveling wheel 42 are tightly fitted against the side of the web plate 11. This ensures that the robot can be firmly clamped onto I-beams 1 of different sizes, guaranteeing stability during movement and effectively preventing the equipment from tipping over or slipping during operation, thus enhancing the adaptability and operational safety of the entire robot.

[0027] In some specific embodiments of this utility model, the adjustment component includes: a first adjustment part 71, connected to the first walking component 3; a second adjustment part 72, disposed on the first adjustment part 71, the second adjustment part 72 being movable relative to the first adjustment part 71, and connected to the second walking component 4; and a first locking part 75, disposed between the first adjustment part 71 and the second adjustment part 72, the first locking part 75 being configured to fix the second adjustment part 72 on the first adjustment part 71.

[0028] like Figure 3As shown, the first adjustment part 71 is connected to the first traveling assembly 3 as a basic fixed part, and the second adjustment part 72 is slidably mounted on the first adjustment part 71 and connected to the second traveling assembly 4. Driven manually or by a tool, the second adjustment part 72 can be moved smoothly along the first adjustment part 71, thereby adjusting the distance between the two sets of traveling assemblies. Thus, when the distance is adjusted to match the current I-beam 1 specification, the second adjustment part 72 can be securely locked at the target position on the first adjustment part 71 by the first locking part 75, effectively preventing loosening or slippage during operation and ensuring the overall stability of the robot arm on the steel beam.

[0029] In some specific embodiments of this utility model, one of the first adjustment part 71 and the second adjustment part 72 is a plug rod, and the other is a slot for inserting the plug rod. The plug rod is configured to slide in the slot to adjust the distance between the first walking component 3 and the second walking component 4.

[0030] like Figure 3 As shown, the first adjusting part 71 is a slot extending in the front-to-back direction, and the second adjusting part 72 is a rod extending in the front-to-back direction. The rod is inserted into the slot and can move along the path restricted by the slot. A series of equally spaced positioning holes are provided on the side wall of the slot, and the rod is provided with corresponding elastic positioning pins, or it can be directly fastened using bolts that pass through the slot and the rod. During adjustment, simply loosen the first locking part 75, pull the rod out of the slot or push it into the appropriate position according to the width of the I-beam 1, and then re-tighten it.

[0031] As an alternative implementation, the adjustment assembly can also be designed as a lead screw and nut mechanism. The first adjustment part 71 is a linear shaft or lead screw, and the second adjustment part 72 is a nut sleeve that mates with it. By rotating the lead screw or nut sleeve, the rotational motion can be converted into linear displacement between the two, thereby achieving stepless adjustment of the spacing.

[0032] Furthermore, the insert and slot can adopt matching cross-sections such as square or round to ensure that they do not rotate relative to each other during sliding, thus maintaining the stability of the direction of the walking component.

[0033] In some specific embodiments of this utility model, the adjustment assembly further includes: a third adjustment part 73 connected to the first adjustment part 71, the third adjustment part 73 being movable relative to the first adjustment part 71, and the third adjustment part 73 being configured to control the distance between the second traveling wheel 32 and the web plate 11; a second locking part disposed between the third adjustment part 73 and the first adjustment part 71, and the second locking part being configured to lock the third adjustment part 73 onto the first adjustment part 71; a fourth adjustment part 74 connected to the second adjustment part 72, the fourth adjustment part 74 being movable relative to the second adjustment part 72, and the fourth adjustment part 74 being configured to control the distance between the fourth traveling wheel 42 and the web plate 11; and a third locking part disposed between the fourth adjustment part 74 and the second adjustment part 72, and the third locking part being configured to lock the fourth adjustment part 74 onto the second adjustment part 72.

[0034] One end of the third adjustment part 73 is connected to the first adjustment part 71, and the other end is connected to the second traveling wheel 32 via a horizontal mounting rod. The fourth adjustment part 74 is connected to the second adjustment part 72 and the fourth traveling wheel 42 in the same manner. Thus, by sliding the third adjustment part 73 and the fourth adjustment part 74 respectively, the distance and pressure of the second traveling wheel 32 and the fourth traveling wheel 42 relative to the web plate 11 in the horizontal direction can be adjusted independently. After being adjusted to the ideal position, the corresponding traveling wheels on both sides of the web plate 11 can be securely locked by the second locking part and the third locking part respectively. The design of the third adjustment part 73 and the fourth adjustment part 74 can accurately adapt to the slight tolerance of the thickness of the web plate 11, ensuring that all traveling wheels can fit tightly against the surface of the steel beam, thereby greatly improving the operating stability and anti-tipping ability of the equipment under complex working conditions.

[0035] like Figure 3 As shown, the first adjustment part 71 is a horizontally positioned slot, with a third adjustment part 73 extending vertically downwards fixedly connected to its front end. The third adjustment part 73 has a strip-shaped limiting hole extending in the front-back direction. The second traveling wheel 32 passes through the through hole of the third adjustment part 73 via a horizontal mounting rod, allowing the second traveling wheel 32 to slide freely in the front-back direction within the range defined by the limiting hole. In actual operation, the operator can first use the slot and the rod to achieve a coarse adjustment of the overall distance between the first traveling assembly 3 and the second traveling assembly 4 to accommodate I-beams 1 of different widths. Then, the third adjustment part 73 can be used to independently fine-tune the contact pressure of the second traveling wheel 32 with the web plate 11 in the horizontal direction. After adjusting to the ideal position, the second locking part is used to fasten the horizontal mounting rod to the third adjustment part 73, ensuring that the second traveling wheel 32 always fits the surface of the web plate 11 with an appropriate preload. This not only effectively compensates for the manufacturing tolerance of the web plate 11 thickness but also improves the stability of the robot arm during movement and prevents shaking during operation.

[0036] The locking of the third adjustment part 73 can be achieved in various ways. For example, a series of equally spaced positioning holes can be opened on the side wall of the third adjustment part 73, and the elastic positioning pin on the horizontal mounting rod can be used to achieve quick positioning. Alternatively, bolts that penetrate the wall of the third adjustment part 73 can be used for fastening to achieve stepless adjustment.

[0037] Similarly, the adjustment mechanism of the fourth traveling wheel 42 located on the other side adopts a design scheme that is completely symmetrical with that of the second traveling wheel 32, and has the same working principle, adjustment method and technical effect, which will not be described in detail here.

[0038] In some specific embodiments of this utility model, the drive component 5 includes: a first drive member 51, which is disposed on the frame 2; and a second drive member 52, which is disposed at the output end of the first drive member 51. The driving direction of the second drive member 52 is perpendicular to the driving direction of the first drive member 51, and the output end of the second drive member 52 is connected to the connecting seat 6.

[0039] like Figure 1 As shown, the first drive unit 51, as the main drive unit, is fixed on the frame 2 and provides vertical lifting motion. The second drive unit 52 is installed at the output end of the first drive unit 51, and its driving direction is perpendicular to the first drive unit 51. It can drive the clamp to perform horizontal feeding and retraction actions. Thus, through the coordinated work of the two drive units, the end clamp can be accurately positioned at any position in a vertical plane parallel to the web 11 of the I-beam 1, enabling the robot to flexibly adapt to the construction needs of different areas on the side of the steel beam.

[0040] Specifically, the first drive component 51 and the second drive component 52 can be implemented using various mature and reliable linear drive solutions. As a preferred embodiment, both the first drive component 51 and the second drive component 52 can use cylinders as power sources. The first drive component 51 uses a vertically mounted cylinder with a stroke of 95 cm to drive the entire horizontal mechanism to achieve lifting and lowering movements; the second drive component 52 uses a horizontally mounted cylinder with a stroke of 7.5 cm to push the construction tool closer to or away from the steel beam web 11. In another optional embodiment, the drive assembly 5 can also use an electric push rod solution, driving the lead screw and nut mechanism through a servo motor or stepper motor, which can achieve more precise displacement control and position holding.

[0041] In some specific embodiments of this utility model, both the first driving member 51 and the second driving member 52 are cylinders with positioning buffers at the end of their strokes. This effectively eliminates mechanical shock and noise during equipment operation, ensuring that the robotic arm can accurately return to the preset stroke end point with each movement. This provides crucial protection for operations requiring stable contact pressure, such as steel beam grinding and painting. The positioning buffer is a commonly used technique in this field and will not be further elaborated here.

[0042] In some specific embodiments of this utility model, a support platform 8 is also included. The support platform 8 is mounted on the frame 2 and is configured to support construction tools.

[0043] Specifically, the support platform 8 is fixedly installed at a suitable position on the top or side of the rack 2, such as... Figure 2 As shown, the support platform 8 is mounted on top of the frame 2 via a vertical mounting rod. Its platform can support various tools required for the current construction phase, such as grinders, paint cans, and welding machines, and can also be used to house the pneumatic control unit for the drive cylinder. Thus, by centrally supporting the work materials and controlling the system, the robot becomes a functionally integrated independent work unit, effectively avoiding the inefficiency and safety risks caused by frequent material hoisting in high-altitude operations, while providing operators with convenient tool retrieval and equipment monitoring conditions.

[0044] In some specific embodiments of this utility model, both the first traveling wheel 31 and the third traveling wheel 41 are nylon track wheels. On one hand, the track wheel's structural feature is that its rim has an annular groove that matches the edge shape of the I-beam 1's flange 12, thus forming a precise guiding structure to ensure that the traveling wheel always runs along a predetermined trajectory without derailment. On the other hand, nylon, as an engineering plastic, has a moderate modulus of elasticity, giving it excellent cushioning and shock absorption properties. This allows it to absorb the minute vibrations generated during the robot's movement, making the robot's movement smoother and avoiding noise generated by metal-to-metal friction.

[0045] In some specific embodiments of this utility model, multiple first walking components 3 and multiple second walking components 4 are provided, and the multiple first walking components 3 and multiple second walking components 4 are symmetrically arranged along the extension direction of the frame 2.

[0046] like Figure 3 As shown, multiple first walking components 3 and second walking components 4 arranged symmetrically along the extension direction of the frame 2 together form a stable multi-point support system. Increasing the number of first walking components 3 and second walking components 4 enables the robot to adapt to longer span requirements, avoids the risk of overturning that may occur due to single-point support, and thus improves the load-bearing capacity and overall stability of the robot on the I-beam 1, ensuring operational safety and extending the service life of the equipment.

[0047] The following is based on Figures 1 to 3 The structure shown further illustrates the technical solution of this utility model embodiment.

[0048] This utility model provides a preferred embodiment of a steel beam-assisted manipulator, which is mainly applied to horizontally arranged I-beams 1. For example... Figures 1 to 3As shown, the I-beam 1 extends in the left-right direction, and the frame 2 straddles the I-beam 1. The frame 2 has a first traveling assembly 3 and a second traveling assembly 4 symmetrically arranged at its front and rear ends, with two sets arranged in each direction, forming a stable four-corner support structure. The first traveling assembly 3 includes a first traveling wheel 31 and a second traveling wheel 32, and the second traveling assembly 4 includes a third traveling wheel 41 and a fourth traveling wheel 42. The first traveling wheel 31 and the third traveling wheel 41 are located above the two edges of the single-sided wing plate 12 of the I-beam 1, using a nylon track wheel structure, allowing for smooth movement along the edge of the wing plate 12. The second traveling wheel 32 and the fourth traveling wheel 42 abut against the two sides of the web plate 11, clamping the web plate 11. The first adjusting part 71 is a horizontally arranged slot, and the second adjusting part 72 is a corresponding insertion rod. Multiple positioning holes are opened on the side wall of the slot in the front-back direction, and bolts are used to secure and lock the insertion rod. The front end of the slot extends downward to form a third adjustment section 73, and the rear end of the insertion rod extends downward to form a symmetrical fourth adjustment section 74. The second traveling wheel 32 and the fourth traveling wheel 42 are respectively mounted on the third adjustment section 73 and the fourth adjustment section 74 via horizontal mounting rods. The contact pressure between the corresponding traveling wheel and the surface of the web plate 11 can be precisely controlled by adjusting bolts. The front end of the frame 2 is provided with a vertically extending first drive member 51, the output end of which is connected to a horizontally extending second drive member 52. The output end of the second drive member 52 is provided with a connecting seat 6, which can be adapted to various construction tools such as grinders and paint spray guns by changing different special clamps, realizing the function of one machine for multiple uses.

[0049] The working principle of this steel beam-assisted manipulator is as follows: First, the frame 2 is straddled on the I-beam 1. The distance between the first traveling assembly 3 and the second traveling assembly 4 is roughly adjusted using slots and inserts, so that the first traveling wheel 31 and the third traveling wheel 41 are respectively engaged on the two sides of the flange 12 of the I-beam 1, forming a guiding constraint. Then, the third adjustment part 73 and the fourth adjustment part 74 are finely adjusted so that the second traveling wheel 32 and the fourth traveling wheel 42 moderately press against the two sides of the web plate 11. Finally, the fastening bolts of the corresponding adjustment parts are tightened, completing the fixed installation of the robot on the I-beam 1. Next, according to the construction requirements, the matching special fixture is installed to the output end of the second drive component 52 via the connecting seat 6, and the corresponding construction tool is reliably fixed in the fixture. After entering the operation phase, the operator controls the first drive component 51 to achieve vertical lifting and lowering movement, and controls the second drive component 52 to achieve horizontal forward and backward movement. The coordinated work of the two sets of drive components drives the construction tool to achieve precise positioning in a vertical plane parallel to the web plate 11 of the I-beam 1. When it is necessary to change the work position, simply release the brakes on the walking wheels to push the entire robot arm to move along the length of the I-beam 1 to the new work position.

[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A steel beam-assisted robotic arm, characterized in that, Applied to an I-beam (1), the I-beam (1) includes a web (11) and flanges (12) perpendicularly disposed at opposite ends of the web (11). The auxiliary manipulator includes: The frame (2) is configured to straddle the wingplate (12); The first walking assembly (3) and the second walking assembly (4) are disposed at opposite ends of the frame (2). The first walking assembly (3) includes a first walking wheel (31) and a second walking wheel (32). The second walking assembly (4) includes a third walking wheel (41) and a fourth walking wheel (42). The first walking wheel (31) and the third walking wheel (41) are symmetrically arranged. The second walking wheel (32) and the fourth walking wheel (42) are symmetrically arranged. The first walking wheel (31) and the third walking wheel (41) are both configured to walk on the edge of the flange (12) of the I-beam (1). The second walking wheel (32) and the fourth walking wheel (42) are both configured to walk on the web (11) of the I-beam (1). The drive assembly (5) is fixedly mounted on the frame (2); The connecting seat (6) is rotatably disposed at the output end of the drive assembly (5), which is capable of driving the connecting seat (6) to move around the I-beam (1), and the connecting seat (6) is configured to connect to a clamp for holding construction tools.

2. The steel beam-assisted manipulator according to claim 1, characterized in that, It also includes an adjustment component, which is disposed on the frame (2), the adjustment component is connected to the first walking component (3), the adjustment component is connected to the second walking component (4), and the adjustment component is configured to adjust the distance between the first walking component (3) and the second walking component (4).

3. The steel beam-assisted manipulator according to claim 2, characterized in that, The adjustment component includes: The first adjustment part (71) is connected to the first walking assembly (3); The second adjustment part (72) is disposed on the first adjustment part (71), the second adjustment part (72) is movable relative to the first adjustment part (71), and the second adjustment part (72) is connected to the second walking component (4); A first locking part (75) is disposed between the first adjusting part (71) and the second adjusting part (72), and the first locking part (75) is configured to fix the second adjusting part (72) onto the first adjusting part (71).

4. The steel beam-assisted manipulator according to claim 3, characterized in that, The first adjustment part (71) and the second adjustment part (72) are selected as a plug rod, and the other is a slot into which the plug rod is inserted. The plug rod is configured to slide in the slot to adjust the distance between the first walking assembly (3) and the second walking assembly (4).

5. The steel beam-assisted manipulator according to claim 3, characterized in that, The adjustment component further includes: The third adjustment part (73) is connected to the first adjustment part (71), and the third adjustment part (73) is movable relative to the first adjustment part (71). The third adjustment part (73) is configured to control the distance between the second traveling wheel (32) and the web plate (11). A second locking part is disposed between the third adjusting part (73) and the first adjusting part (71), and the second locking part is configured to lock the third adjusting part (73) onto the first adjusting part (71); A fourth adjustment unit (74) is connected to the second adjustment unit (72), the fourth adjustment unit (74) is movable relative to the second adjustment unit (72), and the fourth adjustment unit (74) is configured to control the distance between the fourth traveling wheel (42) and the web plate (11); A third locking part is disposed between the fourth adjusting part (74) and the second adjusting part (72), and the third locking part is configured to lock the fourth adjusting part (74) onto the second adjusting part (72).

6. The steel beam-assisted manipulator according to claim 1, characterized in that, The driving component (5) includes: The first drive unit (51) is mounted on the frame (2); The second driving element (52) is disposed at the output end of the first driving element (51). The driving direction of the second driving element (52) is perpendicular to the driving direction of the first driving element (51). The output end of the second driving element (52) is connected to the connecting seat (6).

7. The steel beam-assisted manipulator according to claim 6, characterized in that, Both the first driving member (51) and the second driving member (52) are cylinders with a positioning buffer at the end of their stroke.

8. The steel beam-assisted manipulator according to claim 1, characterized in that, It also includes a support platform (8), which is mounted on the frame (2) and is configured to support construction tools.

9. The steel beam-assisted manipulator according to claim 1, characterized in that, Both the first traveling wheel (31) and the third traveling wheel (41) are nylon track wheels.

10. The steel beam-assisted manipulator according to claim 1, characterized in that, Multiple first walking components (3) and multiple second walking components (4) are provided, and multiple first walking components (3) and multiple second walking components (4) are symmetrically arranged along the extension direction of the frame (2).

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