CN112976337A - Automatic installation equipment and method for building surface explosion bolt - Google Patents
Automatic installation equipment and method for building surface explosion bolt Download PDFInfo
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- CN112976337A CN112976337A CN202110159406.4A CN202110159406A CN112976337A CN 112976337 A CN112976337 A CN 112976337A CN 202110159406 A CN202110159406 A CN 202110159406A CN 112976337 A CN112976337 A CN 112976337A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/003—Multipurpose machines; Equipment therefor
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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
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
- B28D1/146—Tools therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
Abstract
The invention discloses automatic installation equipment and method for building surface explosion bolts, wherein the equipment comprises a punching module, a bolt installation module and an operation position switching mechanism: the punching module comprises an electric drill and a drilling driving mechanism; the bolt installation module comprises a bolt implantation mechanism, a nut screwing mechanism and a bolt implantation driving mechanism; the bolt implanting mechanism comprises a push rod; the nut screwing mechanism comprises a sleeve matched with the nut and a nut screwing driving mechanism for driving the sleeve to rotate; the push rod is arranged in the sleeve and is coaxially arranged with the sleeve; and when the operation position switching mechanism drives the punching module to leave the operation position and drives the bolt mounting module to reach the operation position, the push rod and the sleeve are coaxially aligned with a bolt hole punched by the punching module. The equipment of the invention can automatically install the explosion screw on the surface of the building, thereby not only reducing the construction cost and improving the construction efficiency, but also reducing or eliminating the danger brought by the construction.
Description
Technical Field
The invention relates to building equipment, in particular to automatic installation equipment and method for building surface explosive bolts.
Background
At present, after building bodies such as houses, subway tunnels, culverts, bridges and the like are formed, various auxiliary facilities such as components, pipelines, cables, equipment and the like need to be installed on building surfaces (such as inner and outer walls, inner tops and the like), the installation of the auxiliary facilities firstly needs to implant explosion bolts on the building surfaces, then fix various supports based on the explosion bolts, and further fix the auxiliary facilities on the supports. For example, in the construction process of subway tunnels and culverts, explosive screws are implanted to install fasteners for installing communication cable pipelines, power pipelines and some ventilation water supply and drainage facilities. At present, explosive bolts are installed on the surface of a building through manual operation, bolt holes are drilled through manual impact drilling, then the explosive bolts are pushed into the bolt holes, and nuts on the explosive bolts are screwed, so that the inner ends of the explosive bolts are exploded into inverted cones, and the explosive bolts are firmly fixed on the building. The manual installation explosion bolt, on the one hand, work efficiency is low, and the human cost is high, and on the other hand, because the construction position is usually in the higher position apart from ground, the construction degree of difficulty is big, and the work progress still accompanies certain danger.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide automatic installation equipment for the building surface explosion bolt, which can automatically install an explosion screw on the building surface, thereby not only reducing the construction cost and improving the construction efficiency, but also reducing or eliminating the danger caused by construction.
The invention further aims to provide an automatic installation method of the building surface explosion bolt.
The technical scheme for realizing the aim of the invention is as follows:
an automated building surface explosive bolt installation apparatus comprising a punching module for punching bolt holes in a building surface, a bolt installation module for implanting explosive bolts into said bolt holes, and an operating position switching mechanism for driving the punching module away from an operating position and driving the bolt installation module to an operating position, wherein:
the drilling module comprises an electric drill and a drilling driving mechanism for driving the electric drill to do linear reciprocating motion during drilling;
the bolt installation module comprises a bolt implanting mechanism for pushing an explosive bolt into a bolt hole, a nut screwing mechanism for screwing a nut on the explosive bolt and a bolt implanting driving mechanism for driving the bolt implanting mechanism and the nut screwing mechanism to integrally reciprocate; the bolt implanting mechanism comprises a push rod; the nut screwing mechanism comprises a sleeve matched with the nut and a nut screwing driving mechanism for driving the sleeve to rotate; the push rod is arranged in the sleeve and is coaxially arranged with the sleeve;
and when the operation position switching mechanism drives the punching module to leave the operation position and drives the bolt mounting module to reach the operation position, the push rod and the sleeve are coaxially aligned with a bolt hole punched by the punching module.
Preferably, the operation position switching mechanism includes a frame and an operation position switching driving mechanism for driving the frame to make a linear motion, wherein the punching module and the bolt installation module are both arranged on the frame; the operation position switching driving mechanism is used for driving the rack to do linear motion, and the stroke of the linear motion is equal to the distance between the punching module and the bolt installation module.
Preferably, the bolt implanting mechanism further comprises an impact mechanism, and the impact mechanism is connected with the push rod and drives the push rod to reciprocate and impact the explosive bolt back and forth, so that the explosive bolt is jacked into the bolt hole.
Preferably, the bolt implanting mechanism further comprises a push rod position adjusting mechanism for driving the impact mechanism to perform linear motion, the push rod position adjusting mechanism is used for adjusting the relative position of the push rod in the sleeve, in the state of the relative position, a nut in the explosive bolt is matched with the sleeve, and the screw end of the explosive bolt is located in the operation stroke of the push rod.
Preferably, the bolt implanting driving mechanism comprises a bracket arranged on the rack and a linear driving mechanism for driving the bracket to do linear reciprocating motion, wherein the bolt implanting mechanism and the nut tightening mechanism are both arranged on the bracket.
Preferably, the construction machine further comprises an operation posture adjusting mechanism, the operation posture adjusting mechanism comprises an installation frame arranged between the construction machine table and the rack and an operation posture adjusting driving mechanism used for driving the installation frame to turn over, and the operation position switching mechanism is arranged on the installation frame; the left side or the right side of the mounting rack is rotatably connected to the construction machine table through a plurality of rotating structures, and the right side or the left side of the mounting rack is supported in the construction machine table; the operation posture adjusting and driving mechanism is used for driving the mounting frame to turn leftwards or rightwards.
Preferably, the device further comprises an operation posture adjusting mechanism, wherein the operation posture adjusting mechanism comprises an installation frame arranged between the construction machine table and the rack, a link mechanism arranged between the installation frame and the construction machine table, and an operation posture adjusting driving mechanism used for driving the installation frame to turn back and forth, and the operation position switching mechanism is arranged on the installation frame; the connecting rod mechanism consists of a plurality of groups of long rods and short rods, and the long rods and the short rods are respectively positioned at the front side and the rear side of the mounting rack; the operation posture adjusting and driving mechanism is used for driving the connecting rod mechanism to vertically swing so as to drive the mounting frame to turn back and forth; after the mounting bracket rotates to a specific angle, the lower end of the long rod is locked on the construction machine table through a screw.
Preferably, the punching modules and the bolt installation modules are all in multiple groups.
Preferably, the fastener lifting device further comprises a fastener conveying module arranged on the mounting frame and a fastener lifting module used for feeding the bolt into the bolt hole, wherein,
the explosive bolt is arranged on the fastener;
the fastener lifting module comprises a connecting frame, a positioning seat arranged on the connecting frame and a lifting driving mechanism used for driving the connecting frame to do linear motion, wherein the positioning seat is provided with a positioning groove which is communicated up and down, and a clamping mechanism used for clamping an explosive bolt in a fastener positioned on the positioning seat is arranged below the positioning groove;
the fastener conveying module comprises a fastener bracket arranged on the mounting frame and a fastener conveying mechanism arranged on the fastener bracket, wherein a posture adjusting mechanism is arranged between the bottom of the fastener bracket and the mounting frame and is used for adjusting the inclination angle of the fastener bracket; the fastener conveying mechanism comprises two conveying guide rails, and the two conveying guide rails are arranged on two sides of the fastener bracket in parallel and are communicated with the positioning groove of the positioning seat; two ends of the fastener are respectively positioned in the two conveying guide rails; the fastener conveying mechanism also comprises a pressing mechanism arranged on the fastener bracket, wherein the pressing mechanism is positioned at the tail end of the conveying guide rail and is used for pressing or loosening the fasteners at the tail end of the conveying guide rail.
An automatic installation method for building surface explosion bolts comprises the following steps:
(1) when the drilling module is used for drilling holes on the surface of a building, the drilling driving mechanism in the drilling module drives an electric drill to perform feeding motion during drilling, and the electric drill works to drill bolt holes on the surface of the building;
(2) the operation position switching mechanism works to drive the punching module to leave the operation position and drive the bolt mounting module to reach the operation position, so that the push rod and the sleeve are coaxially aligned with the bolt hole punched by the punching module;
(3) conveying the explosive bolt to be implanted to the bolt hole and aligning the explosive bolt to the bolt hole; a bolt implanting driving mechanism in the bolt mounting module drives the bolt implanting mechanism and a nut screwing mechanism to integrally move towards a bolt hole, wherein a push rod in the bolt implanting mechanism firstly pushes a bolt to enter the bolt hole and reach a set position, a sleeve is sleeved on the nut at the moment, and the nut screwing driving mechanism in the nut screwing mechanism drives the sleeve to rotate so as to fix the explosive bolt on the surface of a building;
(4) and the bolt mounting module exits from the operation position, and the automatic mounting equipment for the explosive bolts on the surface of the building is moved to the next position to automatically mount the next explosive bolt according to the requirement.
The working principle of the automatic installation equipment for the building surface explosive bolts is as follows:
the automatic installation equipment for the building surface explosion bolt can be installed on a moving platform, a manipulator and other mechanisms when working and is used for driving the automatic installation equipment for the building surface explosion bolt to move to an operation position. When the drilling module is used for drilling holes, the drilling driving mechanism in the drilling module drives the electric drill to perform feeding motion during drilling, and the electric drill works to drill bolt holes on the surface of the building; and then, the operation position switching mechanism works to drive the punching module to leave the operation position and drive the bolt installation module to reach the operation position, and because the position relationship between the punching module and the bolt installation module can be accurately determined, the operation position switching mechanism can accurately drive the bolt installation module to reach the operation position according to the position relationship between the punching module and the bolt installation module when driving the punching module to leave the operation position, so that the push rod and the sleeve are coaxially aligned with the bolt hole punched by the punching module. Then, the explosive bolt conveying device conveys the explosive bolt to be implanted to the bolt hole and aligns to the bolt hole; the bolt implanting driving mechanism in the bolt mounting module drives the bolt implanting mechanism and the nut screwing mechanism to integrally move towards the bolt hole, wherein a push rod in the bolt implanting mechanism firstly pushes the bolt to enter the bolt hole and reach a set position, the sleeve is sleeved on the nut, and the nut screwing driving mechanism in the nut screwing mechanism drives the sleeve to rotate, so that the explosive bolt is fixed on the surface of a building. And finally, the bolt mounting module exits from the operation position, and the automatic mounting equipment for the explosion bolts on the building surface moves to the next position to carry out the automatic mounting of the next explosion bolt.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the automatic installation equipment for the building surface explosion bolt, the bolt hole is formed in the position to be installed through the punching module, then the bolt is conveyed to the bolt hole, the explosion bolt is pushed into the bolt hole through the push rod in the bolt implanting mechanism and reaches the set position, the sleeve is sleeved on the nut, and the nut tightening driving mechanism in the nut tightening mechanism drives the sleeve to rotate, so that the explosion bolt is fixed on the building surface. The whole process is completed in a full-automatic mode, manual participation is not needed, construction efficiency is improved, construction cost is reduced, and dangers caused by construction can be reduced or eliminated.
2. When the bolt mounting module in the automatic mounting equipment for the explosion bolt on the building surface works, the nut at the lower end of the explosion bolt is matched with the sleeve, and the screw rod of the explosion bolt pushes the explosion bolt to enter the bolt hole through the push rod in the bolt implanting mechanism in the operation stroke of the bolt implanting mechanism, and then the nut screwing mechanism drives the sleeve to rotate, so that the nut at the lower end of the explosion bolt is screwed. The whole action is finished at one time, so that the mounting efficiency of the explosive bolt is greatly improved.
3. According to the automatic installation equipment for the building surface explosion bolt, due to the arrangement of the operation position switching mechanism, after the bolt hole is formed in the punching module, the operation position switching module can quickly and accurately move the bolt installation module to the position of the punching module, so that the sleeve in the bolt installation module and the bolt hole are positioned on the same axis, and accurate positioning is realized. Compared with the common visual positioning and photoelectric sensor positioning modes, the positioning mode has the advantages of higher accuracy, higher speed, simpler structure and lower cost.
4. The automatic installation equipment for the building surface explosion bolt has the advantages of high working efficiency, full-automatic operation and no danger of manual construction and difficulty of operation environment.
Drawings
Fig. 1 and 2 are schematic perspective views of two different perspectives of an automated installation apparatus for building surface fasteners, to which the automated installation apparatus for building surface explosive bolts of the present invention is applied.
Fig. 3 and 4 are schematic perspective views (hidden construction devices) of two different views of the automatic installation apparatus for building surface fasteners.
Fig. 5 is a schematic perspective view of the punching module.
Fig. 6 and 7 are schematic perspective views of two different views of the fastener lifting module.
Fig. 8 and 9 are schematic perspective views of two different viewing angles of the bolt-mounted module.
Fig. 10 and 11 are schematic perspective views of two different viewing angles of the clamping mechanism.
Fig. 12 is a perspective view of the sleeve and the explosive bolt separated.
Fig. 13 is a perspective view of a fastener delivery module.
Fig. 14 is a perspective view (in partial section) of a fastener delivery mechanism.
FIG. 15 is a front view (partial) of a fastener delivery mechanism.
Fig. 16 is a schematic perspective view of a fixing block.
Fig. 17 is a schematic view of a work position switching mechanism in the second embodiment of the automated installation apparatus for building surface fasteners.
Fig. 18 is a schematic perspective view of a work attitude adjustment mechanism in a third embodiment of the automated mounting apparatus for construction surface fasteners.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1, the automatic installation apparatus for building surface explosion bolts of the present invention comprises a punching module 19 for punching bolt holes on a building surface, a bolt installation module 2 for implanting an explosion bolt 8 into the bolt hole, and an operation position switching mechanism 18 for driving the punching module 19 out of an operation position and driving the bolt installation module 2 to the operation position, wherein the punching module 19 comprises an electric drill 19-2 and a drilling driving mechanism 19-3 for driving the electric drill 19-2 to reciprocate linearly while drilling; the bolt installation module 2 comprises a bolt implanting mechanism for pushing the explosive bolt 8 into the bolt hole, a nut tightening mechanism for tightening a nut on the explosive bolt 8, and a bolt implanting driving mechanism 9 for driving the bolt implanting mechanism and the nut tightening mechanism to integrally reciprocate; the bolt implanting mechanism comprises a push rod 2-5, and the nut screwing mechanism comprises a sleeve 2-2 matched with a nut and a nut screwing driving mechanism for driving the sleeve 2-2 to rotate; the push rod 2-5 is arranged in the sleeve 2-2 and is coaxially arranged with the sleeve; when the operation position switching mechanism 18 drives the punching module 19 to leave the operation position and drives the bolt installation module 2 to reach the operation position, the push rod 2-5 and the sleeve 2-2 are coaxially aligned with a bolt hole punched by the punching module 19.
Referring to fig. 1, the automatic installation method of the building surface explosion bolt of the invention comprises the following steps:
(1) when the operation is started, the punching module 19 is aligned to the position to be punched on the surface of the building, a drilling driving mechanism 19-3 in the punching module 19 drives an electric drill 19-1 to perform feeding motion during drilling, and the electric drill 19-1 works on the surface of the building to punch a bolt hole;
(2) the operation position switching mechanism 18 works to drive the punching module 19 to leave the operation position and drive the bolt mounting module 2 to reach the operation position, so that the push rod 2-5 and the sleeve 2-2 are coaxially aligned with a bolt hole punched by the punching module 19;
(3) a bolt delivery module (e.g. a robot) delivers the explosive bolt 8 to be implanted to the bolt hole and aligns it; a bolt implanting driving mechanism 9 in the bolt mounting module 2 drives the bolt implanting mechanism and the nut tightening mechanism to integrally move towards the bolt hole, wherein a push rod 2-5 in the bolt implanting mechanism firstly pushes the bolt to enter the bolt hole and reach a set position, the sleeve 2-2 is sleeved on the nut, and the nut tightening driving mechanism in the nut tightening mechanism drives the sleeve 2-2 to rotate so as to fix the explosive bolt 8 on the surface of a building;
(4) and the bolt mounting module 2 exits from the operation position, and the automatic mounting equipment for the building surface explosion bolt is moved to the next position to automatically mount the next explosion bolt 8 according to the requirement.
Example 1
The following describes the specific structure of the automatic installation equipment for the building surface explosive bolts according to the invention with specific cases; in the embodiment of the invention, the automatic installation method of the building surface explosion bolt is applied to installation of a fastener, wherein the fastener is provided with two explosion bolts 8 which are respectively sleeved on the fastener, and the lower end of each explosion bolt 8 is provided with a nut, so that the installation of the fastener is completed while the explosion bolts 8 are installed.
Referring to fig. 1 to 16, the automatic installation apparatus of building surface fasteners to which the automatic installation apparatus of building surface explosive bolts of the present invention is applied includes a construction machine base 16, a construction device provided on the construction machine base 16, and a work attitude adjusting mechanism 17 for adjusting an orientation attitude of the construction device.
Referring to fig. 1 to 16, the construction apparatus includes a mounting frame 14, a fastener delivery module 15 provided on the mounting frame 14, a fastener lifting module, and the automatic installation apparatus for building surface explosive bolts of the present invention, wherein the fastener delivery module 15 is installed on the mounting frame 14, the fastener lifting module and the automatic installation apparatus for building surface explosive bolts of the present invention are installed on a machine frame 1, and the machine frame 1 is installed on the mounting frame 14; the fastener conveying module 15 is used for conveying the fasteners one by one into the fastener lifting module; the fastener lifting module is used for conveying the fastener to a mounting position, and the automatic mounting equipment for the building surface explosive bolt drives the explosive bolt 8 in the fastener to the corresponding mounting position and locks the fastener on the explosive bolt 8 to realize the mounting of the fastener; the operation posture adjustment mechanism 17 is used for driving the frame 1 to move, so that the fastener lifting module and the bolt installation module 2 move to the position of the punching module 19.
(1) The specific structure of the fastener delivery module 15 is described below:
referring to fig. 13-16, the fastener delivery module 15 includes a fastener carrier 15-1 disposed on the mounting frame 14 and a fastener delivery mechanism disposed on the fastener carrier 15-1.
Referring to fig. 13-16, an attitude adjustment mechanism is provided between the bottom of the fastener carrier 15-1 and the mounting bracket 14, the attitude adjustment mechanism is used to adjust the angle of inclination of the fastener carrier 15-1, the posture adjusting mechanism comprises a fixed block 15-3, the fixed block 15-3 is arranged on the mounting rack 14, the fastening piece bracket 15-1 is hinged on the fixed block 15-3 (15-32 is a hinged point in the figure), the fixed block 15-3 is provided with an arc-shaped groove 15-31, after the inclination angle of the fastener bracket 15-1 is adjusted, the bottom of the fastener bracket 15-1 is locked on the fixed block 15-3 by inserting screws into the arc-shaped grooves 15-31 on the fixed block 15-3.
In this embodiment, the two fixing blocks 15-3 are respectively located at the front and rear sides of the bottom of the fastener bracket 15-1; and two fixing blocks 15-3 are arranged in each group and are respectively positioned at the left side and the right side of the bottom of the fastener bracket 15-1.
Referring to fig. 13-16, the fastener conveying mechanism includes two conveying guide rails, and the two conveying guide rails are arranged on two sides of the fastener bracket 15-1 in parallel and are communicated with a next station (i.e., a positioning slot in the positioning seat 4); the two ends of the fastener are respectively positioned in two conveying guide rails, wherein each conveying guide rail comprises a roller guide mechanism and a limiting plate 15-6, the roller guide mechanism is arranged on a fastener bracket 15-1 and comprises a roller mounting frame 15-4 and a plurality of conveying rollers 15-5, the conveying rollers are arranged on the roller mounting frame 15-4, and the roller mounting frame 15-4 is mounted on the fastener bracket 15-1 and extends along the length direction of the fastener bracket 15-1; the plurality of conveyor rollers 15-5 are arranged equidistantly along the length of the roller mounting frame 15-4; the limiting plate 15-6 is positioned above the conveying roller 15-5, and a space between the lower surface of the limiting plate 15-6 and the upper surface of the conveying roller 15-5 forms a guide groove of the conveying guide rail.
Referring to fig. 13-16, the fastener conveying module 15 further includes a pressing mechanism 15-2 disposed on the fastener bracket 15-1, the pressing mechanism 15-2 is located at the end of the conveying guide rail, and includes a pressing frame, a pressing block disposed on the pressing frame, and a pressing cylinder for driving the pressing block to move linearly, the pressing cylinder is mounted on the pressing frame, and an expansion rod of the pressing cylinder is connected with the pressing block.
Referring to fig. 13-16, the fastener delivery module 15 operates on the principle of:
when the automatic feeding device works, fasteners are placed in the conveying guide rail, the inclination angle of the fastener bracket 15-1 is adjusted through the posture adjusting mechanism, so that the fasteners on the fastener bracket 15-1 can slide down to the next station under the guidance of the conveying guide rail, and the automatic feeding of the fasteners is realized. In the process, when a fastener is arranged on the next station, the vertical cylinder drives the pressing block to move downwards, so that the pressing block is pressed on the fastener at the tail end of the conveying guide rail and is prevented from sliding to the next station; after the fastener at the next station is installed on the building surface, the pressing mechanism 15-2 releases the fastener at the tail end of the conveying guide rail, so that the fastener can freely slide to the next station, and simultaneously, the pressing mechanism 15-2 presses the fastener at the tail end of the conveying guide rail again, and therefore the fastener can be fed orderly and cannot interfere with the next station.
(2) The following describes the specific structure of the fastener lifting module in detail:
referring to fig. 6 to 12, the fastener lifting module includes a connecting frame 3, a positioning seat 4 disposed on the connecting frame 3, and a lifting driving mechanism 7 for driving the positioning seat 4 to make a linear motion, wherein a clamping mechanism 5 for clamping an explosive bolt 8 in a fastener located on the positioning seat 4 is disposed below the positioning seat 4.
Referring to fig. 6 to 12, the clamping mechanism 5 is mounted on the connecting frame 3 and located below the positioning seat 4; the clamping mechanism 5 comprises a first clamping block 5-3, a second clamping block 5-4 and a clamping driving mechanism for driving the first clamping block 5-3 and the second clamping block 5-4 to move oppositely or reversely, wherein the first clamping block 5-3 and the second clamping block 5-4 are provided with clamping parts at positions corresponding to the explosive bolts 8 of the fasteners in the positioning seat 4, the clamping driving mechanism comprises a first clamping cylinder 5-1 and a second clamping cylinder 5-2, and the first clamping cylinder 5-1 is arranged at the lower side of the connecting frame 3 and used for driving the first clamping block 5-3; the second clamping cylinder 5-1 is arranged at the lower side of the connecting frame 3 through a connecting seat 5-5 and is used for driving the second clamping block 5-4.
By arranging the clamping mechanism 5, in the process that the lifting driving mechanism 7 drives the connecting frame 3, the positioning seat 4 arranged on the connecting frame 3 and the fastener arranged on the positioning seat 4 to move to a position to be installed (such as a bolt hole), the first clamping cylinder 5-1 and the second clamping cylinder 5-2 drive the first clamping block 5-3 and the second clamping block 5-4 to move oppositely, so that two explosive bolts 8 in the fastener are clamped, the lower ends of the explosive bolts 8 can be ensured not to shake, and the locking port 6 of the sleeve 2-2 can be accurately matched with a nut at the lower end of the explosive bolt 8; and can ensure that part of the explosive bolt 8 above the fastener can smoothly enter the bolt hole, thereby smoothly completing the propelling of the explosive bolt 8 and the locking work of the nut.
Referring to fig. 6 to 12, the lifting driving mechanism 7 includes a linear cylinder 10, a linear sliding mechanism and a stroke detecting mechanism 11, where the linear sliding mechanism is a single group or multiple groups, and each group of linear sliding mechanism includes a sliding rail and a sliding block matched with the sliding rail; the stroke detection mechanism 11 comprises detection sensors arranged on the rack 1 and detection sheets arranged on the connecting frame 3, wherein the detection sensors on the rack 1 are divided into two groups, and one group is used for detecting the linear stroke of the connecting frame 3; the number of the detection sensors is at least two, and the two detection sensors are respectively arranged at the initial position and the end position of the linear stroke to be limited. In the present embodiment, the number of the detection sensors is three; the three detection sensors are located at the start point, the middle point and the end point of the linear stroke.
The linear cylinder 10 is used as a power source for driving an object to perform linear motion so as to drive the connecting frame 3 and the bracket 2-1 to perform linear motion, so that the positioning seat 4 and the fastener on the positioning seat 4 are driven to perform linear motion, and the linear motion of the positioning seat 4 and the fastener on the positioning seat 4 is guided by combining a linear sliding mechanism. In addition, the stroke detection mechanism 11 is combined to limit the linear motion of the positioning seat 4 and the fastening piece on the positioning seat 4, so as to prevent the overtravel of the positioning seat 4 and the fastening piece. In this embodiment, the detection sensor is a laser sensor, and the detection sheet may be provided separately or as part of the module or part to be detected.
Referring to fig. 6 to 12, the telescopic rod of the linear cylinder 10 is slidably connected to a driven member (e.g., the connecting frame 3), the driven member is provided with a guide hole matched with the telescopic rod of the linear cylinder 10, the upper end of the telescopic rod is provided with a stopper 12 above the guide hole, and the diameter of the stopper 12 is greater than that of the guide hole; a spring 13 is arranged on a telescopic rod of the linear cylinder 10, the upper end of the spring 13 acts on the driven piece, and the lower end of the spring 13 acts on a cylinder body of the linear cylinder 10; by arranging the spring 13, the driven part can be prevented from rigidly colliding with other objects, so that the driven part is protected from being damaged due to rigid collision with other objects; therefore, the spring 13 in the telescopic rod of the linear cylinder 10 in the lifting drive mechanism 7 plays a role of flexible buffer.
(3) The following further describes the concrete structure of the automatic installation equipment for the building surface explosion bolt specifically:
referring to fig. 6-12, the automated installation apparatus for explosive bolts on building surfaces of the present invention comprises a punching module 19 for punching bolt holes in the building surface, a bolt installation module 2 for implanting explosive bolts 8 into the bolt holes, and an operation position switching mechanism 18 for driving the punching module 19 away from an operation position and driving the bolt installation module 2 to the operation position.
Specific structures of the punching module 19, the bolt mounting module 2, and the work position switching mechanism 18 will be described one by one below.
(3-1), a punching module 19
Referring to fig. 5, the punching module 19 comprises an electric drill fixing seat 19-1 arranged on the frame 1, an electric drill 19-2 arranged on the electric drill fixing seat 19-1, and a drilling driving mechanism 19-3 for driving the electric drill 19-2 to move linearly, wherein the drilling driving mechanism 19-3 comprises a linear air cylinder 10, a linear sliding mechanism and a stroke detection mechanism 11, wherein the linear sliding mechanisms are single-group or multi-group, and each group of linear sliding mechanisms comprises a sliding rail and a sliding block matched with the sliding rail; the stroke detection mechanism 11 comprises detection sensors arranged on the rack 1 and detection pieces arranged on the electric drill fixing seat 19-1, wherein the detection sensors on the rack 1 are used for detecting the linear stroke of the electric drill fixing seat 19-1, three detection sensors are arranged in each group, and the three detection sensors are respectively arranged at the initial position, the middle position and the end position of the linear stroke to be limited.
Referring to fig. 5, the telescopic rod of the linear cylinder 10 is slidably connected with an electric drill fixing seat 19-1, the electric drill fixing seat 19-1 is provided with a guide hole matched with the telescopic rod of the linear cylinder 10, the upper end of the telescopic rod is positioned above the guide hole and is provided with a limiting block 12, and the diameter of the limiting block 12 is larger than that of the guide hole; a spring 13 is arranged on an expansion link of the linear cylinder 10, the upper end of the spring 13 acts on the electric drill fixing seat 19-1, and the lower end of the spring 13 acts on a cylinder body of the linear cylinder 10.
As the drilling module 19 is internally provided with the clamping mechanism for clamping and positioning the drill bit of the electric drill 19-2, the spring 13 is arranged in the telescopic rod of the linear cylinder 10 of the drilling driving mechanism 19-3, the electric drill 19-2 is propped against by the spring 13 and the electric drill 19-2 is pushed to move, the electric drill can be properly compressed to play a role in buffering, and the clamping mechanism is pushed to be opened by compressing a proper stroke after the drill bit of the electric drill 19-2 is pushed to contact with a wall body. The clamping mechanism comprises a first clamping block arranged on the electric drill fixing seat 19-1 and a second clamping block arranged on the electric drill 19-2, the upper end of the spring 13 acts on the electric drill fixing seat 19-1, and the first clamping block and the second clamping block are loosened by compressing the spring 13.
(3-2) bolt mounting Module 2
Referring to fig. 1 to 12, the bolt installation modules 2 are divided into two groups, the two groups of bolt installation modules 2 are arranged in parallel, and the distance between the two groups of bolt installation modules 2 is the distance between two explosion bolts 8 in the fastening piece; the two groups of bolt installation modules 2 are respectively driven by two groups of bolt implantation driving mechanisms 9; correspondingly, the number of the punching modules 19 is two, the two punching modules 19 are arranged in parallel, and the distance between the two punching modules 19 is the distance between two explosion bolts 8 in the fastener; the two groups of punching modules 19 are respectively driven by two groups of drilling driving mechanisms 19-3.
Referring to fig. 6-12, each group of bolt installation modules 2 comprises a bracket 2-1 arranged on a frame 1, a bolt implanting mechanism arranged on the bracket 2-1 and used for pushing an explosive bolt 8 into a bolt hole, a nut tightening mechanism used for tightening a nut on the explosive bolt 8, and a bolt implanting driving mechanism used for driving the bolt implanting mechanism and the nut tightening mechanism to integrally reciprocate, wherein the bolt implanting mechanism comprises a push rod 2-5, and the nut tightening mechanism comprises a sleeve 2-2 matched with the nut and a nut tightening driving mechanism used for driving the sleeve 2-2 to rotate; the push rod 2-5 is arranged in the sleeve 2-2 and the push rod and the sleeve are coaxially arranged, wherein,
the sleeve 2-2 is rotatably connected to the support 2-1, the sleeve 2-2 is of a hollow structure, and a locking port 6 matched with the nut is arranged at the upper end of the sleeve 2-2;
the nut tightening driving mechanism comprises a rotating motor 2-3 and a gear transmission mechanism 2-4; the rotating motor 2-3 is arranged on the bracket 2-1, and two gears which are meshed with each other in the gear transmission mechanism 2-4 are respectively arranged on a main shaft of the rotating motor 2-3 and the sleeve 2-2;
in the present embodiment, the nut tightening drive mechanism may also be a combination of the rotary motor 2-3 and a belt transmission mechanism.
Referring to fig. 6-12, as a preferred embodiment:
the bolt implanting mechanism further comprises an impact mechanism 2-6 used for pushing a push rod 2-5 to move so as to drive an explosive bolt 8 into a bolt hole, wherein the push rod 2-5 is arranged in the sleeve 2-2 and is coaxially arranged with the sleeve 2-2, an avoiding hole is formed in the sleeve 2-2 at a position corresponding to the push rod 2-5, and the avoiding hole extends along the axis of the sleeve 2-2 and is communicated with the locking port 6; the impact mechanism 2-6 is arranged on the adjusting seat 2-7, and the driving end of the impact mechanism 2-6 is connected with the push rod 2-5. The impact mechanism 2-6 continuously pushes the push rod 2-5 to impact the explosive bolt 8, so that the explosive bolt 8 is driven into the bolt hole formed in the punching module 19, the explosive bolt 8 can be ensured to completely enter the bolt hole, and the explosive bolt 8 in the fastener can be ensured to be firmly installed on the surface of a building.
The impact mechanism 2-6 in this embodiment may be driven by an air cylinder, that is, an expansion link of the air cylinder is connected to the push rod 2-5, and the air cylinder drives the push rod 2-5 to reciprocate continuously, so as to drive the explosive bolt 8 into the bolt hole; or a pneumatic mode is adopted, namely the push rod 2-5 is pushed by high-pressure gas to move back and forth so as to continuously impact the explosive bolt 8, and thus the explosive bolt 8 is driven into the bolt hole.
Referring to fig. 6-12, as a further preferred solution:
the bolt implanting mechanism further comprises a push rod position adjusting mechanism for driving the impact mechanism 2-6 to do linear motion, the push rod position adjusting mechanism is used for adjusting the position of the push rod 2-5 in the sleeve 2-2 so as to ensure that a nut in the explosive bolt 8 is matched with the sleeve 2-2 and a screw rod of the explosive bolt 8 is positioned in the operation stroke of the push rod 2-5, the push rod position adjusting mechanism comprises an adjusting seat 2-7 connected to the bracket 2-1 in a sliding manner and a push rod position adjusting driving mechanism 2-8 for driving the adjusting seat 2-7 to do linear motion, wherein the push rod position adjusting driving mechanism 2-8 is installed on the bracket 2-1, and the push rod position adjusting driving mechanism 2-8 is composed of an air cylinder, or a vertical motor and a screw rod transmission mechanism.
According to the invention, by arranging the push rod position adjusting mechanism, when the size of the explosive bolt 8 in the fastener is changed, the push rod 2-5 is driven to do linear motion through the push rod position adjusting mechanism, so that the distance between the push rod 2-5 and the explosive bolt 8 in the bolt implanting mechanism is adjusted in a self-adaptive manner, the locking port 6 in the sleeve 2-2 is ensured to be matched with the nut at the lower end of the explosive bolt 8, and the impact mechanism 2-6 can drive the push rod 2-5 to feed the explosive bolt 8 in the fastener into the bolt hole; this can expand the applicable range of the construction equipment of the present invention, thereby being suitable for the installation of fasteners of different specifications (i.e., different lengths of the explosive bolts 8 in the fasteners).
In addition, in order to limit the movement stroke of the push rod 2-5, a detection device can be arranged to detect the vertical position of the push rod 2-5 so as to control the movement stroke of the push rod 2-5; the specific structure of the detection device can refer to the stroke detection mechanism 11.
Referring to fig. 6 to 12, the bolt implanting driving mechanism 9 includes a linear cylinder 10, a linear sliding mechanism and a stroke detecting mechanism 11, where the linear sliding mechanism is a single group or multiple groups, and each group of linear sliding mechanism includes a sliding rail and a sliding block matched with the sliding rail; the stroke detection mechanism 11 comprises detection sensors arranged on the rack 1 and detection sheets arranged on the bracket 2-1, wherein the other group of detection sensors on the rack 1 are used for detecting the linear stroke of the bracket 2-1; the number of the detection sensors is at least two, and the two detection sensors are respectively arranged at the initial position and the end position of the linear stroke to be limited. In the present embodiment, the number of the detection sensors is three; the three detection sensors are located at the start point, the middle point and the end point of the linear stroke.
The linear cylinder 10 is used as a power source for driving an object to move linearly to drive the bracket 2-1 to move linearly, so that the bracket 2-1 and the bolt implanting mechanism and the nut screwing mechanism on the bracket 2-1 are driven to move linearly. And the linear sliding mechanism is combined to guide the linear motion of the bolt implanting mechanism and the nut screwing mechanism on the bracket 2-1. In addition, the stroke detection mechanism 11 is combined to limit the linear motion of the bolt implanting mechanism and the nut tightening mechanism on the bracket 2-1, so as to prevent the overtravel of the bolt implanting mechanism and the nut tightening mechanism.
In this embodiment, the detection sensor is a laser sensor, and the detection sheet may be provided separately or as part of the module or part to be detected.
Referring to fig. 6 to 12, the telescopic rod of the linear cylinder 10 is slidably connected to a driven member (e.g., a bracket 2-1), the driven member is provided with a guide hole matched with the telescopic rod of the linear cylinder 10, the upper end of the telescopic rod is provided with a stopper 12 above the guide hole, and the diameter of the stopper 12 is greater than that of the guide hole; a spring 13 is arranged on a telescopic rod of the linear cylinder 10, the upper end of the spring 13 acts on the driven piece, and the lower end of the spring 13 acts on a cylinder body of the linear cylinder 10; by arranging the spring 13, the driven part can be prevented from rigidly colliding with other objects, so that the driven part is protected from being damaged due to rigid collision with other objects; the spring 13 in the telescopic rod of the linear cylinder 10 in the bolt insertion drive 9 thus acts as a flexible buffer.
(3-3), operation position switching mechanism 18:
referring to fig. 1 to 12, the working position switching mechanism 18 of the present invention is used to drive the punching module 19 away from the working position and to drive the bolt mounting module 2 to the working position, so that the push rod 2-5 and the sleeve 2-2 are coaxially aligned with the bolt hole punched by the punching module 19, the working position switching mechanism 18 includes a working position switching drive mechanism for driving the frame 1 to make a linear motion, the working position switching driving mechanism comprises a movable seat 18-1 and a transverse oil cylinder 18-2 for driving the movable seat 18-1 to move, wherein the movable seat 18-1 is mounted on the frame 1, the frame 1 is mounted on the mounting frame 14 through a transverse sliding mechanism 18-3, the transverse oil cylinder 18-2 is mounted on the mounting frame 14, the telescopic rod of the transverse oil cylinder 18-2 is connected with the movable seat 18-1.
The purpose is that the transverse oil cylinder 18-2 drives the moving seat 18-1 to move, so as to drive the rack 1, and the punching module 19 and the bolt installation module 2 which are arranged in the rack 1 to move; in this way, after the punching module 19 forms a bolt hole on the building surface, the operation position switching mechanism 18 drives the frame 1 and the punching module 19 and the bolt installation module 2 arranged on the frame 1 to move, so that the bolt installation module 2 moves to the bolt hole, and the installation work of installing a fastener is completed. Therefore, the method can be completed by using a simple positioning mode, and compared with a visual positioning mode adopting a photoelectric sensor and the like, the positioning mode adopted by the method is simpler and has lower cost.
Referring to fig. 1 to 16, the automatic installation equipment for the building surface explosive bolts of the invention has the working principle that:
the automatic installation equipment for the building surface explosion bolt can be installed on a moving platform, a manipulator and other mechanisms when working and is used for driving the automatic installation equipment for the building surface explosion bolt to move to an operation position. When the operation is started, the punching module 19 is aligned to the position to be punched on the surface of the building, a drilling driving mechanism 19-3 in the punching module 19 drives an electric drill 19-2 to perform feeding motion during drilling, and the electric drill 19-2 works on the surface of the building to punch a bolt hole; subsequently, the working position switching mechanism 18 is operated to drive the punching module 19 away from the working position and to drive the bolt mounting module 2 to the working position, and since the positional relationship between the punching module 19 and the bolt mounting module 2 can be accurately determined, the working position switching mechanism 18 can accurately drive the bolt mounting module 2 to the working position according to the positional relationship between the punching module 19 and the bolt mounting module 2 when driving the punching module 19 away from the working position, so that the push rod 2-5 and the sleeve 2-2 are coaxially aligned with the bolt hole punched by the punching module 19. Next, the bolt conveying module (which may be a robot, in this embodiment, the fastener conveying module 15 and the fastener lifting module) conveys the explosive bolt 8 to be implanted to the bolt hole and aligns with the bolt hole; the bolt implanting driving mechanism 9 in the bolt installation module 2 drives the bolt implanting mechanism and the nut tightening mechanism to integrally move towards the bolt hole, wherein a push rod 2-5 in the bolt implanting mechanism firstly pushes the bolt to enter the bolt hole and reach a set position, the sleeve 2-2 is sleeved on the nut, and the nut tightening driving mechanism in the nut tightening mechanism drives the sleeve 2-2 to rotate, so that the explosive bolt 8 is fixed on the surface of a building. And finally, the bolt mounting module 2 exits from the operation position, and the automatic mounting equipment for the explosion bolts on the building surface moves to the next position to automatically mount the next explosion bolt 8.
(4) The specific structure of the work attitude adjusting mechanism 17 is described below:
referring to fig. 1 to 16, the working attitude adjustment mechanism 17 includes a working attitude adjustment driving mechanism for driving the mounting bracket 14 to turn, wherein the working position switching mechanism 18 is mounted on the mounting bracket 14; the left side or the right side of the mounting rack 14 is rotatably connected to the construction machine table 16 through a plurality of rotating structures, and the right side or the left side is supported in the construction machine table 16; the operation posture adjusting and driving mechanism is used for driving the mounting rack 14 to turn leftwards or rightwards.
In this embodiment, the operation posture adjustment driving mechanism includes a telescopic cylinder 20 disposed on the construction machine 16, wherein the left side of the mounting frame 14 is rotatably connected to the construction machine 16 through a plurality of rotating structures 21, and the right side is supported in the construction machine 16; the cylinder body of the telescopic cylinder 20 is rotatably connected to the side surface of the construction machine platform 16, the telescopic rod of the telescopic cylinder 20 is hinged to the side surface of the mounting frame 14, and the hinged position is located in the middle or at the rear end of the side surface of the mounting frame 14. The telescopic rod is driven to move through the telescopic cylinder 20, so that the rear end of the mounting frame 14 is driven to turn forwards around a plurality of (three rotating structures 21 in the embodiment) rotating structures 21, the working posture of the construction device is adjusted, and the installation work of the fasteners on the building surfaces in different positions or different shapes is realized.
Finally, a traveling mechanism is arranged below the construction machine table 16, so that the construction equipment can be conveniently moved to a specific position. The walking mechanism can be composed of walking wheels and a walking motor. The construction machine 16 is further provided with a position locking mechanism, the position locking mechanism comprises a locking cylinder and supporting rods, the supporting rods are arranged on two sides of the construction machine 16, and the locking cylinder drives the supporting rods to stretch out to tightly abut against a wall body to fix two sides of the construction machine 16. In addition, the construction machine 16 may have several laser ranging distance meters installed toward both sides, the top surface and the vertical lower side, so that the position can be stopped during the movement process, and the position of the member to be constructed can be determined.
Referring to fig. 1-16, the operation principle of the automatic installation apparatus of the building surface fastener of the present invention is:
before construction, the construction equipment of the invention is moved to the position of a fastener to be installed, and according to the position of the fastener to be installed, the operation posture adjusting mechanism 17 drives the construction device to move so as to adjust the orientation posture of the construction device, so as to adapt to installation of the fastener on building surfaces with different shapes, such as the top surface, the side surface or the joint part between the top surface and the side surface.
During construction, taking top installation as an example, after the fastener conveying module 15 sends the fastener to the positioning seat 4, the clamping mechanism 5 clamps and positions the explosive bolt 8 on the fastener in the positioning seat 4; subsequently, the drilling driving mechanism 19-3 drives the electric drill 7-2 to move, so that bolt holes are formed in the surface of a building, and then, the operation position switching mechanism 18 drives the rack 1 and the bolt installation module 2, the drilling module 19 and the fastener lifting module which are arranged on the rack 1 to move forwards, wherein the displacement can be determined according to actual conditions, and only needs to ensure that the explosive bolts 8 in the fasteners on the positioning seat 4 are right opposite to the bolt holes formed in the drilling module 19; subsequently, the lifting driving mechanism 7 drives the fastener lifting module and the fastener on the fastener lifting module to move upwards, in the process, because the lower end of the explosive bolt 8 is clamped by the clamping mechanism 5, under the action of the driving force of the lifting driving mechanism 7, the upper end of the explosive bolt 8 enters a bolt hole on the building surface, when the explosive bolt 8 enters the bolt hole (the displacement of the explosive bolt hole is determined according to actual conditions), the bolt implanting driving mechanism 9 drives the bolt implanting mechanism and the nut tightening mechanism to move upwards, so that the locking port 6 on the sleeve 2-2 is matched with the nut in the explosive bolt 8, and then the clamping mechanism 5 loosens the explosive bolt 8; then, the impact mechanism 2-6 drives the push rod 2-5 to vertically reciprocate, and continuously impacts the explosive bolt 8, so that the explosive bolt 8 is wholly pushed into the bolt hole; after the explosive bolt 8 is driven into the bolt hole, the rotary motor 2-3 drives the sleeve 2-2 to rotate, so that after the nut is rotated to lock the fastener on the top surface in the building, the bolt implantation driving mechanism 9 drives the bolt installation module 2 to reset, and meanwhile, the impact mechanism 2-6 pushes the push rod 2-5 to reset; subsequently, the lifting drive mechanism 7 drives the connecting frame 3 and the positioning seat 4 on the connecting frame 3 to reset. The automated building surface fastener installation apparatus of the present invention is moved to the next location for automated installation of the next fastener.
Example 2
Referring to fig. 17, the difference between this embodiment and embodiment 1 is that the operation position switching mechanism 18 adopts a horizontal rotary table switching manner, that is, the punching module 19 and the bolt installation module 2 are both installed on a horizontal rotary table 22, and the punching module 19 and the bolt installation module 2 can be arranged at angles of 90 degrees, 180 degrees, 270 degrees, and the like, and after the punching module 19 forms bolt holes on the building surface, the horizontal rotary table is driven to rotate by a motor or a rotary cylinder, so as to drive the bolt installation module 2 to move to the position of the punching module 19, so that the sleeve 2-2 in the bolt installation module 2 faces the lower end of the explosive bolt 8, thereby achieving precise positioning.
In addition to the above manner, a vertical turntable manner can be adopted, and the turntable vertically arranged is driven by the motor to vertically rotate, so that the bolt installation module 2 is driven to move to the position of the punching module 19, and the sleeve 2-2 in the bolt installation module 2 is just opposite to the lower end of the explosion bolt 8, thereby realizing accurate positioning. Furthermore, the turntable can also be replaced by a turret.
Example 3
Referring to fig. 18, the present embodiment is different from embodiment 1 in that: the operation posture adjusting mechanism 17 includes a link mechanism provided between the mounting frame 14 and the construction machine 16, and an operation posture adjusting driving mechanism for driving the mounting frame to turn back and forth, wherein,
the operating position switching mechanism 18 is mounted on the mounting bracket 14;
the link mechanism comprises short rods 23 arranged on the front side of the construction machine platform 16 and long rods 24 arranged on the rear side of the construction machine platform 16, the short rods 23 and the long rods 24 are respectively two groups, the two groups of short rods 23 and the two groups of long rods 24 are respectively positioned on the left side and the right side of the construction machine platform 16, and the upper ends and the lower ends of the two groups of short rods 23 are respectively hinged with the mounting frame 14 and the construction machine platform 16; the upper ends of the two groups of long rods 24 are hinged on the mounting frame 14, the lower ends of the two groups of long rods are provided with adjusting grooves, and after the angle of the mounting frame 14 is adjusted through a transverse adjusting mechanism, the lower ends of the long rods are fixed on the construction machine table 16 through screws, so that the mounting frame 14 is locked in a specific posture;
the transverse adjusting mechanism comprises a connecting plate 25 and a transverse driving mechanism for driving the connecting plate 25 to do transverse movement, wherein the upper end of the connecting plate 25 is hinged to the mounting frame 14, and the lower end of the connecting plate 25 is rotatably connected with a driving piece of the transverse driving mechanism; the transverse driving mechanism comprises a screw rod transmission mechanism 26 and a hand wheel 27, wherein a screw rod in the screw rod transmission mechanism 26 is transversely arranged, one end of the screw rod is rotatably connected to the construction machine table 16, and the other end of the screw rod is connected with the hand wheel 27; the screw nut of the screw transmission mechanism 26 is hinged with the connecting plate 25.
When the working posture of the mounting frame 14 needs to be adjusted, firstly, screws for locking the long rod 24 and the construction machine table 16 are loosened, then the hand wheel 27 is rotated to drive the screw rod to rotate, so that the screw rod nut is driven to do transverse motion, the connecting rod mechanism is driven to vertically swing, and then the posture (mainly adjusting the front and rear inclination angles) of the construction device on the mounting frame 14 is adjusted to realize vertical operation or inclined operation, so that the construction device is suitable for construction on building surfaces of different shapes or different positions of the same building surface; after the angle of the mounting bracket 14 is adjusted, the lower end of the long rod 24 is fixed to the construction machine base 16 by a screw, thereby locking the mounting bracket 14 in a specific posture.
The above description is a preferred embodiment of the present invention, but the present invention is not limited to the above description, and any other changes, modifications, substitutions, blocks and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
Claims (10)
1. An automated building surface explosive bolt installation apparatus comprising a punching module for punching bolt holes in a building surface, a bolt installation module for implanting explosive bolts into said bolt holes, and an operating position switching mechanism for driving the punching module away from an operating position and driving the bolt installation module to the operating position, wherein:
the drilling module comprises an electric drill and a drilling driving mechanism for driving the electric drill to do linear reciprocating motion during drilling;
the bolt installation module comprises a bolt implanting mechanism for pushing an explosive bolt into a bolt hole, a nut screwing mechanism for screwing a nut on the explosive bolt and a bolt implanting driving mechanism for driving the bolt implanting mechanism and the nut screwing mechanism to integrally reciprocate; the bolt implanting mechanism comprises a push rod; the nut screwing mechanism comprises a sleeve matched with the nut and a nut screwing driving mechanism for driving the sleeve to rotate; the push rod is arranged in the sleeve and is coaxially arranged with the sleeve;
and when the operation position switching mechanism drives the punching module to leave the operation position and drives the bolt mounting module to reach the operation position, the push rod and the sleeve are coaxially aligned with a bolt hole punched by the punching module.
2. The automated building surface explosive bolt installation apparatus according to claim 1, wherein the working position switching mechanism comprises a frame and a working position switching driving mechanism for driving the frame to make a linear motion, wherein the punching module and the bolt installation module are both disposed on the frame; the operation position switching driving mechanism is used for driving the rack to do linear motion, and the stroke of the linear motion is equal to the distance between the punching module and the bolt installation module.
3. The automated building surface explosive bolt installation apparatus of claim 1, wherein the bolt embedding mechanism further comprises an impact mechanism connected to the push rod and driving the push rod to reciprocate and strike the explosive bolt back and forth.
4. The automated building surface explosive bolt installation apparatus according to claim 3, wherein the bolt implanting mechanism further comprises a push rod position adjusting mechanism for driving the impact mechanism to make a linear motion, the push rod position adjusting mechanism is used for adjusting the relative position of the push rod in the sleeve, in the relative position state, the nut in the explosive bolt is matched with the sleeve, and the screw end part of the explosive bolt is positioned in the working stroke of the push rod.
5. The automated building surface explosive bolt installation equipment according to claim 2, wherein the bolt implanting driving mechanism comprises a bracket arranged on a machine frame and a linear driving mechanism for driving the bracket to perform linear reciprocating motion, wherein the bolt implanting mechanism and the nut tightening mechanism are both installed on the bracket.
6. The automatic installation equipment for the building surface explosion bolt according to claim 2, further comprising an operation posture adjusting mechanism, wherein the operation posture adjusting mechanism comprises a mounting frame arranged between a construction machine table and a frame, and an operation posture adjusting driving mechanism used for driving the mounting frame to turn over, and the operation position switching mechanism is arranged on the mounting frame; the left side or the right side of the mounting rack is rotatably connected to the construction machine table through a plurality of rotating structures, and the right side or the left side of the mounting rack is supported in the construction machine table; the operation posture adjusting and driving mechanism is used for driving the mounting frame to turn leftwards or rightwards.
7. The automatic installation equipment for the building surface explosion bolt according to claim 2, further comprising an operation posture adjusting mechanism, wherein the operation posture adjusting mechanism comprises an installation frame arranged between the construction machine table and the frame, a link mechanism arranged between the installation frame and the construction machine table, and an operation posture adjusting driving mechanism for driving the installation frame to turn back and forth, and the operation position switching mechanism is installed on the installation frame; the connecting rod mechanism consists of a plurality of groups of long rods and short rods, and the long rods and the short rods are respectively positioned at the front side and the rear side of the mounting rack; the operation posture adjusting and driving mechanism is used for driving the connecting rod mechanism to vertically swing so as to drive the mounting frame to turn back and forth; after the mounting bracket rotates to a specific angle, the lower end of the long rod is locked on the construction machine table through a screw.
8. The automated building surface explosive bolt installation apparatus of claim 1, wherein the perforation module and the bolt installation module are each in multiple groups.
9. The automated building surface explosive bolt installation apparatus of claim 2, further comprising a fastener delivery module disposed on the mounting frame and a fastener lifting module for advancing bolts into the bolt holes, wherein,
the explosive bolt is arranged on the fastener;
the fastener lifting module comprises a connecting frame, a positioning seat arranged on the connecting frame and a lifting driving mechanism used for driving the connecting frame to do linear motion, wherein the positioning seat is provided with a positioning groove which is communicated up and down, and a clamping mechanism used for clamping an explosive bolt in a fastener positioned on the positioning seat is arranged below the positioning groove;
the fastener conveying module comprises a fastener bracket arranged on the mounting frame and a fastener conveying mechanism arranged on the fastener bracket, wherein a posture adjusting mechanism is arranged between the bottom of the fastener bracket and the mounting frame and is used for adjusting the inclination angle of the fastener bracket; the fastener conveying mechanism comprises two conveying guide rails, and the two conveying guide rails are arranged on two sides of the fastener bracket in parallel and are communicated with the positioning groove of the positioning seat; two ends of the fastener are respectively positioned in the two conveying guide rails; the fastener conveying mechanism also comprises a pressing mechanism arranged on the fastener bracket, wherein the pressing mechanism is positioned at the tail end of the conveying guide rail and is used for pressing or loosening the fasteners at the tail end of the conveying guide rail.
10. An automatic installation method of construction surface explosive bolts by using the automatic installation apparatus of construction surface explosive bolts according to any one of claims 1 to 9, comprising the steps of:
(1) when the drilling module is used for drilling holes on the surface of a building, the drilling driving mechanism in the drilling module drives an electric drill to perform feeding motion during drilling, and the electric drill works to drill bolt holes on the surface of the building;
(2) the operation position switching mechanism works to drive the punching module to leave the operation position and drive the bolt mounting module to reach the operation position, so that the push rod and the sleeve are coaxially aligned with the bolt hole punched by the punching module;
(3) conveying the explosive bolt to be implanted to the bolt hole and aligning the explosive bolt to the bolt hole; a bolt implanting driving mechanism in the bolt mounting module drives the bolt implanting mechanism and a nut screwing mechanism to integrally move towards a bolt hole, wherein a push rod in the bolt implanting mechanism firstly pushes a bolt to enter the bolt hole and reach a set position, a sleeve is sleeved on the nut at the moment, and the nut screwing driving mechanism in the nut screwing mechanism drives the sleeve to rotate so as to fix the explosive bolt on the surface of a building;
(4) and the bolt mounting module exits from the operation position, and the automatic mounting equipment for the explosive bolts on the surface of the building is moved to the next position to automatically mount the next explosive bolt according to the requirement.
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| CN113585768A (en) * | 2021-08-25 | 2021-11-02 | 广东博智林机器人有限公司 | Workpiece mounting device and workpiece mounting method |
| CN113585768B (en) * | 2021-08-25 | 2022-08-23 | 广东博智林机器人有限公司 | Workpiece mounting device and workpiece mounting method |
| CN113605702A (en) * | 2021-09-09 | 2021-11-05 | 中建七局安装工程有限公司 | Continuous high-altitude construction operation device for external expansion bolt |
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| Publication number | Publication date |
|---|---|
| CN112976337B (en) | 2022-11-01 |
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