CN111590312A - Equipment and method for auxiliary bolt tightening of mechanical arm type steel structure - Google Patents
Equipment and method for auxiliary bolt tightening of mechanical arm type steel structure Download PDFInfo
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- CN111590312A CN111590312A CN202010458851.6A CN202010458851A CN111590312A CN 111590312 A CN111590312 A CN 111590312A CN 202010458851 A CN202010458851 A CN 202010458851A CN 111590312 A CN111590312 A CN 111590312A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 37
- 239000010959 steel Substances 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims description 8
- 238000010276 construction Methods 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 16
- 230000005389 magnetism Effects 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 238000010030 laminating Methods 0.000 claims 2
- 239000000463 material Substances 0.000 description 19
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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Abstract
The invention discloses a mechanical arm type steel structure auxiliary bolt tightening device in the technical field of steel structure construction, which comprises a base and a magnetic suction fixing mechanism, the magnetic attraction fixing mechanism is arranged at the bottom of the base, the controller is arranged at the right side of the top of the base, the left side of the top of the base is provided with an operating mechanical arm which comprises a first adjusting arm mechanism arranged on the left side of the top of the base, the first adjusting arm mechanism is provided with a second adjusting arm mechanism which is provided with an operating arm mechanism, the middle part of the left side of the adjusting arm mechanism II is provided with a feeding mechanism matched with the operating arm mechanism, the invention is provided with an operating mechanical arm, according to the fixed operation that bolt screw in nut was carried out to the position adjustment operating arm mechanism that corresponds on the steel construction, it is high to use the flexibility, conveniently carries out nimble adjustment according to the fixed position of difference, improves work efficiency and operating mass with rated load when improving the practicality greatly.
Description
Technical Field
The invention relates to the technical field of steel structure construction, in particular to equipment and a method for auxiliary bolt tightening of a mechanical arm type steel structure.
Background
Mostly be high altitude construction when traditional installation steel construction, need personnel to operate the installation at the high altitude, personnel need keep balance when high altitude operation, then can not do all the time erection bolt when use tools, so released the equipment that is used for supplementary bolt of screwing up on the market, but the equipment of bolt is screwed up in the current supplementary below defect exists when using: the flexibility is poor, and inconvenient according to the position adjust the position of bolt and nut in a flexible way and install, at every turn a set of bolt and nut installation back, still need the manual work to install bolt and nut again and carry out the fixed of next department simultaneously, and is comparatively troublesome, has reduced work efficiency, for this reason, we provide a supplementary bolt equipment and method of screwing up of arm steel construction.
Disclosure of Invention
The invention aims to provide equipment and a method for assisting in screwing bolts by using a mechanical arm type steel structure, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a supplementary bolt equipment of screwing up of arm formula steel construction, includes that base and magnetism inhale fixed establishment, magnetism inhales fixed establishment and sets up in the base bottom, base top right side is provided with the controller, base top left side is provided with the operation arm, the operation arm is including setting up at the left adjusting arm mechanism one in base top, be provided with adjusting arm mechanism two on the adjusting arm mechanism one, be provided with operating arm mechanism on the adjusting arm mechanism two, adjusting arm mechanism two left sides middle part be provided with operating arm mechanism complex feeding mechanism.
Further, the first adjusting arm mechanism comprises a first shell fixed on the left side of the top of the base, a first servo motor is fixedly arranged in the first shell, a speed reducer is arranged at an output end of the first servo motor, a connecting column is arranged at an output end of the speed reducer, and the top of the connecting column penetrates through the top of the first shell and is welded with the right end of the bottom of the supporting column.
Further, the second adjusting arm mechanism comprises a sleeve movably sleeved at the left end of the outer wall of the support column through a bearing, a third shell is fixedly arranged at the right side of the top of the sleeve, a second servo motor is fixedly arranged in the third shell, a speed reducer is arranged at the output end of the second servo motor, the output end of the speed reducer penetrates through the right side of the third shell and is fixedly connected with a rotating rod, a driving gear is fixedly sleeved on the outer wall of the rotating rod, a support frame is fixedly arranged at the left side of the top of the sleeve, the right side of the support frame is fixedly connected with the left side of the third shell, a mounting base is fixedly arranged at the top of the support column and positioned at the right side of the sleeve through screws, a semicircular frame is fixedly arranged at the top of the mounting base, teeth meshed with the driving gear are uniformly arranged on the outer wall of, the left end of the support frame is vertically fixedly inserted with a bearing frame.
Further, the operating arm mechanism is including fixing at the left mounting bracket of bearing frame, and the mounting bracket number is two sets of, and two sets of mounting brackets are fixed respectively and are being born a left side top and bottom, and are two sets of the equal fixed sharp flexible motor that is provided with in mounting bracket top is two sets of the equal fixed vertical link that is provided with in a sharp flexible motor left end, it is two sets of link right side outer wall all is provided with sharp flexible motor two, the top through the support is fixed the bottom mounting of sharp flexible motor two is provided with casing two, and casing two internal fixation is provided with the construction bolt motor, and construction bolt motor output runs through casing two and fixedly connected with fixed bolt head, bottom the fixed nut head that is provided with and fixed bolt head is corresponding in the top of sharp flexible motor two.
Further, the feeding mechanism comprises an assembly seat fixed in the middle of the outer wall on the left side of the bearing frame, a support frame is welded at the left end of the assembly seat, feed cylinders are fixedly arranged at the top and the left end of the bottom of the support frame, miniature linear telescopic motors are fixedly arranged on the inner walls on the opposite sides of the two sets of feed cylinders, movable plates are arranged at the opposite ends of the two sets of miniature linear telescopic motors, a miniature servo motor is fixedly arranged at the right end of the front side of the assembly seat, a screw rod is arranged at the output end of the miniature servo motor, the other end of the screw rod is movably connected with an insert through a bearing, the insert is fixed at the left end of the outer wall on the front side of the support frame, a movable block is sleeved at the right side of the outer wall of the screw rod in a threaded manner, the bottom baffle top is laminated with the bottom of bottom feed cylinder, and is two sets of the opening that is linked together with the feed cylinder is all seted up on the left side on the baffle, and the opening is located the feed cylinder left side.
Furthermore, a guide sliding block is fixedly arranged on the outer wall of the rear side of the moving block, and a guide sliding groove matched with the guide sliding block is transversely formed in the outer wall of the front side of the support frame.
A method for assisting bolt tightening equipment by using a mechanical arm type steel structure comprises the following steps:
s1: when the mobile phone APP installing device is used, the mobile phone APP is turned on to activate the device, the device is placed above a steel structure to be installed, the position information of an installing bolt is set through a touch screen on a controller, a bolt and a nut are respectively installed on a fixed bolt head and a fixed nut head, and the device is fixed on the steel structure in an adsorbing mode through a magnetic absorption fixing mechanism;
s2: the steel structure is lifted to an installation place through external hoisting equipment, workers climb to corresponding positions and then are in butt joint with the two steel structures, and the position control of a fixing bolt head and a fixing nut head is carried out through a touch screen on a controller;
s3: the connecting column is driven by the servo motor I, the servo motor I and the speed reducer to rotate the supporting column, the using angle is adjusted, the driving gear is driven by the servo motor II, the servo motor II and the speed reducer to rotate the sleeve on the outer wall of the supporting column through the matching of the driving gear and the teeth on the semicircular frame, the angle is further adjusted, and after the adjustment, the operating arm mechanism is adjusted according to the positions of the inserted bolts and nuts on the steel structure;
s4: the linear telescopic motor is used for driving the connecting frame, so that the fixing bolt head and the fixing nut head reach the designated positions, the fixing nut head is used for driving the nut to reach the designated position by driving the linear telescopic motor II at the bottom, the fixing bolt head is used for driving the bolt to reach the designated position by driving the linear telescopic motor II at the top, and the bolt is driven to be installed by driving the bolt installing motor so that the bolt is screwed in the nut when the fixing bolt head drives the bolt to enter;
s5: then driving the two groups of linear telescopic motors to contract to enable the fixing bolt heads to be separated from the bolts, enabling the fixing nut heads to be separated from the nuts, driving the two groups of linear telescopic motors to contract to enable the fixing bolt heads to be located above the top material cylinder, enabling the fixing nut heads to be located below the bottom material cylinder, enabling the bearing frame to be adjusted to be in a longitudinal state through the adjusting arm mechanism II, driving the micro servo motors to drive the screw rods to rotate to enable the moving blocks to move towards the right side, enabling the moving blocks to enable the top baffle plates and the bottom baffle plates to move towards the right side through the connecting rods, driving the two groups of linear telescopic motors to extend out when the baffle plates move, enabling the through holes to correspond to the material cylinders when the baffle plates move, enabling the fixing bolt heads to enter the top through the linear telescopic motors II, enabling the fixing nut heads to enter the bottom through the linear telescopic motors II, turning off the linear telescopic motors II and the micro servo, make the bolt in the top feed cylinder outside install the one side of keeping away from top linear expansion motor two at the set bolt head, the miniature linear expansion motor in bottom promotes the fly leaf and makes the nut that is located the feed cylinder in bottom upwards, make the nut in the outside install the one side of keeping away from bottom linear expansion motor two at the set nut head, after the installation, drive two sets of linear expansion motor two and contract and miniature servo motor reversal, make the set nut head of having installed the nut and the set bolt head of having installed the bolt break away from the opening, and simultaneously, when set nut head and set bolt head break away from the opening, miniature servo motor drives the screw rod and makes the movable block remove to the left and reset and seal the feed cylinder, can carry out the installation of next department through the bolt and the nut of installing this moment.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention is provided with an operation mechanical arm, the connecting column is driven by the servo motor I, the servo motor I and the speed reducer, the connecting column enables the supporting column to rotate, the use angle is adjusted, the servo motor II and the speed reducer drive the driving gear, the sleeve rotates on the outer wall of the supporting column through the matching of the driving gear and the teeth on the semicircular frame, the angle adjustment is further realized, after the adjustment, the fixing operation of screwing the bolt into the nut is carried out according to the corresponding position adjustment operation arm mechanism on the steel structure, the use flexibility is high, the flexible adjustment is convenient to carry out according to different fixed positions, the working efficiency and the working quality are greatly improved while the practicability is improved;
2) the invention is provided with a feeding mechanism, the bearing frame is rotated to a longitudinal state through the second adjusting arm mechanism, the fixing bolt head and the fixing nut head are respectively moved to the corresponding material barrel through the first linear telescopic motor and the second linear telescopic motor, the material barrel is sealed by adopting the micro servo motor, the screw rod, the moving block, the connecting rod and the baffle plate, so that the bolt and the nut in the material barrel cannot fall out during normal use, and the through hole is corresponding to the charging barrel when feeding, so that the fixing bolt head or the fixing nut head installs the bolt or the nut from the through hole, simultaneously when the installation through the ejection of compact that miniature linear expansion motor drove the fly leaf and carry out bolt or nut, improve the fastness that bolt and fixed bolt head, fixed nut head and nut are fixed, guarantee the stability of follow-up use, need not artifical reciprocal installation bolt or nut, improve work efficiency and intensity of labour greatly.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a right side view of the semi-circular frame structure of the present invention;
FIG. 3 is a schematic view of the structure of the feeding mechanism of the present invention.
In the figure: 1. a base; 2. a magnetic attraction fixing mechanism; 3. a controller; 4. operating the mechanical arm; 41. a first adjusting arm mechanism; 411. a first shell; 412. a first servo motor; 413. a support pillar; 42. a second adjusting arm mechanism; 421. a sleeve; 422. a servo motor II; 423. a driving gear; 424. a support frame; 425. an arc-shaped slide rail; 426. a semi-circular frame; 427. teeth; 428. installing a base; 429. a carrier; 43. an operating arm mechanism; 431. a mounting frame; 432. a first linear telescopic motor; 433. fixing the nut head; 434. a connecting frame; 435. a linear telescopic motor II; 436. a second shell; 437. fixing the bolt head; 5. a feeding mechanism; 51. assembling a seat; 52. a support frame; 53. a charging barrel; 54. a micro linear telescopic motor; 55. a movable plate; 56. a micro servo motor; 57. a screw; 58. a moving block; 59. a connecting rod; 591. a baffle plate; 592. and (6) a port.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a mechanical arm type steel structure auxiliary bolt tightening device, please refer to fig. 1, which comprises a base 1 and a magnetic attraction fixing mechanism 2, wherein the magnetic attraction fixing mechanism 2 is widely applied in the field, and specifically comprises a magnetic fixing box fixedly connected below the base 1, a magnetic conduction block fixedly connected with the lower surface of the inner part of the magnetic fixing box, and a magnetic field generation coil wound on the magnetic conduction block, wherein the magnetic field generation coil is respectively and electrically connected with a power output end and a signal output end of a controller 3;
referring to fig. 1, a magnetic attraction fixing mechanism 2 is arranged at the bottom of a base 1, a controller 3 is arranged on the right side of the top of the base 1, the controller 3 has a wireless signal receiving and transmitting function, the controller 3 has a capacitive touch screen, a dustproof and liquid-proof shell is sleeved outside the controller 3, the MCU model of the controller 3 is an ARM series single chip microcomputer, an operation mechanical ARM 4 is arranged on the left side of the top of the base 1, the operation mechanical ARM 4 realizes the position positioning of a bolt and a nut and the operation of screwing the bolt in the nut, the operation mechanical ARM 4 comprises an adjusting ARM mechanism I41 arranged on the left side of the top of the base 1, an adjusting ARM mechanism II 42 is arranged on the adjusting ARM mechanism I41, the adjusting ARM mechanism I41 and the adjusting ARM mechanism II 42 adjust the use angle, an operation ARM mechanism 43 is arranged on the adjusting ARM mechanism II 42, the operation ARM mechanism 43 performs the operation of screwing the bolt in the nut, a feeding mechanism 5 matched with the operation ARM, after the set of bolts and nuts is set, the material is fed again to the fixing bolt head 437 and the fixing nut head 433 by the feeding mechanism 5.
As shown in fig. 1: the first adjusting arm mechanism 41 comprises a first shell 411 fixed on the left side of the top of the base 1, the first shell 411 plays a role of a supporting and mounting structure, a shell cover (not shown in the drawing) is arranged on one side of the first shell 411, the internal structure of the first shell 411 is convenient to maintain, a first servo motor 412 is fixedly arranged in the first shell 411, a speed reducer is arranged at the output end of the first servo motor 412, a connecting column is arranged at the output end of the speed reducer, the top of the connecting column penetrates through the top of the first shell 411 and is welded with the right end of the bottom of a supporting column 413, the connecting column is driven by the first servo motor 412;
as shown in fig. 1 and 2: the second adjusting arm mechanism 42 comprises a sleeve 421 movably sleeved at the left end of the outer wall of the supporting column 413 through a bearing, the sleeve 421 can be rotatably adjusted by 180 degrees on the outer wall of the supporting column 413 by adopting the bearing, a third casing is fixedly arranged at the right side of the top of the sleeve 421, the third casing plays a role of a supporting and installing structure, a casing cover (not shown in the figure) is arranged at one side of the third casing, the internal structure of the third casing is convenient to maintain, a second servo motor 422 is fixedly arranged in the third casing, a reducer is arranged at the output end of the second servo motor 422, the output end of the reducer penetrates through the right side of the third casing and is fixedly connected with a rotating rod, the second servo motor 422 and the reducer drive gear drive the rotating rod to rotate, a driving gear 423 is fixedly sleeved on the outer wall of the rotating rod, the driving gear 423 is used for realizing angle adjustment by matching, the right side of the support frame 424 is fixedly connected with the left side of the shell, a welding mode can be adopted, the top of the support column 413 and the right side of the sleeve 421 are fixedly provided with a mounting base 428 through a screw, the top of the mounting base 428 is fixedly provided with a semicircular frame 426, the semicircular frame 426 limits the rotating angle and range of the sleeve 421, the arc outer wall of the semicircular frame 426 is uniformly provided with teeth 427 meshed with the driving gear 423, the left side of the outer wall of the support column 413 and the left side of the sleeve 421 are fixedly provided with an arc slide rail 425, the vertical section of a slide way at the top of the arc slide rail 425 is in a T shape, the bottom of the support frame 424 is fixedly provided with a slide block matched with the arc slide rail 425, the slide block is a T-shaped slide block, the rotating stability of the sleeve 421 is improved through the matching of the arc slide rail 425 and, the bearing frame 429 is welded in the through hole, and the bearing frame 429 plays a role in supporting and mounting structures;
as shown in fig. 1: the operating arm mechanism 43 comprises mounting frames 431 fixed on the left side of a bearing frame 429, the mounting frames 431 are used for supporting linear telescopic motors I432, the mounting frames 431 can be fixed with the bearing frame 429 in a screw or bolt mode, the number of the mounting frames 431 is two, the two mounting frames 431 are respectively fixed on the top and the bottom of the left side of the bearing frame 429, linear telescopic motors I432 are fixedly arranged on the tops of the two mounting frames 431, the linear telescopic motors I432 are used for driving a connecting frame 434 to move left and right, vertical connecting frames 434 are fixedly arranged at the left ends of the two linear telescopic motors I432, the connecting frames 434 play a role of supporting and mounting structures, linear telescopic motors II 435 are fixedly arranged on the outer walls of the right sides of the two connecting frames 434 through supports, the linear telescopic motors II 435 are used for driving fixed bolt heads 437 or fixed nut heads 433 to ascend and descend, and a, the second shell 436 plays a role in mounting and supporting a structure, a shell cover (not shown in the figure) is arranged on one side of the second shell 436, the internal structure of the second shell 436 is convenient to maintain, a mounting bolt motor is fixedly arranged in the second shell 436 and used for driving a bolt fixed by a fixing bolt head 437 to rotate, so that the bolt is screwed into a nut, the output end of the mounting bolt motor penetrates through the second shell 436 and is fixedly connected with the fixing bolt head 437, the fixing bolt head 437 is used for mounting the bolt, a fixing nut head 433 corresponding to the fixing bolt head 437 is fixedly arranged at the top end of the second bottom linear telescopic motor 435, the fixing nut head 433 is used for mounting the nut, and the fixing bolt head 437 and the fixing nut head 433 are made of permanent magnetic materials, so that the fixing nut or the bolt is convenient to adsorb;
as shown in fig. 3: the feeding mechanism 5 comprises an assembly seat 51 fixed in the middle of the outer wall on the left side of the bearing frame 429, the assembly seat 51 plays a role of supporting and installing a structure, a support frame 52 is welded at the left end of the assembly seat 51, the support frame 52 plays a role of supporting and installing a structure, feed cylinders 53 are fixedly arranged at the top and the left end of the bottom of the support frame 52, the top feed cylinder 53 is used for placing bolts, the bottom feed cylinder 53 is used for placing nuts, the opposite sides of the two groups of feed cylinders 53 are hollow, the inner walls of the opposite sides of the two groups of feed cylinders 53 are fixedly provided with miniature linear telescopic motors 54, the miniature linear telescopic motors 54 are used for driving movable plates 55 to move, the opposite ends of the two groups of miniature linear telescopic motors 54 are respectively provided with a movable plate 55, the movable plates 55 are matched with the feed cylinders 53, the movable plates 55 drive the bolts or, thus, when the through hole 592 is communicated with the material barrel 53, a bolt or a nut in the material barrel 53 cannot fall out of the material barrel 53), the right end of the front side of the assembly seat 51 is fixedly provided with a micro servo motor 56, the micro servo motor 56 is used for driving the screw 57 to rotate, the output end of the micro servo motor 56 is provided with the screw 57, the other end of the screw 57 is movably connected with the insert through a bearing, the insert is fixed at the left end of the outer wall of the front side of the support frame 52, the right position of the outer wall of the screw 57 is threaded and sleeved with a moving block 58, the left and right of the moving block 58 are provided with threaded holes matched with the screw 57 in a penetrating manner, the moving block 58 is driven by the screw 57 to move, the top and the bottom of the moving block 58 are both fixedly provided with connecting rods 59, the connecting rods 59 play a role in connecting structure, one end of each of the two groups, the top of the bottom baffle 591 is attached to the bottom of the bottom material cylinder 53, through holes 592 communicated with the material cylinder 53 are formed in the left sides of the two groups of baffles 591, the caliber of each through hole 592 is larger than the diameter of the material cylinder 53 or the caliber of each through hole 592 is equal to the diameter of the material cylinder 53, the through holes 592 are located in the left side of the material cylinder 53, and after the baffle 591 moves rightwards to a designated position, the through holes 592 are communicated with the material cylinder 53;
as shown in fig. 3: a guide sliding block (not shown in the figure) is fixedly arranged on the outer wall of the rear side of the moving block 58, a guide sliding groove matched with the guide sliding block is transversely formed in the outer wall of the front side of the support frame 52, and the guide sliding block and the guide sliding groove are matched to prevent the moving block 58 from being driven by the screw 57 to rotate on one hand and play a role in limiting and guiding the moving block 58 to move left and right on the other hand.
A method for assisting bolt tightening equipment by using a mechanical arm type steel structure comprises the following steps:
s1: when the mobile phone is used, the mobile phone APP is turned on to activate the equipment, the equipment is placed above a steel structure to be installed, the position information of the installation bolt is set through the touch screen on the controller 3, the bolt and the nut are respectively installed on the fixed bolt head 437 and the fixed nut head 433, and the equipment is fixed on the steel structure in an adsorption mode through the magnetic adsorption fixing mechanism 2;
s2: the steel structure is lifted to an installation place through external hoisting equipment, a worker climbs to a corresponding position and then is in butt joint with the two steel structures, and the position of a fixing bolt head 437 and a fixing nut head 433 are controlled through a touch screen on the controller 3;
s3: the connecting column drives the supporting column 413 to rotate through driving the first servo motor 412, the first servo motor 412 and the speed reducer, the using angle is adjusted, the driving gear 423 is driven through driving the second servo motor 422, the second servo motor 422 and the speed reducer, the sleeve 421 rotates on the outer wall of the supporting column 413 through matching of the driving gear 423 and teeth on the semicircular frame 426, the angle is further adjusted, and after the angle is adjusted, the operating arm mechanism 43 is adjusted according to the position of the inserted bolt and nut on the steel structure;
s4: the connecting frame 434 is driven by the first linear telescopic motor 432, so that the fixing bolt head 437 and the fixing nut head 433 reach a designated position, the nut is driven by the fixing nut head 433 to reach the designated position by driving the second bottom linear telescopic motor 435, and the bolt is driven to be screwed inside the nut by the fixing bolt head 437 to drive the bolt mounting motor when the fixing bolt head 437 drives the bolt to enter the nut by driving the second top linear telescopic motor 435;
s5: then two groups of linear telescopic motors two 435 are driven to contract to enable the fixing bolt heads 437 to be separated from the bolts, the fixing nut heads 433 to be separated from the nuts, two groups of linear telescopic motors two 432 are driven to contract to enable the fixing bolt heads 437 to be located above the top material barrel 53 and the fixing nut heads 433 to be located below the bottom material barrel 53, the bearing frame 429 is adjusted to be in a longitudinal state through the adjusting arm mechanism two 42, the micro servo motor 56 is driven to drive the screw rod 57 to rotate to enable the moving block 58 to move towards the right side, the moving block 58 enables the top and bottom baffles 591 to move towards the right through the connecting rod 59, the two groups of linear telescopic motors two 435 are driven to extend out when the baffles 591 move, when the through port 592 corresponds to the material barrel 53, the fixing bolt heads 437 enter the top port 592 through the linear telescopic motors two 435, the fixing nut heads 433 enter the through port 592 through the linear telescopic motors two linear telescopic motors 435, at the moment, and drives the micro linear telescopic motor 54, the top micro linear telescopic motor 54 pushes the movable plate 55 to discharge the bolt in the top barrel 53, the outermost bolt in the top barrel 53 is installed on the side of the fixing bolt head 437 far away from the top linear telescopic motor two 435, the bottom micro linear telescopic motor 54 pushes the movable plate 55 to make the nut in the bottom barrel 53 upward, the outermost nut is installed on the side of the fixing nut head 433 far away from the bottom linear telescopic motor two 435, after installation, the two groups of linear telescopic motors two 435 are driven to contract and the micro servo motor 56 rotates reversely, the fixing nut head 433 installed with the nut and the fixing bolt head 437 installed with the bolt are separated from the through hole 592, meanwhile, when the fixing nut head 433 and the fixing bolt head 437 are separated from the through hole 592, the micro servo motor 56 drives the screw 57 to move the moving block 58 to the left to reset to seal the barrel 53, at this time, the next installation can be carried out through the installed bolt and nut.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a supplementary bolt equipment of screwing up of arm-type steel construction, includes base (1) and magnetism and inhales fixed establishment (2), magnetism is inhaled fixed establishment (2) and is set up in base (1) bottom, its characterized in that: the automatic feeding device is characterized in that a controller (3) is arranged on the right side of the top of the base (1), an operation mechanical arm (4) is arranged on the left side of the top of the base (1), the operation mechanical arm (4) comprises a first adjusting arm mechanism (41) arranged on the left side of the top of the base (1), a second adjusting arm mechanism (42) is arranged on the first adjusting arm mechanism (41), an operating arm mechanism (43) is arranged on the second adjusting arm mechanism (42), and a feeding mechanism (5) matched with the operating arm mechanism (43) is arranged in the middle of the left side of the second adjusting arm mechanism (42).
2. The mechanical arm type steel structure auxiliary bolt tightening equipment according to claim 1, wherein: adjusting arm mechanism (41) is including fixing in the left casing (411) in base (1) top, casing (411) internal fixation is provided with servo motor (412), servo motor (412) output is provided with the reduction gear, and the reduction gear output is provided with the spliced pole, and the spliced pole top run through casing (411) top and with support column (413) bottom right-hand member welding.
3. The mechanical arm type steel structure auxiliary bolt tightening equipment according to claim 2, wherein: the adjusting arm mechanism II (42) comprises a sleeve (421) movably sleeved at the left end of the outer wall of the supporting column (413) through a bearing, a shell III is fixedly arranged on the right side of the top of the sleeve (421), a servo motor II (422) is fixedly arranged in the shell III, a speed reducer is arranged at the output end of the servo motor II (422), a rotating rod is fixedly connected with the output end of the speed reducer and penetrates through the three right sides of the shell, a driving gear (423) is fixedly sleeved on the outer wall of the rotating rod, a supporting frame (424) is fixedly arranged on the left side of the top of the sleeve (421), the right side of the supporting frame (424) is fixedly connected with the three left sides of the shell, a mounting base (428) is fixedly arranged at the top of the supporting column (413) and positioned on the right side of the sleeve (421) through a screw, a semicircular frame (426) is fixedly arranged at the top, support column (413) outer wall left side just is located sleeve (421) left and fixedly is provided with arc slide rail (425), and support frame (424) bottom is fixed to be provided with the slider that matches with arc slide rail (425), the vertical fixed grafting of left end has bearing frame (429) on support frame (424).
4. The mechanical arm type steel structure auxiliary bolt tightening equipment according to claim 3, wherein: operating arm mechanism (43) is including fixing at bearing left mounting bracket (431) of frame (429), and mounting bracket (431) number is two sets of, and two sets of mounting bracket (431) are fixed respectively and are being born frame (429) left side top and bottom, and are two sets of mounting bracket (431) top is all fixed and is provided with linear telescopic motor one (432), and is two sets of linear telescopic motor one (432) left end is all fixed and is provided with vertical link (434), and is two sets of link (434) right side outer wall all is provided with linear telescopic motor two (435), top through the support is fixed the bottom mounting of linear telescopic motor two (435) is provided with casing two (436), and casing two (436) internal fixation is provided with the construction bolt motor, and construction bolt motor output runs through casing two (436) and fixedly connected with fixed bolt head (437), bottom the top fixing of linear telescopic motor two (435) is provided with the fixation nut corresponding with fixed bolt head (437) A head (433).
5. The mechanical arm type steel structure auxiliary bolt tightening equipment according to claim 3, wherein: the feeding mechanism (5) comprises an assembly seat (51) fixed in the middle of the outer wall of the left side of the bearing frame (429), a support frame (52) is welded at the left end of the assembly seat (51), feed cylinders (53) are fixedly arranged at the top and the left end of the bottom of the support frame (52), miniature linear telescopic motors (54) are fixedly arranged on the inner walls of the two groups of feed cylinders (53) on the opposite sides, movable plates (55) are arranged at the opposite ends of the two groups of miniature linear telescopic motors (54), a miniature servo motor (56) is fixedly arranged at the right end of the front side of the assembly seat (51), a screw rod (57) is arranged at the output end of the miniature servo motor (56), the other end of the screw rod (57) is movably connected with an insert through a bearing, the insert is fixed at the left end of the outer wall of the front side, moving block (58) top and bottom are all fixed and are provided with connecting rod (59), and two sets of connecting rod (59) carry on the back equal fixedly connected with baffle (591) of one end mutually, and the top laminating of top baffle (591) bottom and top feed cylinder (53), and the laminating of the bottom of bottom baffle (591) top and bottom feed cylinder (53), two sets of opening (592) that are linked together with feed cylinder (53) are all seted up on left side on baffle (591), and opening (592) are located feed cylinder (53) left side.
6. The mechanical arm type steel structure auxiliary bolt tightening equipment according to claim 5, wherein: a guide sliding block is fixedly arranged on the outer wall of the rear side of the moving block (58), and a guide sliding groove matched with the guide sliding block is transversely formed in the outer wall of the front side of the support frame (52).
7. The method for the auxiliary bolt tightening equipment of the mechanical arm type steel structure according to any one of claims 1 to 6, wherein:
s1: when the mobile phone is used, the mobile phone APP is turned on to activate the equipment, the equipment is placed above a steel structure to be installed, the position information of an installation bolt is set through a touch screen on the controller (3), the bolt and the nut are respectively installed on the fixed bolt head (437) and the fixed nut head (433), and the equipment is fixed on the steel structure in an adsorption mode through the magnetic adsorption fixing mechanism (2);
s2: the steel structure is lifted to an installation place through external hoisting equipment, a worker climbs to a corresponding position and then is in butt joint with the two steel structures, and the position of a fixing bolt head (437) and a fixing nut head (433) is controlled through a touch screen on a controller (3);
s3: the connecting column is driven by the servo motor I (412), the servo motor I (412) and the speed reducer to rotate the supporting column (413), the use angle is adjusted, the servo motor II (422) is driven, the servo motor II (422) and the speed reducer drive the driving gear (423), the sleeve (421) rotates on the outer wall of the supporting column (413) through the matching of the driving gear (423) and teeth on the semicircular frame (426), the angle is further adjusted, and after the adjustment is finished, the operating arm mechanism (43) is adjusted according to the positions of the inserted bolts and nuts on the steel structure;
s4: the connecting frame (434) is driven by the first linear telescopic motor (432), so that the fixed bolt head (437) and the fixed nut head (433) reach a designated position, the fixed nut head (433) drives the nut to reach the designated position by driving the second linear telescopic motor (435) at the bottom, and the fixed bolt head (437) drives the bolt to reach the designated position and drives the bolt mounting motor to further tighten the bolt inside the nut when the fixed bolt head (437) drives the bolt to enter;
s5: then two groups of linear telescopic motors II (435) are driven to contract to enable the fixing bolt head (437) to be separated from the bolt, the fixing nut head (433) is separated from the nut, two groups of linear telescopic motors I (432) are driven to contract to enable the fixing bolt head (437) to be located above the top charging barrel (53), the fixing nut head (433) is located below the bottom charging barrel (53), the bearing frame (429) is adjusted to be in a longitudinal state through the adjusting arm mechanism II (42), the miniature servo motor (56) is driven to drive the screw rod (57) to rotate, the moving block (58) moves towards the right side, the moving block (58) enables the top baffle plate (591) and the bottom baffle plate (591) to move towards the right through the connecting rod (59), the two groups of linear telescopic motors II (435) are driven to extend when the baffle plate (591) moves, when the baffle plate (591) moves to enable the through hole (592) to correspond to the charging barrel (53), the fixing bolt head (437) enters the top part, the fixed nut head (433) enters the bottom through hole (592) through the second linear telescopic motor (435), at the moment, the second linear telescopic motor (435) and the micro servo motor (56) are closed, the micro linear telescopic motor (54) is driven, the top micro linear telescopic motor (54) pushes the movable plate (55) to discharge bolts in the top charging barrel (53), bolts on the outermost side in the top charging barrel (53) are installed on one side, away from the second top linear telescopic motor (435), of the fixed bolt head (437), the movable plate (55) is pushed by the bottom micro linear telescopic motor (54) to enable nuts in the bottom charging barrel (53) to face upwards, the nuts on the outermost side are installed on one side, away from the second bottom linear telescopic motor (435), of the fixed nut head (433), after installation, the two groups of second linear telescopic motors (435) are driven to contract and the micro servo motor (56) rotates reversely, make the fixed nut head (433) of having installed the nut and the fixed bolt head (437) of having installed the bolt break away from through-hole (592), simultaneously, when fixed nut head (433) and fixed bolt head (437) break away from through-hole (592), miniature servo motor (56) drive screw rod (57) make movable block (58) move left and reset and seal feed cylinder (53), can carry out the installation of next department through the bolt and the nut of installing this moment.
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| CN202010458851.6A CN111590312B (en) | 2020-05-27 | 2020-05-27 | Equipment and method for auxiliary bolt tightening of mechanical arm type steel structure |
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| CN202010458851.6A CN111590312B (en) | 2020-05-27 | 2020-05-27 | Equipment and method for auxiliary bolt tightening of mechanical arm type steel structure |
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| CN111590312B (en) | 2021-11-30 |
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