The invention provides a bolt fastening robot for a tower crane, belongs to the field of robots, and aims to solve the problems of danger, high workload and low efficiency in bolt fastening work of the tower crane. The robot comprises a cloud disk combination mechanism, a climbing mechanism, a supporting leg mechanism, a fastening mechanical arm and a limiting mechanical arm. The climbing mechanism achieves ascending and descending of the robot through four electric push rods, the supporting leg mechanism controls opening and clamping of supporting legs through supporting leg electric push rods, and the supporting leg electric push rods have a self-locking function so as to ensure safety. The fastening mechanical arm and the limiting mechanical arm position and fasten the bolt through the visual recognition device, and judge whether the bolt needs to be fastened or not and judge the fastening torque and the fastening time. According to the device, the safety of workers is guaranteed, the labor cost is reduced, and the fastening efficiency is improved.

    本发明提供一种塔式起重机紧固螺栓机器人,属于机器人领域,用于解决塔式起重机螺栓紧固工作存在的危险、工作负荷大和效率低的问题。该机器人包括云盘组合机构、爬升机构、支腿机构、紧固机械臂和限位机械臂。爬升机构由四个电动推杆实现机器人的上升和下降,支腿机构通过支腿电动推杆控制支腿的张开和夹紧,支腿电动推杆具有自锁功能以确保安全。紧固机械臂和限位机械臂通过视觉识别装置定位和紧固螺栓,并判断螺栓是否需要紧固以及紧固力矩和紧固时间。该装置既保证了工人安全,又降低了人工成本,提高了紧固效率。


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    Title :

    Bolt fastening robot for tower crane


    Additional title:

    塔式起重机紧固螺栓机器人


    Contributors:
    YAO FENGLIN (author) / YANG FAN (author) / GAO YOUSHAN (author) / SUN XIAOXIA (author) / YANG WEIJIE (author) / ZHAO XIAOXIA (author) / LIU YANG (author) / LYU SHAOBO (author) / ZHAO XINGWANG (author)

    Publication date :

    2023-11-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B23P Sonstige Metallbearbeitung , OTHER WORKING OF METAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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