KR20100021200A - Double scissor type mobile manipulator for bolting steel structure - Google Patents

Abstract

PURPOSE: A mobile manipulator robot with a double scissor for bolting of a steel structure is provided to enable steady bolting by having structure which is strong at wing and shaking using an elevating unit with the double scissor. CONSTITUTION: A mobile manipulator robot with a double scissor for bolting of a steel structure comprises a trolley(1), a double scissor(2), a cabin(3), an anchor unit(4), and an end effect for bolting(5). The double scissor is composed of a pair of drive scissor link parts(22) and a pair of LM guide scissor link parts(23). The drive scissor link part moves up and down by the linear motion of the double scissor drive motor. The LM guide scissor link part moves up and down by engaging with the ascent and descent of the drive scissor link part. The cabin comprises a boarding space part, a controller, and a monitor. The anchor unit has anchor contact part(41) which supports the steel structure.

Description

Double scissor type mobile manipulator for bolting steel structure}

The present invention relates to a double scissor-type mobile manipulator robot for fastening bolts of a steel structure, and in detail, bolting without connecting the connection between the steel frame and the steel frame forming a frame in the construction of a high-rise or high-rise building having a steel structure The present invention relates to a device that performs fast, accurate and safe using a controlled robot that performs a task.

In the construction of high-rise or high-rise buildings, the bolt coupling between the steel frame and the steel frame, which is made of steel structure, is a bolt hole formed in the steel frame by direct access between the vertical steel frame and the vertical steel frame or the vertical steel frame and the horizontal steel frame when various steel frames are supplied by the tower crane. Through the fastening bolts and nuts to complete the steel structure.

As in the prior art, the method of assembling the steel structure by fastening the bolt nut directly to the steel structure when constructing a high-rise or high-rise building is a safety problem of the worker due to the influence of wind, etc. There have been problems such as lowering the working progress speed and lowering the precision of fastening between steel frames.

As a conventional apparatus and method for solving the above problems, there is a patent application No. 10-2007-82231, which is the applicant's prior application, and a control robot capable of fastening a bolt by approaching an assembly position of a steel structure when constructing a high-rise or high-rise building. It is a device that performs fast and precisely by using and the bolt fastening method of steel structure using the same. Especially, the bolted position between steel and steel frame is precisely and quickly by moving up and down without the influence of wind and shaking during operation. A conveyance bogie 1 arranged in the lower portion of the rail as shown in FIG. 18 and including a lifting means capable of reaching and moving forward and backward in the horizontal direction; An elevating means part (2) positioned below and lowered in the transport cart portion to move up and down in a vertical direction; Rotating part, x-axis table and y-axis table are sequentially stacked on the lower part of the lifting means, and the bolting tool part position adjusting part adjusts the position of the bolting tool part installed at the lower part by rotating, advancing X axis direction and advancing Y axis direction. (3); A bolting tool part 4 installed at the lower part of the bolting tool position adjusting part 3 to bolt the steel structure; The transfer bogie (1), the lifting means (2), bolting tool position adjustment unit (3) and the bolting tool (4) is composed of a control unit (5) for remote control by wireless or wired bolt coupling steel structure It is characterized by the configuration to be.

However, the above-mentioned prior patent of the applicant has a remarkably enhanced action effect that solves the conventional problems, and thus, when the lifting means using the scissor type moves for work and strong wind blows at high altitude, The disadvantage is that the robot that is bolting can be shaken,

In addition, after setting the up and down bolting position by the elevating means there is no means that the adjustable robot is supported on the horizontal or vertical frame, so that the precise bolting operation may not be performed when the vibration due to the bolting operation or shaking by the wind,

In addition, there are some problems, such as the disadvantage that there is no vehicle that can directly check the bolting work that the actual robot is performing when the site operator needs to supervise the command.

An object of the present invention for solving the above problems is to perform quickly and precisely using a robot capable of fastening bolts to approach the assembly position of the steel structure when building a high-rise or ultra-high-rise building, the scissor type lifting means is more It is to provide a manipulator robot that can be bolted to steel structure stably and precisely by constructing with double scissor type to have strong structure against wind and shaking.

In addition, another object of the present invention is to quickly and precisely use a robot capable of fastening bolts by approaching the assembly position of the steel structure in the construction of high-rise or ultra-high-rise building, but supporting the horizontal frame after setting up and down bolting position by lifting means It is to provide a manipulator robot to provide a sophisticated bolting work even when the vibration or vibration caused by the bolting work is provided by means.

In addition, another object of the present invention is to perform a fast and precise use of the bolt fastening robot to approach the assembly position of the steel structure in the construction of high-rise or ultra-high-rise building, having a means of commanding the site worker supervising bolting work It is to provide a manipulator robot.

The present invention to achieve the object as described above and to perform a problem for eliminating the conventional drawbacks is provided with a transfer bogie installed on the rail lower portion and moving along the rail;

A pair of drive scissor links installed at the lower part of the transport cart and moved up and down by the linear motion of the double scissor drive motor, and a pair of LM guide scissor links hinged to both side portions and hinged to move up and down in conjunction with the up and down movement of the drive scissor link portion. Double scissor consisting of a wealth;

A cabin configured to rotate by hanging under the double scissor, the cabin having a controller and a monitor configured to issue control commands in a wired or wireless manner and a space in which an operator can ride;

Anchor means (anchoring device) provided on the outer both sides of the cabin and provided with an anchor contact portion for moving forward and backward to be in contact with the steel frame;

It is achieved by providing a double scissor type moving manipulator robot for bolt fastening of the steel frame structure, characterized in that consisting of; bolt mounting and effect for bolting between the steel structure is installed on the front of the cabin.

The anchor contact portion is characterized in that made of a magnet.

The controller is characterized in that it is configured to remotely control the drive unit in the wired or wireless manner, the forward and backward of the transfer truck, the lifting and lowering of the double scissor, the rotation of the cabin, the forward and backward of the anchor means and bolt fastening end effector.

The cabin is installed in a structure suspended from the bracket installed on the upper, the bracket is coupled to the lower base of the scissor link forming a double scissor, the cabin is installed on the top of the bracket and the cabin is connected to the rotary shaft of the cabin rotary motor Characterized in that configured to rotate.

The double scissor driving motor is fixed to the position of one side by a motor bracket coupled to the scissor driving motor bracket formed on one side of the transfer bogie, the double scissor driving motor rod, which is the other side of the double scissor driving motor, is It is connected to the movable hinge block bracket and supported so that its length is variable and expandable.

The upper fixed hinge block is fixed across the side brackets and the bottom of the transport bogie, characterized in that configured to act as a fixed hinge point of one side of the drive scissor link located at the bottom.

An upper movable hinge block is installed at both lower ends of the movable hinge block brackets, and the elastic force of the double scissor driving motor rod is driven by driving the double scissor driving motor on each upper LM guide provided corresponding to the upper movable hinge block. It characterized in that it is configured to act as a moving hinge point of the driving scissor link portion of the driving scissor link portion located in the lower portion while linearly moving.

Each of the upper LM guides is fixed to the lower side of the side brackets protruding from both sides of the transport cart and fixedly installed by the connecting member.

The lower structure corresponding to the upper fixed hinge block, the upper LM guide and the upper movable hinge block is provided with a lower fixed hinge block, a lower LM guide and a lower movable hinge block installed on the lower base of the scissor link. When the double scissor drive motor rod is stretched by the driving motor, the upper movable hinge block moves linearly on the upper LM guide, and the lower movable hinge block linked thereto is also configured to linearly move on the lower LM guide. do.

The driving scissor link unit may be hinged by a side hinge in succession with a plurality of driving scissor links hinged in a “X” shape by a central hinge in a vertical direction.

One side of the driving scissor link of the uppermost part and the lowermost part hinges the upper movable hinge block, the lower movable hinge block, the side hinge and the hinge,

The top and bottom of the other driving scissor link is configured to combine the upper fixed hinge block and lower fixed hinge block, the side hinge and the hinge,

It is characterized in that the coupling between the two side hinges of the opposing driving scissor link to the LM guide side link support so as to be interlocked stably without shaking when moving up and down.

The LM guide scissor link unit has an LM guide scissor link in which a plurality of LM guides are hinged up and down in a plurality of LM guides hinged in an "X" shape by a LM guide central hinge from the outside of the LM guide side link support installed in plurality. Hinge coupling, one side is hinged by a fixed LM guide side hinge, the other side is hinged to the side LM block of the side LM guide formed on the upper or lower LM guide side link support by a movable LM guide side hinge. It is characterized by.

As described above, the present invention is performed quickly and precisely by using a manipulator robot capable of fastening bolts by approaching an assembly position of a steel structure when constructing a high-rise or ultra-high-rise building, and constructing a scissor type lifting means in a double scissor type. By having a structure that is more resistant to wind and shaking, the bolting work for the steel structure is made stably and precisely, and the construction process of the high-rise or ultra-high-rise building is drastically shortened.

In addition, the manipulator robot is used to perform bolting work on the steel structure quickly and precisely, and is provided with means for supporting the horizontal frame after setting up and down bolting position by lifting and lowering means. The advantage of the sophisticated bolting work during shaking,

In addition, when performing bolting work on steel structure using manipulator robot quickly and precisely, it has a vehicle that can direct and supervise bolting work on site. The advantage of being able to modify the control of the manipulator robot instantly,

In addition, it is a useful invention having an advantage that there is no concern about safety accidents by using a bolt fastening manipulator robot when a steel structure bolt is assembled, not a human, when constructing a high-rise or high-rise building.

Hereinafter, the configuration and the operation of the embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

1 is a perspective view of a device configuration according to an embodiment of the present invention, Figure 2 is a front view according to an embodiment of the present invention, Figure 3 is a left side view according to an embodiment of the present invention, Figure 4 is a figure The AA line cross section of 2 is shown.

As shown in the figure, the structure of the double scissor type moving manipulator robot of the present invention is installed in the lower portion of the rail 6 from the top, so that the roller is moved in the horizontal direction by the forward and backward movement of the feed cart drive motor 101 to move along the rail. The feed cart 1 moving forward and backward is installed. These transport trolleys are provided on a separate rail next to the tower crane lower crane carts, or formed around a core formed at the center of a high or high-rise building, and installed on a boom rail that rises as the number of floors of a building increases. It is installed under the boom and configured to move in the horizontal direction.

An extension double scissor (2) for lifting and lowering is installed at the lower part of the transport cart, and the double scissor (2) lowers and lowers the cabin (3) located at the lower and lowers the effect of wind and shaking while lowering precisely and quickly. Will be Accordingly, the bolt fastening end effector installed in the cabin is also linked to move up and down to the position of the steel structure to be bolted.

The double scissor 2 moves up and down in conjunction with a pair of driving scissor link portions 22 which are moved up and down by the linear motion of the double scissor driving motor 21, which is a linear motor, and the driving scissor link portions 22. Is composed of a pair of LM guide scissor links 23. The driving scissor link unit 22 and the LM guide scissor link unit 23 have respective sides connected to each other so that the double scissor 2 of the present invention has a scissor link structure in all four directions.

The bottom scissor link lower base 2107 of the double scissor (2) has a bracket (32) is installed so that the cabin (3) is suspended, the cabin is connected to the rotating shaft of the cabin rotary motor 31 installed on the upper bracket 360 It also consists of a structure that is rotated. In addition, the cabin 3 is a structure having a space capable of riding, a controller (not shown) and a monitor (not shown) are provided therein so that the operator can directly control the robot when necessary. The bracket is configured to reduce frictional forces when the cabin is rotated by installing friction reducing components such as bearings therein.

Anchor means (Anchoring device, 4) is provided on each of the outer both sides of the cabin (3), the anchor means is to be fixed by advancing to the steel structure when the cabin is located at the point to be bolted work. To this end, the anchor means is moved forward and backward the anchor contact portion 41 installed at the front end by a device such as a linear motor (not shown) or a hydraulic or pneumatic cylinder (not shown), in particular the anchor contact portion is composed of a magnet when contacting the steel frame It has a strong holding force. By the configuration of the device as described above it is possible to precisely and quickly bolting work without being affected by the wind when bolting the steel structure in high or ultra high rise.

In addition, the front portion of the cabin (3) is installed to bolt the end effect (5) for bolting between the steel frame structure is configured to move together with the cabin while moving up and down to the steel structure point to be bolted. Therefore, the cabin moves in conjunction with each other when moving up or down.

The bolt fastening end effect 5 assembles the steel frame by inserting the bolt into the hole formed between the two steel frames and rotating the nut by positioning the nut on the opposite side. The end effect can be selected from the various types of end effect for bolting, the detailed description thereof will be omitted. In addition, one or more of the end effect for welding or the end effect for vision sensor, etc. may be selectively installed together with the bolt fastening end effect. Here, the coupling between the steel frame refers to combining the horizontal steel frame with the letter 'A' or the vertical steel frame to the vertical steel frame.

The above-described forward and backward movement of the feed cart 1, the lifting and lowering of the double scissor 2, the rotation of the cabin 3, the forward and backward movement of the anchor means 4 and the operation of the bolt effecting end effector 5 are wired. Or a controller and a monitor, etc. are installed in the cabin 3 not shown by a remote control in a wireless manner to be controlled automatically or manually. Such a method is a teleoperator system, which is a method of manipulating a manipulator from a long distance, and is connected to each driving unit by wire or wirelessly. However, the detailed circuit connection configuration is omitted in the drawing.

The double scissor type mobile manipulator robot of the present invention configured as described above moves up and down the steel frame such as "H-beam" to which the tower crane is bolted, and is located next to the assembled steel frame by the command of a controller installed inside the cabin. When the transfer cart 1 moves to both steel frame parts having a bolt hole, the double scissor 2 descends, and then the anchor means 4 installed on both sides of the cabin move forward to fix the cabin. The bolt fastening end effector 5 is assembled by rotating the bolts and nuts into the bolt holes of the steel frame and rotating them.

5 is a perspective view of the transfer bogie according to FIG. 1, and FIG. 6 is a side view of the transfer bogie according to FIG. 1, as shown in FIG. 1, with a first bevel gear 102 receiving power from the transfer bogie drive motor 101. And a second bevel gear 103 for switching the rotational direction of the first bevel gear, a drive shaft 104 interlocked with the second bevel gear, and a drive roller 105 installed at both ends of the drive shaft to move forward and backward on the rail. The drive shaft sprocket 106 is inserted into the drive shaft and transmits power to the sprocket at another point, the chain 107 is inclined to the sprocket to transmit power, and the driven shaft sprocket 108 receives power from the drive shaft by the chain. And, the power system is installed by the driven shaft 109 which is rotated in conjunction with the rotation of the driven shaft sprocket 108, and the driven roller 110 is installed on both side ends of the driven shaft 109 to move forward and backward on the rail, ,

The scissor drive motor bracket 111 is protrudingly installed on one side of the conveyance bogie in the forward and backward direction to fix the scissor drive motor, and the side brackets 112 protrude on both sides of the feed bogie forward and backward. Combination with double scissor is fixed.

7 is a perspective view of the double scissor portion according to FIG. 1, FIG. 8 is a front view of the double scissor portion according to FIG. 1, FIG. 9 is a side view of the double scissor portion according to FIG. 1, and FIG. 10 is a double scissor portion constituting the present invention. 11 is a front view of the double scissor part according to FIG. 10, and FIG. 12 is a side view of the double scissor part according to FIG. 10. As described above, the double scissor 2 of the present invention is linear. A pair of LM guide scissor links that move up and down in conjunction with a pair of drive scissor links 22 which are moved up and down by a linear motion of the double scissor drive motor 21 as a motor and the drive scissor links 22 are moved up and down. It consists of a part 23.

Looking more specifically, the position of one side of the double scissor drive motor 21 of the present invention is fixed by the motor bracket 2101 coupled to the scissor drive motor bracket 111 formed on one side of the feed cart. In addition, the double scissor drive motor rod 2102, which is the other side of the double scissor drive motor 21, is connected to the movable hinge block bracket 2103 and is variable in length and stretch. Upper movable hinge blocks 2104 are respectively installed at both lower ends of the movable hinge block brackets 2103, and the upper movable hinge blocks 2104 are double scissored on respective upper LM guides 2105 installed correspondingly. In accordance with the elastic force of the double scissor drive motor rod 2102 by the drive of the drive motor 21 acts as a moving hinge point of the link located in the lower portion. In addition, the upper LM guide 2105 is fixedly installed by a connecting member spaced apart from the lower portion of the side bracket 112 protruding from each side of the transport cart (1), respectively. Meanwhile, the upper fixed hinge block 2106 is also fixedly installed across the side brackets 112 and the bottom of the transport cart 1 to serve as a fixed hinge point of the link located below. Accordingly, the double scissor drive motor 21 is fixedly supported at the lower portion of the feed cart 1.

The lower structure corresponding to the upper fixed hinge block 2106, the upper LM guide 2105 and the upper movable hinge block 2104 is a lower fixed hinge block 2108 installed on the upper surface of the scissor link lower base 2107, There is a lower LM guide 2109 and a lower movable hinge block 2110 so that when the double scissor drive motor rod 2102 is stretched by the driving of the double scissor drive motor 21 from the upper portion, the upper movable hinge block 2104 is upper part. The linear motion is performed on the LM guide 2105, and the lower movable hinge block 2110 linked thereto is also linearly moved on the lower LM guide 2109.

As such, when the upper movable hinge block 2104 and the lower movable hinge block 2110 move in conjunction, one side is connected to the upper fixed hinge block 2106 and the lower fixed hinge block 2108, and the other side is the upper movable hinge block. The driving scissor link unit 22 connected to the 2104 and the lower movable hinge block 2110 moves up and down while contracting and expanding.

Hereinafter, the structure of the driving scissor link unit 22 and the LM guide scissor link unit 23 interworked with this will be described in detail.

The driving scissor link unit 22 has a side hinge 2113 in succession with the driving scissor link 2112 adjacent to each other up and down by a plurality of driving scissor links 2112 hinged to the “X” shape by the central hinge 2111. It is configured by hinge coupling, the upper and lower one side driving scissor link 2112 is hinged to the upper movable hinge block 2104 and the lower movable hinge block 2110 and the side hinge 2113,

In addition, the top and bottom of the other driving scissor link 2112 is configured to hinge the upper fixed hinge block 2106 and the lower fixed hinge block 2108 and the side hinge 2113.

In addition, between the opposing driving scissor link unit 22 was hinged and coupled between the two side hinges 2113 of the opposing driving scissor link 2111 to the LM guide side link support (2114) so as to be stably interlocked without shaking when moving up and down. .

On the other hand, the LM guide scissor link unit 23 is a plurality of LM guide scissor links hinged in the form of an "X" by the LM guide central hinge 2115 outside the LM guide side link support 2114 installed in plurality. (2116) is hinged to the neighboring LM guide scissor link (2116) up and down, one side is hinged by a fixed LM guide side hinge (2117) and the other side is up or down by the movable LM guide side hinge (2118) The side LM guide 21141 formed in the lower LM guide side link support 2114 is hinged to move with the side LM block 21142.

Since the hinge hole, the hinge pin, the hinge washer, and the hinge ring constituting each hinge are inherently structured to constitute the hinge, detailed descriptions of the drawings are omitted for convenience.

Hereinafter, the operation of the double scissor 2 of the present invention will be described with reference to FIGS. FIG. 13 is a perspective view of the double scissor portion constituting the present invention ascending and descending, and FIG. 14 is a front view of the double scissor portion constituting the present invention ascending and descending, and FIG. 15. Is a side view when the double scissor part which comprises this invention raises and lowers to the maximum.

As shown, when the double scissor driving motor rod 2102 is contracted in the maximum extension state by the driving of the double scissor driving motor 21, both movable hinge block brackets moving in conjunction with the double scissor driving motor rod 2102 ( As the 2103 is contracted, each of the upper movable hinge blocks 2104 is moved along both upper LM guides 2105.

At the same time, the driving scissor links 2112 hinged by the upper movable hinge block 2104 and the side hinge 3113 are extended in the vertical direction as they expand.

At this time, the LM guide side link support (2114) is extended while extending in the vertical direction, at this time, the side LM guide block (21142) to move on the side LM guide 21141 formed on the LM guide side link support (2114). The side LM guide 21141 is moved toward the center portion, and at the same time, the LM guide scissor link 2116 also moves toward the center portion and expands in the vertical direction and becomes long, so that the double scissor 2 descends.

Likewise, on the contrary, they contract.

16 is an exemplary view showing a boom rail and a boom installed around the core of the building in which the device of the present invention is installed, the upper and lower conveying means along the circumference of the core (core) formed in the center of the building when building a high-rise or high-rise building The boom stand rail 7 is provided, and the boom stand 71 provided with a transfer means moving along the boom stand rail is positioned next to the steel connection portion transported by the crane.

Thereafter, the transfer bogie 1 of the double scissor type moving manipulator robot of the present invention moves forward and backward along the rail 6 coupled to the bottom of the boom 71 so that the bolt hole indicated by the controller installed in the cabin 3 is indicated. After moving to both steel frames formed, the double scissor 2 is lowered by the wind by the precise and rapid movement of the driving scissor link portion 22 and the LM guide scissor link portion 23 while lowering the cabin 2 after descending. When the anchor means (4) installed on both sides is operated and the anchor contact portion (41) is attached to the steel frame by the force of the magnet, the bolt fastening end effect (5) is advanced to the bolt assembly position precisely to the bolt and nut of the steel frame bolt Insert into the hole and rotate to assemble.

Figure 17 is an exemplary view showing a rail installed in the lower portion of the tower crane in which the apparatus of the present invention is installed, as shown in the rail 6 is installed in the lower elliptical crane is moved to the same position as the crane. At this time, the transfer truck is installed a separate rail next to the tower crane lower crane bogie. The remaining operation is as described in FIG.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

1 is a perspective view of a device configuration according to an embodiment of the present invention,

2 is a front view according to an embodiment of the present invention,

3 is a left side view according to an embodiment of the present invention,

4 is a cross-sectional view taken along the line A-A of FIG.

5 is a perspective view of the transport cart according to FIG. 1, FIG.

Figure 6 is a side view of the transport cart according to Figure 1,

7 is a perspective view of a double scissor portion according to FIG. 1,

8 is a front view of the double scissor portion according to FIG. 1,

9 is a side view of the double scissor portion according to FIG. 1,

10 is a perspective view showing a detailed configuration of a double scissor portion constituting the present invention,

11 is a front view of the double scissor portion according to FIG. 10,

12 is a side view of the double scissor portion according to FIG. 10, FIG.

Fig. 13 is a perspective view of the double scissor portion of the present invention ascending and descending to the maximum;

Fig. 14 is a front view of the double scissor portion of the present invention ascending and descending at maximum;

Fig. 15 is a side view of the double scissor portion of the present invention ascending and descending to the maximum;

16 is an exemplary view showing the boom rail and the boom installed around the core of the building in which the device of the present invention is installed,

17 is an exemplary view showing a rail installed in the lower portion of the tower crane is installed device of the present invention,

18 is a perspective view of a conventional bolting robot.

<Description of the symbols for the main parts of the drawings>

(1): Feed cart (2): Double scissor

(3): cabin (4): anchor means

(5): Bolt effect end effect (6): Rail

(21): Double scissor drive motor (22): Drive scissor link part

(23): LM guide scissor link part (31): cabin rotating motor

(32): Bracket (41): Anchor contact

(111): Scissor Drive Motor Bracket (112): Side Bracket

(2101): Motor Bracket (2102): Double Scissor Drive Motor Rod

(2103): movable hinge block bracket (2104): upper movable hinge block

(2105): Upper LM Guide (2106): Upper Fixed Hinge Block

(2107): Caesar link lower base (2107): Caesar link lower base

(2108): Lower fixed hinge block (2109): Lower LM guide

(2110): Lower movable hinge block (2111): Center hinge

(2112): Drive Scissor Link (2112): Drive Scissor Link

(2113): side hinge (2114): LM guide side link support

(2115): LM guide center hinge (2116): LM guide scissor link

(2117): Fixed LM guide side hinge (2118): LM guide side hinge

(21141): Side LM Guide (21142): Side LM Block

Claims (10)

A transport cart 1 installed below the rail 6 and moving along the rail; A pair of driving scissor link portions 22 which are installed at the lower portion of the transport cart and moved up and down by the linear motion of the double scissor driving motor 21 and the lower side of the driving scissor link portion 22 so as to move up and down. A double scissor (2) consisting of a pair of LM guide scissor link portions (23) hingedly coupled to each other; A cabin 3 configured to rotate on a lower portion of the double scissor 2 and having a controller and a monitor configured to issue control commands in a wired or wireless manner and a space in which an operator can ride; Anchor means (Anchoring device) (4) provided on the outer both sides of the cabin (3) having an anchor contact portion 41 to move forward and backward to be supported in contact with the steel frame; Double scissor type mobile manipulator robot for bolt fastening of the steel structure, characterized in that consisting of ;; the bolt fastening and effect (5) is installed on the front of the cabin (3) bolting the steel structure. The method of claim 1, The anchor contact portion 41 is a double scissor type moving manipulator robot for fastening the bolt of the steel structure, characterized in that made of a magnet. The method of claim 1, The controller is a wired or wireless method of forward and backward of the feed cart 1, the lifting and lowering of the double scissor 2, the rotation of the cabin (3), the forward and backward of the anchor means (4) and the bolt effecting end effector (5). Double scissor type moving manipulator robot for bolted steel structure, characterized in that configured to remotely control the drive unit. The method of claim 1, The cabin (3) is installed in a structure suspended from the bracket 32 is installed on the upper, this bracket is coupled to the lower scissor link base (2107) forming the lower scissor (2), the cabin rotating motor on the top of the bracket A double scissor type moving manipulator robot for bolting of a steel structure, characterized in that 31 is installed so that the cabin connected to the rotating shaft of the cabin rotating motor is rotated. The method of claim 1, The double scissor (2) is fixed to the position of one side by the motor bracket 2101 coupled to the scissor drive motor bracket 111 formed on one side of the double scissor drive motor 21, the double scissor The double scissor drive motor rod 2102, which is the other elastic part of the driving motor 21, is connected to and supported by the movable hinge block bracket 2103 so as to have a variable length and stretch. The upper fixed hinge block 2106 is fixedly installed across both side brackets 112 and the bottom of the feed cart 1 so as to act as a fixed hinge point of the one-side driving scissor link 2112 located at the bottom. Double scissor type mobile manipulator robot for fastening bolts of steel structure. The method of claim 5, Upper movable hinge blocks 2104 are respectively installed at both lower ends of the movable hinge block brackets 2103, and double scissor driving is performed on the respective upper LM guides 2105 installed corresponding to the upper movable hinge blocks 2104. Steel frame, characterized in that configured to act as a moving hinge point of one side of the driving scissor link portion 2112 of the driving scissor link portion located in the lower portion while linearly moving according to the stretching force of the double scissor driving motor rod 2102 by the driving of the motor 21. Double scissor type mobile manipulator robot for bolted structure. The method of claim 6, The upper LM guide (2105) is fixed to the bolt structure of the steel structure, characterized in that the fixed distance by a connecting member spaced apart from the lower portion of the side bracket 112, respectively protruding on both sides of the transport cart (1), respectively Double scissor type mobile manipulator robot. The method of claim 6, The lower structure corresponding to the upper fixed hinge block 2106, the upper LM guide 2105 and the upper movable hinge block 2104 is a lower fixed hinge block 2108, lower installed on the upper surface of the scissor link lower base 2107, When the LM guide 2109 and the lower movable hinge block 2110 are installed, and the double scissor driving motor rod 2102 is stretched by the driving of the double scissor driving motor 21 from the upper portion, the upper movable hinge block 2104 is moved. The linear movement on the upper LM guide 2105, and the lower movable hinge block 2110 interlocked therewith also has a double scissor type for bolting steel structure, characterized in that configured to linear movement on the lower LM guide 2109 Mobile manipulator robot. The method of claim 1, The driving scissor link unit 22 has a plurality of driving scissor links 2112 hinged in a “X” shape by a central hinge 2111 in succession with the driving scissor links 2112 adjacent to each other up and down. 2113) hinged configuration, One side of the driving scissor link 2112 of the uppermost part and the lower part hinges the upper movable hinge block 2104 and the lower movable hinge block 2110 and the side hinge 2113, The top and bottom of the other driving scissor link 2112 is configured to hinge the upper fixed hinge block 2106 and the lower fixed hinge block 2108 and the side hinge 2113, Between the opposing driving scissor link unit 22 is hinged coupling between the two side hinges 2113 of the opposing driving scissor link (2111) by the LM guide side link support (2114) so as to be stably interlocked without shaking when moving up and down. A double scissor type mobile manipulator robot for fastening bolts of steel structure. The method of claim 1, The LM guide scissor link unit 23 is a plurality of LM guide scissor links hinged in the form of an "X" by the LM guide central hinge 2115 from the outside of the LM guide side link support 2114 installed in plurality 2116 is hinged to the neighboring LM guide scissor link (2116) up and down, one side is hinged by a fixed LM guide side hinge (2117) and the other side of the upper or lower side by a moving LM guide side hinge (2118) Double scissor type moving manipulator robot for bolting steel structure, characterized in that configured to move hingedly coupled to the side LM block (21142) of the side LM guide (21141) formed on the LM guide side link support (2114).

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