CN113753148A - Self-climbing robot suitable for connecting profile steel and operation method thereof - Google Patents
Self-climbing robot suitable for connecting profile steel and operation method thereof Download PDFInfo
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- CN113753148A CN113753148A CN202111153602.7A CN202111153602A CN113753148A CN 113753148 A CN113753148 A CN 113753148A CN 202111153602 A CN202111153602 A CN 202111153602A CN 113753148 A CN113753148 A CN 113753148A
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- section steel
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- steel
- climbing robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention relates to a self-climbing robot suitable for connecting section steel and an operation method thereof, wherein the robot comprises: a chassis; the mechanical arm is arranged on the chassis; the side parts of the walking wheels are connected with a limiting check ring, and the limiting check ring is arranged on the side part corresponding to the profile steel in a blocking manner; install in driving piece on the chassis, the driving piece with the walking wheel drive is connected, through the driving piece can drive the walking wheel rotates. The self-climbing robot realizes self-walking on the surface of the profile steel through the walking wheels, the limiting check rings are arranged on the side parts of the walking wheels, the limiting check rings can be arranged on the corresponding side parts of the profile steel in a blocking mode, the limiting check rings arranged on the two opposite sides of the chassis are clamped on the two sides of the profile steel, and therefore the limiting and guiding effects are achieved on the chassis, the chassis can only walk along the surface of the profile steel, the chassis can be prevented from overturning or turning over, and the walking safety of the self-climbing robot is guaranteed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a self-climbing robot suitable for connecting profile steel and an operation method thereof.
Background
Compared with a concrete structure, the steel structure has the natural advantages of prefabricated building construction. At the present stage, the steel structure construction meets the assembly type requirement that the components are firstly produced in a factory and then transported to the site for assembly, the construction efficiency is improved, meanwhile, the manpower and material resources are saved, and the steel structure construction method has good automation, industrialization and intelligent development potentials. Although a large number of components and joints of the steel structure can be prefabricated in a factory, the splicing, joint connection and the like of the components still need to be finished manually on site, and the workload is large and the repeatability is high. Therefore, to the connection form characteristics of the steel structure, intelligent steel structure connection robot equipment is researched and developed to assist or even replace manual work to splice and connect steel members, construction efficiency is improved, construction quality is guaranteed, construction environment is improved, safety of workers is guaranteed, and the method is a key step for realizing steel structure overall process industrial production and installation and is significant.
The main connection modes of the steel structure include three types, namely, weld joint connection, bolt connection and rivet connection. The connecting process sinuses are operated at high altitude manually on a construction site, have certain dangerousness, have different connecting quality due to different workers, and have high labor intensity and low production efficiency. Therefore, it is highly desirable to provide a novel self-walking robot suitable for use on steel sections, which carries a welding robot, a bolt-connecting robot or an automatic riveting tool, and realizes a required connection process of steel structures. And because the width of the section steel is narrow, the walking robot is easy to overturn or roll over when moving on the section steel, so a solution for preventing overturn or roll over is urgently needed to be provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a self-climbing robot suitable for connecting profile steel and an operation method thereof, and solves the problem that the existing walking robot is easy to overturn or turn on one side when moving on the profile steel.
The technical scheme for realizing the purpose is as follows:
the invention provides a self-climbing robot suitable for connecting profile steel, which comprises:
a chassis;
the mechanical arm is arranged on the chassis;
the side parts of the walking wheels are connected with a limiting check ring, and the limiting check ring is arranged on the side part corresponding to the profile steel in a blocking manner; and
install in driving piece on the chassis, the driving piece with the walking wheel drive is connected, through the driving piece can drive the walking wheel rotates.
The self-climbing robot realizes self-walking on the surface of the profile steel through the walking wheels, the limiting check rings are arranged on the side parts of the walking wheels, the limiting check rings can be arranged on the corresponding side parts of the profile steel in a blocking mode, the limiting check rings arranged on the two opposite sides of the chassis are clamped on the two sides of the profile steel, and therefore the limiting and guiding effects are achieved on the chassis, the chassis can only walk along the surface of the profile steel, the chassis can be prevented from overturning or turning over, and the walking safety of the self-climbing robot is guaranteed.
The invention is further improved in that the surface of the limiting retainer ring, which is close to the side part corresponding to the section steel, is provided with a rolling part which can rotate freely, and the rolling part is attached to the side part corresponding to the section steel.
The self-climbing robot suitable for connecting the section steel is further improved in that the surface of the limiting retainer ring, which is close to the corresponding side part of the section steel, is provided with a universal ball;
the universal ball can be freely and rotatably embedded in an installation seat, and the installation seat is installed on the limiting retaining ring;
and a supporting spring is arranged in the mounting seat corresponding to the universal ball, and when the universal ball meets the bulge on the surface of the section steel, the universal ball can compress the supporting spring and further cross the corresponding bulge.
The self-climbing robot suitable for the connection of the section steel is further improved in that the universal ball is embedded in an assembly shell, a plurality of balls are arranged in the assembly shell, and the balls are contacted with the universal ball;
the assembly shell is embedded in the mounting seat and is connected with the supporting spring.
The self-climbing robot suitable for connecting the section steel further improves the self-climbing robot in the invention, and also comprises anti-overturning mechanisms arranged on two opposite sides of the chassis, and the chassis is clamped and sleeved on the top of the section steel through the anti-overturning mechanisms on the two sides.
The invention also provides an operation method of the self-climbing robot suitable for connecting the section steel, which comprises the following steps:
after the section steel is arranged, the self-climbing robot is arranged on the section steel, and the limiting check ring is arranged on the outer side of the section steel in a blocking manner;
starting the driving part, and driving the travelling wheel to rotate through the driving part so as to drive the chassis and the mechanical arm to travel along the surface of the section steel; and
when walking to shaped steel hookup location department, close the driving piece is in order to stop the walking of self-climbing formula robot, through the connection operation of shaped steel is accomplished to the arm, later repeated start the operation of driving piece in order to carry out next hookup location is in order to accomplish the connection operation of shaped steel.
The further improvement of the working method of the present invention is that the method further comprises:
the surface of the limiting check ring close to the side part corresponding to the profile steel is provided with a universal ball, the surface of the universal ball is attached to the side part corresponding to the profile steel, and when the self-climbing robot walks along the surface of the profile steel, the universal ball rolls along the side part corresponding to the profile steel.
The further improvement of the working method of the present invention is that the method further comprises:
and providing anti-overturning mechanisms, wherein the anti-overturning mechanisms are arranged on two opposite sides of the chassis, and the anti-overturning mechanisms on the two sides are clamped and sleeved on the top of the section steel when the self-climbing robot walks.
The working method of the invention is further improved in that the overturn preventing mechanism comprises an adjusting mechanism which is arranged at the bottom of the robot in a swinging way and a rolling wheel which is arranged at the bottom of the adjusting mechanism in a rotating way;
when the self-climbing robot walks, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheels are located below the section steel;
when the rolling wheel meets an obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located on the outer side of the section steel, and after the rolling wheel crosses the obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel can be restored to the position below the section steel.
The further improvement of the working method of the present invention is that the method further comprises:
and providing an anti-skid positioning mechanism, installing the anti-skid positioning mechanism on the chassis, and positioning the self-climbing robot through the anti-skid positioning mechanism when the self-climbing robot stops walking.
Drawings
FIG. 1 is a schematic structural diagram of a self-climbing robot suitable for connecting section steel according to the invention.
Fig. 2 is a side view of a first embodiment of a travelling wheel and a limit check ring in the self-climbing robot suitable for connecting profile steel.
Fig. 3 is a front view of a first embodiment of a limit check ring in the self-climbing robot suitable for connecting section steel according to the invention.
Fig. 4 is a side view of a second embodiment of the walking wheel and the limit check ring in the self-climbing robot suitable for the connection of section steel.
Fig. 5 is a front view of a second embodiment of a limit stop ring in the self-climbing robot suitable for connecting section steel according to the invention.
Fig. 6 is a side view of a third embodiment of the walking wheel and the limit check ring in the self-climbing robot suitable for the connection of section steel.
Fig. 7 is a front view of a third embodiment of a limit stop ring in the self-climbing robot suitable for connecting section steel according to the invention.
Fig. 8 is a partial sectional view of a universal ball mounting structure in a self-climbing robot adapted for profile steel connection according to the present invention.
Fig. 9 is a schematic structural view of the universal ball matched with the corresponding side part of the section steel in the self-climbing robot suitable for the connection of the section steel.
Fig. 10 is a schematic structural diagram of the universal ball crossing the protrusion in the self-climbing robot suitable for the connection of section steel according to the invention.
Fig. 11 is a cross-sectional view of the self-climbing robot suitable for connecting profile steel, provided with an anti-skid positioning mechanism.
Fig. 12 is a cross-sectional view of the self-climbing robot suitable for connecting profile steel according to the present invention after an anti-overturning mechanism is provided.
Fig. 13 is an enlarged schematic view of the anti-rollover mechanism shown in fig. 12 at the location of the rolling wheels.
Fig. 14 is a schematic structural view of an anti-overturning mechanism provided in a self-climbing robot suitable for steel section connection according to the present invention, in a state of crossing an obstacle.
FIG. 15 is a top view of a self-climbing robot suitable for use in connection with section steel according to the present invention.
FIG. 16 is a flowchart of a method of operating a self-climbing robot for connecting section steel according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides a self-climbing robot suitable for connecting profile steel and an operation method thereof, the robot can walk on the surface of the profile steel, stop to a connecting position for connecting operation, and realize guiding and limiting functions through a limiting retainer ring connected with the side part of a walking wheel in the walking process, so that the robot can be prevented from side turning or overturning, a chassis has reliable anti-overturning capability, and the operation safety of the robot is ensured. Furthermore, the self-climbing robot is further provided with an anti-overturning mechanism and an anti-skidding positioning mechanism, the anti-overturning mechanism is utilized to further improve the anti-overturning effect of the chassis, the robot is also enabled to have obstacle crossing capability in the walking process, the anti-skidding positioning mechanism can perform anti-skidding positioning on the chassis, and the safety and the stability of the robot in the operation process are improved. The self-climbing robot and the operation method thereof suitable for connecting section steel according to the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, a schematic structural diagram of a self-climbing robot suitable for connecting section steel according to the present invention is shown. The structure of a self-climbing machine according to the present invention, which is suitable for use in joining section steels, will now be described with reference to fig. 1.
As shown in fig. 1, the self-climbing robot 20 suitable for steel section connection according to the present invention includes a chassis 21, a mechanical arm (not shown), a road wheel 22 and a driving member 23, wherein the mechanical arm is disposed on the chassis 21; the walking wheels 22 are arranged at the bottom of the chassis 21, a plurality of walking wheels 22 are arranged, the side part of each walking wheel 22 is connected with a limit retaining ring 221, and the limit retaining ring 221 is arranged on the corresponding side part of the section steel 10 in a retaining manner; the driving part 23 is mounted on the chassis 21, the driving part 23 is in driving connection with the walking wheels 22, and the walking wheels 22 can be driven to rotate through the driving part 23, so that the self-climbing robot 20 walks.
In the process of walking from the climbing robot 20, the limiting check rings 221 on the two sides of the chassis 21 are arranged on the corresponding side portions of the section steel 10 in a blocking manner, so that the limiting and guiding effects are achieved, the chassis 21 can move along the surface of the section steel 10 without overturning or turning on the side, and the walking safety of the climbing robot is guaranteed.
In one embodiment of the present invention, as shown in fig. 1 and 2, the surface of the position-limiting retainer ring 221 near the corresponding side of the section steel 10 is provided with a freely rotatable rolling member 222, and the rolling member 222 is attached to the corresponding side of the section steel 10.
The rolling pieces 222 can roll on the surface of the corresponding side part of the section steel 10, so that the rolling pieces 222 positioned on two sides of the chassis 21 can be clamped on the top of the section steel 10, the free rolling of the rolling pieces 222 can reduce the friction resistance generated on the walking wheel 22, and the walking of the walking wheel 22 can be better guided and limited.
As shown in fig. 2 and 3, in the first embodiment, the rolling member 222 is a roller, a mounting groove is formed on the surface of the position limiting retainer 221, the roller is rotatably mounted in the mounting groove, and a part of the roller is exposed from the notch of the mounting groove, and the exposed part of the roller is attached to the corresponding side of the section steel 10. The rollers are arranged at intervals on the limit stop ring 221.
The retainer ring 221 is preferably a ring-shaped structure having a plurality of rolling elements 222 spaced around its circumference. As shown in fig. 1, a vertical plate 211 is provided at the bottom of the chassis 21, the vertical plate 211 is located outside the steel section 10, and the vertical plate 211 is used for mounting the road wheels 22. The walking wheel 22 is fixedly connected with the limit retainer ring 221, and the walking wheel 22 is rotatably mounted on the vertical plate 211 through a rotating shaft and a bearing. The walking wheel 22 is arranged at the edge of the top of the section steel 10, so that the side surface of the limit stop ring 221 is attached to the corresponding side surface of the section steel 10. Preferably, the diameter of the limit stop 221 is larger than the diameter of the road wheel 22.
As shown in fig. 4 and 5, in the second embodiment, the rolling members 222 are balls, a plurality of mounting grooves are formed in the surface of the position limiting retainer ring 221, a plurality of balls are embedded in each mounting groove, the balls are partially exposed from the notches of the mounting grooves, and the exposed portions of the balls are attached to the corresponding side portions of the section steel 10.
In one embodiment of the present invention, as shown in fig. 6 and 7, in the third embodiment, the surface of the limit stop 221 near the corresponding side of the section steel 10 is provided with a universal ball 223, and as shown in fig. 8, the universal ball 223 is freely and rotatably embedded in an installation seat 224, and the installation seat 224 is installed on the limit stop 221; the supporting spring 225 is arranged in the mounting seat 224 corresponding to the universal ball 223, and when the universal ball 223 meets the bulge touched by the profile steel 10, the universal ball 223 can compress the supporting spring 225 to pass through the corresponding bulge.
Referring to fig. 9, the ball 223 is moved away from the mounting seat 224 by the supporting elastic force of the supporting spring 225, so that the ball 223 is in contact with the surface 121 of the section steel 10, and the ball 223 can rotate freely on the surface 121. When the surface 121 is uneven, as shown in fig. 10, there is a protrusion 122 on the surface 121, and when the universal ball 223 meets the protrusion 122, the protrusion 122 presses the universal ball 223 so that the universal ball 223 presses the support spring 225, so that the universal ball 223 moves and adjusts in a direction close to the mounting seat 224, and the universal ball 223 passes over the protrusion 122, and after passing over the protrusion 122, the universal ball 223 is tightly attached to the surface 121 under the support elastic force of the support spring 225.
The universal ball 223 can adapt to the uneven surface of the section steel 10 through the arranged supporting spring 225, and the universal ball 223 has certain telescopic elasticity through the elastic deformation of the supporting spring 225, so that the universal ball 223 can be always attached to the surface of the section steel 10, and the chassis is prevented from overturning and turning over.
Further, as shown in fig. 8 to 10, the universal ball 223 is embedded in a fitting case 226, a plurality of balls 227 are provided in the fitting case 226, and the balls 227 are in contact with the universal ball 223; the fitting housing 226 is embedded in the mounting seat 224 and is connected with the supporting spring 225. Preferably, the mounting housing 226 has a hemispherical shape, and the ball 227 is disposed in the mounting housing 226 to allow the ball 223 to freely rotate in the mounting housing 226. The mounting seat 224 is provided with a hemispherical groove having a size larger than that of the mounting case 226 so that the mounting case 226 can move up and down in the hemispherical groove. A cap ring 228 is provided at the notch of the hemispherical groove of the mounting seat 224, the cap ring 228 has a ring-shaped structure for blocking the mounting case 226, and the upper portion of the universal ball 223 may protrude from the inner side of the cap ring 228 to be attached to the corresponding side portion of the section steel 10.
Further, a mounting shaft 229 is provided on the bottom of the mounting seat 224, the mounting shaft 229 is a screw, as shown in fig. 6, a screw hole is provided in the limit stopper 221 corresponding to the screw, a receiving groove is provided in the mounting seat 224 corresponding thereto, the mounting seat 224 is placed in the receiving groove, the mounting shaft 229 is screwed into the screw hole, and only a part of the universal ball 223 is exposed on the surface of the limit stopper 221.
In one embodiment of the present invention, as shown in fig. 1 and 15, four walking wheels 22 are provided, and two walking wheels are oppositely provided on two sides of the chassis 21, wherein one walking wheel pair 22 is provided on the front portion of the chassis 21, and the other walking wheel pair 22 is provided on the rear portion of the chassis 21. Through the front portion and the two pairs of rear limiting retainer rings 221 clamped on the two sides of the section steel 10, the walking wheel 22 can drive the limiting retainer rings 221 to rotate together in the rotating process, the limiting retainer rings 221 can be always arranged on the outer side of the section steel 10 in a retaining mode, guiding and limiting effects are achieved on the movement of the walking wheel 22, and the chassis 21 can be prevented from being overturned and overturned.
In an embodiment of the present invention, as shown in fig. 1, the driving member 23 is a driving motor, the driving motor is mounted on the chassis 21, a motor shaft of the driving motor penetrates through the chassis 21 and is connected to a driving gear 241, a transmission gear 242 is fixedly connected to a side portion of the traveling wheel 22, the transmission gear 242 is meshed with the driving gear 241, the driving motor can drive the motor shaft to rotate, the motor shaft drives the driving gear 241 to rotate, and further the driving gear 241 drives the transmission gear 242 to rotate, the transmission gear 242 can drive the traveling wheel 22 to rotate together, thereby realizing traveling of the chassis 21. Preferably, the driving gear 241 and the transmission gear 242 are bevel gears, and 90 ° transmission can be realized. The motor shaft of the driving motor is arranged vertically, and the rotating shaft of the walking wheel 22 is arranged horizontally.
In an embodiment of the present invention, the robot arm is mounted on the chassis 21, and moves to the connection position of the section steel by the walking of the chassis 21, and the robot arm can implement the connection operation of the section steel, which may be the welding connection between the section steels, or the bolt connection or the rivet connection. A control module for controlling the operation of the mechanical arm is arranged on the chassis 21, and the mechanical arm can be controlled to move to the connecting position of the section steel through the control module and perform corresponding connecting actions.
In an embodiment of the present invention, as shown in fig. 12 and 13, the self-climbing robot of the present invention further includes anti-overturning mechanisms 25 disposed on opposite sides of the chassis 21, and the chassis 21 is clamped on the top of the section steel 10 by the anti-overturning mechanisms 25 on both sides. Through the arrangement of the overturn prevention mechanism 25, the overturn prevention capability of the robot can be further improved, and the robot is ensured not to overturn and fall in the walking process.
Further, the overturn preventing mechanism 25 includes an adjusting mechanism 251 and a rolling wheel 252, the adjusting mechanism 251 is swingably mounted on the bottom of the chassis 21, the bottom of the adjusting mechanism 21 is swingably adjusted to be below the section steel 10 or to be located outside the section steel 10, and the rolling wheel 252 is mounted on the bottom of the adjusting mechanism 251. The adjusting mechanism 251 can be in two states, one is an overturn-preventing state, the state at this time is as shown in fig. 12, the bottom of the adjusting mechanism 251 is located below the upper flange plate 12 of the section steel 10, the rolling wheel 252 is attached to the lower surface of the upper flange plate 12, the adjusting mechanism 251 and the rolling wheel 252 on the two sides are clamped on the upper flange plate 12, and the chassis 21 can be prevented from overturning in the walking process. And the other is an obstacle crossing state, in which the bottom of the adjusting mechanism 251 is positioned on the outer side of the section steel 10 and the rolling wheel 252 is also positioned on the outer side of the section steel 10, so that the rolling wheel 252 and the adjusting mechanism 251 can avoid an obstacle, such as a rib, below the upper flange plate 12, and the overturn preventing mechanism 25 can be adjusted to return to an overturn preventing state after the obstacle is crossed.
Still further, a driving assembly 253 is arranged at the bottom of the chassis 21, and the driving assembly 253 is in driving connection with the adjusting mechanism 251 and is used for driving the adjusting mechanism 251 to perform swing adjustment. In a preferred embodiment, the driving assembly 253 includes a motor 2531, a driving wheel 2532, a driving wheel 2533 and a belt 2534, the driving wheel 2532 is fixed on a motor shaft of the motor 2531, the driving wheel 2532 and the driving wheel 2533 are connected by the belt 2534, the motor 2531 drives the motor shaft to rotate, the motor shaft drives the driving wheel 2532 to rotate, and the driving wheel 2533 is further driven to rotate by the belt 2534. The driving wheel 2533 is connected to the top of the adjusting mechanism 251, and the rotation of the driving wheel 2533 can drive the adjusting mechanism 251 to perform swing adjustment. Specifically, the top of the adjusting mechanism 251 is rotatably mounted on the chassis 21 through a swing shaft, the driving wheel 2533 is sleeved and fixed on the swing shaft, the rotation of the driving wheel 2533 can drive the swing shaft to rotate, and the swing shaft drives the adjusting mechanism 21 to perform swing adjustment. The forward rotation of the motor 2531 can drive the bottom of the adjusting mechanism 21 to swing to the lower side of the section steel 10, so that the overturn-preventing mechanism 25 is in an overturn-preventing state, and the reverse rotation of the motor 2531 can drive the bottom of the adjusting mechanism 21 to swing to the outer side of the section steel 10, so that the overturn-preventing mechanism 25 is in an obstacle crossing state. In another preferred embodiment, the driving assembly 253 comprises a driving cylinder disposed at the bottom of the chassis 21 and corresponding to the upper portion of the adjusting mechanism 21, a piston rod of the driving cylinder is connected to the upper portion of the adjusting mechanism 21, when the piston rod is extended outwards, the adjusting mechanism 251 is pushed outwards, so that the bottom of the adjusting mechanism 251 swings to the outside of the section steel 10, and when the piston rod is retracted inwards, the adjusting mechanism 251 is pulled inwards, so that the bottom of the adjusting mechanism 251 swings to the lower side of the section steel 10. At this time, the top of the adjustment mechanism 251 is still rotatably mounted on the bottom of the chassis 21 by swinging.
The swing angle a of the adjustment mechanism 251 for swing adjustment may be designed according to the size of the section steel and the installation position of the adjustment mechanism 251, and the swing angle a of the adjustment mechanism 251 can be controlled by the drive mechanism 251. Preferably, the pivot angle a is designed to be 30 ° to 45 °.
Preferably, the section steel 10 may be an i-section steel, an H-section steel, or a T-section steel. In the example shown in fig. 12, the section steel 10 is an i-beam including a web 11 and upper and lower flange plates 12 and 13 vertically connected to the top and bottom of the web 11. The self-climbing robot 20 is disposed on the upper flange 12, the self-climbing robot 20 travels on the upper surface of the upper flange 12, the adjusting mechanisms 251 are disposed on opposite sides of the upper flange 12, and the rolling wheels 252 are attached to the lower surface of the upper flange 12 and can freely roll along the lower surface of the upper flange 12 in an anti-tip state.
Still further, as shown in fig. 12 and 13, the bottom of the adjusting mechanism 251 is provided with a mounting bracket 254 and a fixing bracket 255 mounted on the mounting bracket 254 to be adjustable up and down, the rolling wheel 252 is rotatably mounted on the fixing bracket 255, a support spring 256 is supported and connected between the mounting bracket 254 and the fixing bracket 255, and the rolling wheel 252 is closely attached to the lower surface of the section steel 10 by supporting the fixing bracket 255 with the support spring 256. The support spring 256 generates a certain support elastic force to the fixing bracket 255, so that the fixing bracket 255 moves upward, and the rolling wheel 252 can be closely attached to the lower surface of the section steel 10. Due to the arrangement of the supporting spring 256, when the lower surface of the section steel 10 is uneven, the rolling wheel 252 can be finely adjusted in a vertical floating manner through the elastic deformation of the supporting spring, so that the rolling wheel 252 can be finely adjusted in an uneven manner through the lower surface of the section steel 10, and the passing performance of the rolling wheel is improved.
Specifically, the mounting bracket 254 includes an electromagnet 2541 and a guide bar 2542 standing on the electromagnet 2541; the fixing bracket 255 comprises a metal plate 2551 sleeved on the guide rod 2542 and a mounting plate 2552 erected on the metal plate 2551, wherein the metal plate 2551 can move and adjust along the guide rod 2542; when the electromagnet 2541 is energized, the electromagnet 2541 is caused to generate a magnetic attraction force to attract the metal plate 2551, so that the metal plate 2551 moves downward along the guide bar 2542 and further moves in a direction away from the steel section 10 with the rolling wheel 252. Preferably, the guide bar 2542 is provided in plurality, and the guide bar 2542 guides the up-and-down movement adjustment of the metal plate 2551. The support spring 256 is supported and connected between the electromagnet 2541 and the metal plate 2551. When the bottom of the adjusting mechanism 251 is positioned below the section steel 10 by the swing adjustment, the power supply to the electromagnet 2541 is cut off, so that the electromagnet 2541 loses the magnetic attraction force, the metal plate 2551 moves upward by the supporting elastic force of the supporting spring 256, and the rolling wheel 252 is closely attached to the lower surface of the section steel 10. When the adjustment mechanism needs to be adjusted in a swinging manner, the electromagnet 2541 is energized, so that the electromagnet 2541 generates a magnetic attraction force to attract the metal plate 2551, the metal plate 2551 compresses the supporting spring 256, and the rolling wheel 252 is away from the lower surface of the section steel 10, at which time the adjustment mechanism 251 can be adjusted in a swinging manner to the outside. Preferably, roller wheel 252 is rotatably mounted between a pair of mounting plates 2552 by a shaft.
Preferably, the adjusting mechanism 251 includes an inclined plate 2511, a vertical plate 2512 connected to the inclined plate 2511, and a lateral plate 2513 connected to the vertical plate 2512; the arrangement of the inclined plate 2511 enables the vertical plate 2512 to be located outside the section steel 10, the transverse plate 2513 can extend partially below the section steel 10, and the rolling wheels 252 are mounted on the transverse plate 2513.
In an embodiment of the present invention, as shown in fig. 11, the self-climbing robot 20 further includes an anti-slip positioning mechanism 26 mounted on the chassis 21, and when the self-climbing robot 20 stops at the connection position, the anti-slip positioning mechanism 26 is pressed against the upper surface of the section steel 10 to fix the self-climbing robot 20, so as to ensure that the self-climbing robot 20 does not slide during operation, ensure safety, and avoid causing mounting errors.
Preferably, the antiskid positioning mechanism 26 comprises a power assembly 261 and a pressing plate 262, wherein the power assembly 261 can be telescopically adjusted, the power assembly 261 is connected with the pressing plate 262, and the pressing plate 262 can be tightly pressed on the surface of the section steel 10 or positioned above the section steel 10 through the telescopic adjustment of the power assembly 261.
Further, the pressing plate 262 is provided with a flexible pad on one side close to the section steel 10, the surface of the section steel 10 can be protected by the flexible pad, and the anti-skid effect can be improved.
In a preferred embodiment, the power assembly 261 is an electric jack, and the end of the piston rod of the electric jack is connected to the pressing plate 262. The electric jack is installed and fixed on the top of the chassis 21, the piston rod penetrates through the chassis 21 and is connected with the abutting plate 262, when the electric jack drives the piston rod to extend out, the piston rod drives the abutting plate 262 to move towards the direction close to the section steel 10, and then the abutting plate 262 is tightly pressed on the section steel 10, so that the anti-skidding positioning of the self-climbing robot 20 is realized. When the electric jack drives the piston rod to retract, the piston rod drives the pressing plate 262 to move towards the direction far away from the section steel 10, so that the pressing plate 262 is separated from the surface of the section steel 10 and is located above the section steel 10, and at the moment, the self-climbing robot 20 can move and walk on the section steel 10.
In another preferred embodiment, the power assembly 261 is a push rod motor, and the end of the push rod on the push rod motor is connected with the pressing plate 262.
In another preferred real-time mode, the power assembly 261 includes an installation cylinder installed on the chassis 21, a pressure spring fixedly connected in the installation cylinder, a connecting rod connected with the pressure spring, and an electromagnet connected with the pressing plate 262, an end of the connecting rod extends out of the installation cylinder and penetrates through the chassis to be connected with the pressing plate 262, the electromagnet is fixedly connected to one side of the pressing plate 262 close to the profile steel, and when the electromagnet is powered on, the electromagnet generates a magnetic attraction force to pull the pressure spring and drive the connecting rod to extend out of the installation cylinder, so that the electromagnet is attracted to the surface of the profile steel 10; the electromagnet is powered off and loses magnetic adsorption force, so that the pressure spring pulls the connecting rod to retract into the mounting cylinder, and then the pressing plate 262 and the electromagnet are pulled to be located above the section steel 10.
In one embodiment of the present invention, as shown in fig. 15, four road wheels 22 are provided on the chassis 21, wherein the driving members are provided on the front two road wheels 22, and the driven wheels are provided on the rear two road wheels 22. The chassis 21 is provided with two antiskid positioning mechanisms 26, one antiskid positioning mechanism 26 is arranged at the front part of the chassis 21, and the other antiskid positioning mechanism 26 is arranged at the rear part of the chassis 21. Four anti-overturning mechanisms 25 are arranged on the chassis 21, the two anti-overturning mechanisms 25 are arranged oppositely, the two anti-overturning mechanisms 25 are arranged at the front part of the chassis 21, the other two anti-overturning mechanisms 25 are arranged at the rear part of the chassis 21, and the anti-overturning mechanisms 25 and the walking wheels 22 are arranged in a staggered manner.
The invention also provides an operation method of the self-climbing robot suitable for connecting the section steel, which comprises the following steps:
as shown in fig. 16, step S101 is executed, after the section steel is set, the self-climbing robot is placed on the section steel, and the limiting check ring is arranged on the outer side of the section steel; then, step S102 is executed;
step S102 is executed, the driving piece is started, and the driving wheel is driven to rotate through the driving piece so as to drive the chassis and the mechanical arm to walk along the surface of the section steel; then, step S103 is executed;
and S103, when the robot walks to the connecting position of the section steel, closing the driving piece to stop the self-climbing robot, completing the connecting operation of the section steel through the mechanical arm, and then repeatedly starting the driving piece to perform the operation of the next connecting position until the connecting operation of the section steel is completed.
In one embodiment of the present invention, the method further comprises:
the surface of the limiting check ring close to the side part corresponding to the section steel is provided with the universal ball, the surface of the universal ball is attached to the side part corresponding to the section steel, and when the self-climbing robot walks along the surface of the section steel, the universal ball rolls along the side part corresponding to the section steel.
In one embodiment of the present invention, the method further comprises:
and providing anti-overturning mechanisms, wherein the anti-overturning mechanisms are arranged on two opposite sides of the chassis, and are clamped and sleeved on the tops of the section steel through the anti-overturning mechanisms on the two sides when the self-climbing robot walks.
In one embodiment of the invention, the overturn preventing mechanism comprises an adjusting mechanism which is arranged at the bottom of the robot in a swinging way and a rolling wheel which is arranged at the bottom of the adjusting mechanism in a rotating way;
when the self-climbing robot walks, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheels are located below the section steel;
when the rolling wheel meets an obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located on the outer side of the section steel, and after the rolling wheel crosses the obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel can be restored to the position below the section steel.
Furthermore, a sensor is arranged beside the rolling wheel, whether an obstacle exists in front of the rolling wheel is detected through the sensor, and when the obstacle is detected, the adjusting mechanism is adjusted in a swinging mode so that the bottom of the adjusting mechanism and the rolling wheel are located on the outer side of the section steel.
And after the bottom of the adjusting mechanism and the rolling wheel are adjusted to the outer side of the section steel in a swinging mode, timing is started, and when the set time length is reached, the bottom of the adjusting mechanism and the rolling wheel are adjusted to the position below the section steel in a swinging mode. Preferably, the set time period is 2s to 5 s.
The front part of the chassis is provided with a pair of overturn-preventing mechanisms, the rear part of the chassis is also provided with a pair of overturn-preventing mechanisms, when the front part of the self-climbing robot encounters an obstacle, the front pair of overturn-preventing mechanisms are controlled to swing and adjust to an obstacle-crossing state, the rear pair of overturn-preventing mechanisms are controlled to be in an overturn-preventing state, after the front pair of overturn-preventing mechanisms cross the obstacle, the front pair of overturn-preventing mechanisms are controlled to swing and adjust to return to an overturn-preventing state, and then the rear pair of overturn-preventing mechanisms encounter the obstacle, the rear overturn-preventing mechanisms are controlled and adjusted to be in an obstacle-crossing state.
In one embodiment of the present invention, the method further comprises:
and providing an anti-skid positioning mechanism, installing the anti-skid positioning mechanism on the chassis, and positioning the self-climbing robot through the anti-skid positioning mechanism when the self-climbing robot stops walking.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (10)
1. The utility model provides a from climbing formula robot suitable for shaped steel is connected which characterized in that includes:
a chassis;
the mechanical arm is arranged on the chassis;
the side parts of the walking wheels are connected with a limiting check ring, and the limiting check ring is arranged on the side part corresponding to the profile steel in a blocking manner; and
install in driving piece on the chassis, the driving piece with the walking wheel drive is connected, through the driving piece can drive the walking wheel rotates.
2. The self-climbing robot suitable for connecting section steel according to claim 1, wherein the surface of the limit stop ring close to the corresponding side part of the section steel is provided with a freely rotatable rolling member, and the rolling member is attached to the corresponding side part of the section steel.
3. The self-climbing robot suitable for connecting section steel according to claim 1, wherein the surface of the limit stop ring close to the corresponding side part of the section steel is provided with a universal ball;
the universal ball can be freely and rotatably embedded in an installation seat, and the installation seat is installed on the limiting retaining ring;
and a supporting spring is arranged in the mounting seat corresponding to the universal ball, and when the universal ball meets the bulge on the surface of the section steel, the universal ball can compress the supporting spring and further cross the corresponding bulge.
4. The self-climbing robot suitable for steel section connection according to claim 3, wherein the ball-and-socket joint is embedded in a fitting housing, and a plurality of balls are provided in the fitting housing, and the balls are in contact with the ball-and-socket joint;
the assembly shell is embedded in the mounting seat and is connected with the supporting spring.
5. The self-climbing robot suitable for connecting section steel according to claim 1, further comprising anti-overturning mechanisms disposed on opposite sides of the chassis, wherein the chassis is clamped on the top of the section steel through the anti-overturning mechanisms on the two sides.
6. The method for operating a self-climbing robot suitable for steel section joining according to claim 1, comprising the steps of:
after the section steel is arranged, the self-climbing robot is arranged on the section steel, and the limiting check ring is arranged on the outer side of the section steel in a blocking manner;
starting the driving part, and driving the travelling wheel to rotate through the driving part so as to drive the chassis and the mechanical arm to travel along the surface of the section steel; and
when walking to shaped steel hookup location department, close the driving piece is in order to stop the walking of self-climbing formula robot, through the connection operation of shaped steel is accomplished to the arm, later repeated start the operation of driving piece in order to carry out next hookup location is in order to accomplish the connection operation of shaped steel.
7. The method of operation of claim 6, further comprising:
the surface of the limiting check ring close to the side part corresponding to the profile steel is provided with a universal ball, the surface of the universal ball is attached to the side part corresponding to the profile steel, and when the self-climbing robot walks along the surface of the profile steel, the universal ball rolls along the side part corresponding to the profile steel.
8. The method of operation of claim 6, further comprising:
and providing anti-overturning mechanisms, wherein the anti-overturning mechanisms are arranged on two opposite sides of the chassis, and the anti-overturning mechanisms on the two sides are clamped and sleeved on the top of the section steel when the self-climbing robot walks.
9. The method of claim 8, wherein the anti-tip over mechanism comprises an adjusting mechanism swingably mounted on a bottom of the robot and a rolling wheel rotatably mounted on a bottom of the adjusting mechanism;
when the self-climbing robot walks, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheels are located below the section steel;
when the rolling wheel meets an obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located on the outer side of the section steel, and after the rolling wheel crosses the obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel can be restored to the position below the section steel.
10. The method of operation of claim 6, further comprising:
and providing an anti-skid positioning mechanism, installing the anti-skid positioning mechanism on the chassis, and positioning the self-climbing robot through the anti-skid positioning mechanism when the self-climbing robot stops walking.
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| CN202111153602.7A CN113753148B (en) | 2021-09-29 | 2021-09-29 | Self-climbing robot suitable for connecting profile steel and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111153602.7A CN113753148B (en) | 2021-09-29 | 2021-09-29 | Self-climbing robot suitable for connecting profile steel and operation method thereof |
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| CN113753148B CN113753148B (en) | 2022-10-04 |
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| CN113753148B (en) | 2022-10-04 |
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