阅读说明：本技术 一种轨道交通管道安装用智能机器人 (Intelligent robot for installing rail transit pipeline ) 是由 王勇 荣根益 尚宇新 于 2021-08-18 设计创作，主要内容包括：本发明属于轨道交通技术领域,尤其是一种轨道交通管道安装用智能机器人,包括移动底座,还包括控制箱、操作屏、主摄像头、夹取机械手、转向装置和拧紧装置,控制箱的下表面固定安装在移动底座的上表面,操作屏的下表面固定安装在控制箱的上表面,两个主摄像头固定安装在操作屏的上表面。该轨道交通管道安装用智能机器人,通过设置夹取机械手,能够对地面的管道进行夹取,移动平台带动六轴机械臂进行调节,便于控制机爪靠近管道,定位摄像头捕捉地面上放置的管道,控制机爪进行抓取管道的中间段,放置应两端重力不均匀造成管道滑落,同时在两节管道完成拼接后,通过夹取机械手能够将拼接完成的管道从转向机构上取下。(The invention belongs to the technical field of rail transit, and particularly relates to an intelligent robot for installing a rail transit pipeline. This intelligent robot is used in rail transit piping erection, press from both sides through setting up and get the manipulator, can press from both sides the pipeline on ground and get, moving platform drives six arms and adjusts, the control gripper of being convenient for is close to the pipeline, the pipeline of placing subaerially is caught to the location camera, the control gripper snatchs the interlude of pipeline, place and respond to the inhomogeneous pipeline landing that causes of both ends gravity, accomplish the concatenation back at two sections pipelines simultaneously, get the pipeline that the manipulator can accomplish the concatenation from steering mechanism and take off through pressing from both sides.)

1. The intelligent robot for installing the rail transit pipeline comprises a moving base (1) and is characterized by further comprising a control box (11), an operation screen (12), main cameras (13), a clamping manipulator, a steering device and a tightening device, wherein the lower surface of the control box (11) is fixedly installed on the upper surface of the moving base (1), the lower surface of the operation screen (12) is fixedly installed on the upper surface of the control box (11), and the two main cameras (13) are fixedly installed on the upper surface of the operation screen (12);

the clamping manipulator is positioned on the outer side surface of the control box (11), clamps a pipeline on the ground and then places the pipeline on the steering device;

the steering device is positioned on the upper surface of the moving base (1) and rotates the pipeline clamped by the clamping manipulator to realize alignment of threaded holes of flanges of the pipeline on two sides;

the tightening device is located on the outer surface of the control box (11) and is fixed to the pipeline aligned with the flange on the steering device by using bolts.

2. The intelligent robot for installing the rail transit pipeline as claimed in claim 1, wherein: the clamping mechanical arms are provided with two groups, each clamping mechanical arm comprises a moving platform (2), six mechanical arms (21) and a clamping mechanism, the outer side faces of the moving platforms (2) are fixedly installed on two sides of the outer side face of the control box (11) respectively, and one ends of the six mechanical arms (21) are fixedly installed on two outer side faces of sliding blocks of the moving platforms (2) respectively.

3. The intelligent robot for installing the rail transit pipeline as claimed in claim 2, wherein: the clamping mechanism comprises a positioning camera (22), the lower surface of the positioning camera (22) is fixedly installed at one end of the six-axis mechanical arm (21) through a connecting plate, one end of the six-axis mechanical arm (21) is fixedly installed with a clamping shell (23), the inner top wall of the clamping shell (23) is fixedly installed with a clamping hydraulic cylinder (24), the lower surface of the clamping shell (23) is fixedly installed with an adjusting frame (25), a piston rod of the clamping hydraulic cylinder (24) penetrates through the inner top wall of the adjusting frame (25), two hinged connecting rods (26) are fixedly installed at the two ends of the rear end of the inner top wall, the outer side faces of the two hinged connecting rods (26) are respectively hinged to the two inner side walls of the adjusting frame (25) through pin shafts, two inner side walls of the adjusting frame (25) are respectively hinged to limit rods (27) through pin shafts, and one end of the two limit rods (27) is hinged to a claw (28) through pin shafts, the other ends of the two hinged connecting rods (26) are respectively hinged at one end of the two claws (28) through pin shafts.

4. The intelligent robot for installing the rail transit pipeline as claimed in claim 1, wherein: the steering device comprises a moving mechanism, a steering mechanism and a limiting mechanism, wherein the moving mechanism adjusts the position of a pipeline on the steering mechanism, the steering mechanism adjusts the rotation of the pipeline to realize that the pipeline is positioned on the same horizontal line with another bolt hole on a pipeline flange on the steering mechanism, and the limiting mechanism is used for limiting the pipeline on the steering mechanism.

5. The intelligent robot for installing the rail transit pipeline as claimed in claim 4, wherein: the moving mechanism comprises support frames (3), the lower surfaces of the support frames (3) are fixedly mounted on two sides of the upper surface of the moving base (1) respectively, sliding plates (32) are inserted into the upper surface of the support frames (3) in a sliding mode, one end of each support frame (3) is fixedly mounted with a moving hydraulic cylinder (31) through a connecting plate, and one end of a piston rod of each moving hydraulic cylinder (31) is fixedly mounted with the outer side face of each sliding plate (32).

6. The intelligent robot for installing the rail transit pipeline as claimed in claim 5, wherein: the steering mechanism comprises steering groove bodies (4), the lower surfaces of the two steering groove bodies (4) are respectively and fixedly arranged on the two sides of the upper surface of the sliding plate (32), a steering motor (41) is fixedly arranged on the outer side surface of the steering groove body (4), a double-end lead screw (42) is fixedly arranged on the inner side wall of the steering groove body (4) through a bearing, an output shaft of the steering motor (41) penetrates through the inner wall of one side of the steering groove body (4) and then is fixedly installed with one end of the double-head screw rod (42), two ends of the double-end lead screw (42) are fixedly provided with fixed arc blocks (43) through slide blocks, the outer side surface of the fixed arc block (43) is fixedly provided with a micro motor (44), an output shaft of the micro motor (44) is fixedly provided with a roller (45), and the other end of the roller (45) is fixedly arranged on the inner side wall of the fixed arc block (43).

7. The intelligent robot for installing the rail transit pipeline as claimed in claim 4, wherein: stop gear includes spacing pneumatic cylinder (5), two the lower surface difference fixed mounting of spacing pneumatic cylinder (5) is in the upper surface both sides of moving base (1), the piston rod one end of spacing pneumatic cylinder (5) has spacing motor (51) through connecting plate fixed mounting, the output shaft fixed mounting of spacing motor (51) has spacing wheel (52), the piston rod one end of spacing pneumatic cylinder (5) has monitoring camera (53) through connecting plate fixed mounting.

8. The intelligent robot for installing the rail transit pipeline as claimed in claim 1, wherein: the tightening device comprises supporting plates (6), grabbing mechanical arms (61), a bolt placing plate (62), a nut placing plate (63), a bolt fixing mechanism and a nut fixing mechanism, wherein the lower surfaces of the two supporting plates (6) are respectively and fixedly installed on two sides of the outer side surface of the control box (11) through grooves, one ends of the two grabbing mechanical arms (61) are respectively and fixedly installed on the upper surfaces of the two supporting plates (6), the outer side surface of the bolt placing plate (62) is fixedly installed on the outer side surface of one supporting plate (6), and the outer side surface of the nut placing plate (63) is fixedly installed on the outer side surface of the other supporting plate (6).

9. The intelligent robot for installing the rail transit pipeline according to claim 8, wherein: bolt fixed establishment includes first casing (7), the last fixed surface of first casing (7) is installed one snatch the one end of arm (61), the inside wall fixed mounting of first casing (7) has first pneumatic cylinder (71), the fixed intercommunication of lateral surface of first casing (7) has spacing pipe of bolt (72), the piston rod one end of first pneumatic cylinder (71) extends to the inside back fixed mounting of spacing pipe of bolt (72) has bolt electro-magnet (73).

10. The intelligent robot for installing the rail transit pipeline according to claim 8, wherein: nut fixed establishment includes second casing (8), the last fixed surface of second casing (8) installs in another snatch the one end of arm (61), the lateral surface fixed mounting of second casing (8) has motor (81) of screwing up, the output shaft of screwing up motor (81) runs through fixed mounting has second pneumatic cylinder (82) behind the inside wall of second casing (8), the lateral surface of first casing (7) has spacing pipe of nut (83) through bearing fixed mounting, the one end of spacing pipe of nut (83) runs through fixed mounting is in behind the inside wall of second casing (8) the surface of second pneumatic cylinder (82), the piston rod one end of second pneumatic cylinder (82) extends to fixed mounting has nut electro-magnet (84) behind the inside of spacing pipe of nut (83).

Technical Field

The invention relates to the technical field of rail transit, in particular to an intelligent robot for installing a rail transit pipeline.

Background

The urban rail transit system for rail transit is a traffic system which uses vehicles to run on fixed guide rails in cities and is mainly used for urban passenger transport, and becomes an optimal scheme for relieving urban congestion by the characteristics of energy conservation, land saving, large transportation volume, all weather, less pollution, safety and the like.

Current track traffic is in the construction process, need lay drainage pipe along the line, communication electrical conduit and breather pipe, for the convenience of the installation and the transportation of pipeline, pipeline installation is generally spliced the multisection pipeline through flange joint spare and is formed longer pipeline and use, current pipeline is in the installation, bolt hole on the flange at pipeline both ends is to its back through the manual work, realize the fixed of two sections pipelines after fixing two flanges through the bolt, screw up the bolt through the manual work, the work load has been increased, this operation causes work efficiency to hang down, two sections pipelines after the installation have increased gravity simultaneously, it fixes to the wall to need many workman's transport, cause safety error easily, a large amount of labours have been consumeed.

Disclosure of Invention

Based on the technical problems that the existing rail transit pipeline is installed manually, the workload is increased, the operation causes low working efficiency, safety accidents are easy to cause, and a large amount of labor is consumed, the invention provides the intelligent robot for installing the rail transit pipeline.

The invention provides an intelligent robot for installing a rail transit pipeline, which comprises a movable base, a control box, an operation screen, main cameras, a clamping manipulator, a steering device and a screwing device, wherein the lower surface of the control box is fixedly arranged on the upper surface of the movable base, the lower surface of the operation screen is fixedly arranged on the upper surface of the control box, and the two main cameras are fixedly arranged on the upper surface of the operation screen;

the clamping manipulator is positioned on the outer side surface of the control box, clamps a pipeline on the ground and then places the pipeline on the steering device;

the steering device is positioned on the upper surface of the moving base and rotates the pipeline clamped by the clamping manipulator to realize alignment of threaded holes of flanges of the pipeline on two sides;

the tightening device is located on the outer surface of the control box and is used for fixing the pipeline aligned with the flange on the steering device through bolts.

Preferably, the clamping manipulators comprise two groups, each clamping manipulator comprises a moving platform, six mechanical arms and a clamping mechanism, the outer side surfaces of the two moving platforms are fixedly arranged on two sides of the outer side surface of the control box respectively, and one ends of the six mechanical arms are fixedly arranged on the outer side surfaces of the sliding blocks of the two moving platforms respectively;

through the technical scheme, moving platform is by supporting the casing, the threaded rod, main motor and slider constitute, drive the threaded rod through main motor and rotate, make sliding connection slide bar on supporting the casing reciprocate at threaded rod surface with it threaded connection, drive six arms with slider fixed mounting and reciprocate, it gets the pipeline that ground was placed to be convenient for faster press from both sides, six arms are provided with the clothes motor of private, six arms of clothes motor control of private carry out joint department and rotate, realize the clamp of different positions pipeline and get, two sets of clamps are got the manipulator and can be got two sections pipelines simultaneously and press from both sides, be convenient for two sections have the pipeline of flange to dock, reduce artificial input.

Preferably, the clamping mechanism comprises a positioning camera, the lower surface of the positioning camera is fixedly mounted at one end of the six-axis mechanical arm through a connecting plate, a clamping casing is fixedly mounted at one end of the six-axis mechanical arm, a clamping hydraulic cylinder is fixedly mounted on the inner top wall of the clamping casing, an adjusting frame is fixedly mounted on the lower surface of the clamping casing, a piston rod of the clamping hydraulic cylinder penetrates through the inner top wall of the adjusting frame, hinged connecting rods are fixedly mounted at both ends of the rear end of the inner top wall of the adjusting frame, the outer side surfaces of the two hinged connecting rods are respectively hinged to both sides of the inner side wall of the adjusting frame through pin shafts, limiting rods are respectively hinged to both sides of the inner side wall of the adjusting frame through pin shafts, one ends of the two limiting rods are hinged to machine claws through pin shafts, and the other ends of the two hinged connecting rods are respectively hinged to one ends of the two machine claws through pin shafts;

through the technical scheme, the positioning camera captures the position of a pipeline, the six mechanical arms can drive the machine claws to clamp the pipeline conveniently, the pipeline clamping device can be suitable for clamping the pipeline placed at different positions, the articulated connecting rod is driven to deflect through the expansion of the clamping hydraulic cylinder, the machine claws are controlled to move relatively or reversely to clamp the pipeline, the articulated connecting rod is formed by articulating a connecting rod and a V-shaped rod through a pin shaft, one end of the connecting rod is articulated with a piston rod of the clamping hydraulic cylinder through the pin shaft, the other end of the connecting rod is articulated with one end of the V-shaped rod through the pin shaft, the middle end of the V-shaped rod is articulated with the inner side wall of the adjusting frame through the pin shaft, the machine claws are driven to move relatively or reversely, the pipeline with different diameters can be clamped, rubber bumps are fixedly arranged on the opposite surfaces of the two machine claws, the friction force can be increased, and the pipeline can be prevented from falling in the clamping process, meanwhile, the clamping manipulators on the two sides can clamp the two fixed pipelines together and then the pipelines are close to the wall surface, so that the pipelines are fixed by workers conveniently, manual carrying is not needed, and the workload of work is reduced.

Preferably, the steering device comprises a moving mechanism, a steering mechanism and a limiting mechanism, the moving mechanism adjusts the position of a pipeline positioned on the steering mechanism, the steering mechanism adjusts the rotation of the pipeline to realize symmetry with a bolt hole on a pipeline flange on the other steering mechanism, and the limiting mechanism limits the pipeline on the steering mechanism;

preferably, the moving mechanism comprises support frames, the lower surfaces of the two support frames are respectively and fixedly installed on two sides of the upper surface of the moving base, sliding plates are inserted into the upper surfaces of the support frames in a sliding mode, one end of each support frame is fixedly provided with a moving hydraulic cylinder through a connecting plate, and one end of a piston rod of each moving hydraulic cylinder is fixedly installed on the outer side face of each sliding plate;

through the technical scheme, the sliding plate drives the steering mechanism to move, so that the pipelines on two sides can move relatively, the pipeline opposite ends on two sides can be spliced, subsequent screwing manipulators can be conveniently connected through bolts, and flanges of the two pipelines penetrate through bolt holes to be spliced.

Preferably, the steering mechanism comprises steering groove bodies, the lower surfaces of the two steering groove bodies are respectively and fixedly installed on two sides of the upper surface of the sliding plate, a steering motor is fixedly installed on the outer side surface of each steering groove body, a double-end lead screw is fixedly installed on the inner side wall of each steering groove body through a bearing, an output shaft of each steering motor penetrates through the inner wall of one side of each steering groove body and then is fixedly installed with one end of each double-end lead screw, fixed arc blocks are fixedly installed at two ends of each double-end lead screw through sliding blocks, micro motors are fixedly installed on the outer side surfaces of the fixed arc blocks, idler wheels are fixedly installed on the output shafts of the micro motors, and the other ends of the idler wheels are fixedly installed on the inner side walls of the fixed arc blocks;

through the technical scheme, it drives double lead screw to turn to the motor, double lead screw's both ends threaded connection has the slider, the thread line at double lead screw's both ends is the symmetric distribution, can drive the slider and carry out relative or opposite movement, fixed arc piece of fixed mounting is the symmetric distribution on two sliders, through fixed arc piece relative movement, make the surface contact of gyro wheel and pipeline, the fixed pipeline, the gyro wheel drives through micro motor and rotates simultaneously, micro motor is same model motor, a plurality of gyro wheels are the equidirectional rotation, the gyro wheel is made by wear-resisting material, the face of surface contact with the pipeline is through rough processing, increase frictional force, the rotation of gyro wheel can drive the pipeline and rotate, the bolt hole of adjusting the pipeline flange can be relative with the pipeline flange of opposite side, be convenient for carry out the bolt fastening.

Preferably, the limiting mechanism comprises limiting hydraulic cylinders, the lower surfaces of the two limiting hydraulic cylinders are respectively and fixedly installed on two sides of the upper surface of the moving base, one end of a piston rod of each limiting hydraulic cylinder is fixedly provided with a limiting motor through a connecting plate, an output shaft of each limiting motor is fixedly provided with a limiting wheel, and one end of the piston rod of each limiting hydraulic cylinder is fixedly provided with a monitoring camera through a connecting plate;

through the technical scheme, promote spacing round through spacing pneumatic cylinder and rise, make spacing round can contact with the flange lateral surface of pipeline, prevent that the pipeline from taking place horizontally removal when rotating, can make the removal of auxiliary pipeline, spacing motor is the same with the micro motor rotational speed, two stop gear are the symmetric distribution, pipeline through two monitoring cameras to both sides detects, can discern whether the bolt hole of two pipeline flanges is symmetrical, control micro motor drives micro motor and drives the pipeline and rotate the adjustment, can be more accurate, the installation of the bolt of being convenient for, when two pipelines dock, spacing pneumatic cylinder can drive camera and spacing round decline, do not hinder two sections pipelines and dock.

Preferably, the tightening device comprises support plates, grabbing mechanical arms, bolt placing plates, nut placing plates, bolt fixing mechanisms and nut fixing mechanisms, the lower surfaces of the two support plates are respectively and fixedly installed on two sides of the outer side surface of the control box through grooves, one ends of the two grabbing mechanical arms are respectively and fixedly installed on the upper surfaces of the two support plates, the outer side surface of the bolt placing plate is fixedly installed on the outer side surface of one support plate, and the outer side surface of the nut placing plate is fixedly installed on the outer side surface of the other support plate;

through the technical scheme, the grabbing mechanical arm can be flexibly rotated to adjust the direction, bolt positioning and installation can be conveniently carried out on bolt holes in the pipeline flange, bolts can be placed on the bolt placing plate, the bolts are positioned, the bolt fixing mechanism convenient to grab, the nuts can be placed on the nut placing plate, multiple groups of bolts and nuts are placed in grooves formed in the bolt placing plate and the nut placing plate through manual work, and the bolts and the nuts convenient to sort can be orderly.

Preferably, the bolt fixing mechanism comprises a first casing, the upper surface of the first casing is fixedly installed at one end of one of the grabbing mechanical arms, a first hydraulic cylinder is fixedly installed on the inner side wall of the first casing, a bolt limiting pipe is fixedly communicated with the outer side surface of the first casing, and a bolt electromagnet is fixedly installed after one end of a piston rod of the first hydraulic cylinder extends to the inside of the bolt limiting pipe;

through the technical scheme, the bolt electromagnet is pushed to move in the bolt limiting pipe through the first hydraulic cylinder, the pipe orifice of the bolt limiting pipe is hexagonal and is matched with the outer surface of the bolt, so that the bolt is conveniently limited and fixed, through the adjustment of the grabbing mechanical arm, the bolt limiting pipe is perpendicular to the bolt placing plate and is positioned right above one bolt on the bolt placing plate, the bolt electromagnet can adsorb the bolt through magnetism after being electrified, make the bolt get into the spacing intraductal of bolt, it fixes to peg graft at the mouth of pipe of the spacing pipe of bolt, can fix the bolt, be convenient for peg graft the bolt downthehole at pipeline flange, snatch the position that the arm caught the bolt through the camera, the bolt electro-magnet of being convenient for adsorbs the bolt, the position of bolt can coincide with the mouth of pipe hexagon of the spacing pipe of bolt, the bolt electro-magnet of being convenient for can adsorb the bolt and get into in the spacing intraductal of bolt.

Preferably, the nut fixing mechanism includes a second housing, the upper surface of the second housing is fixedly mounted at one end of another grabbing mechanical arm, the outer side surface of the second housing is fixedly mounted with a tightening motor, an output shaft of the tightening motor penetrates through the inner side wall of the second housing and is then fixedly mounted with a second hydraulic cylinder, the outer side surface of the second housing is fixedly mounted with a nut limiting pipe through a bearing, one end of the nut limiting pipe penetrates through the inner side wall of the second housing and is then fixedly mounted on the outer surface of the second hydraulic cylinder, and one end of a piston rod of the second hydraulic cylinder extends to the inside of the nut limiting pipe and is then fixedly mounted with a nut electromagnet;

through the technical scheme, the nut electromagnet is pushed to move in the nut limiting pipe through the second hydraulic cylinder, the pipe orifice of the nut limiting pipe is hexagonal and is matched with the outer surface of the nut, the nut is conveniently limited and fixed, through the adjustment of the grabbing mechanical arm, the nut limiting pipe is vertical to the bolt placing plate and is positioned right above one nut on the nut placing plate, the nut electromagnet can adsorb the nut through magnetism after being electrified, the nut enters the nut limiting pipe and is inserted into the pipe orifice of the nut limiting pipe for fixing, the nut can be fixed and driven by the tightening motor to drive the nut limiting pipe to rotate, make the nut can the threaded connection in the bolt one end of opposite side, fix the pipeline flange between the two, the spacing pipe of bolt is through the demagnetization with the spacing pipe of screw thread, prevents to influence the removal of electro-magnet.

The beneficial effects of the invention are as follows:

1. the manipulator is got through setting up the clamp, can press from both sides the pipeline on ground and get, drive six arms through moving platform and adjust, be convenient for control gripper is close to the pipeline, catch the pipeline of placing subaerially through the location camera, control gripper snatchs the interlude of pipeline, place and respond to both ends gravity inhomogeneous and cause the pipeline landing, accomplish the concatenation back at two sections pipelines simultaneously, get the pipeline that the manipulator can accomplish the concatenation from steering mechanism and take off through pressing from both sides, be close to the wall that needs to fix, the workman of being convenient for fixes, thereby do not need the workman to carry the pipeline and accomplish the concatenation and fix, it installs through the manual work to have solved current track traffic pipeline, the work load has been increased, this operation causes work efficiency to be low, cause the incident easily, a large amount of labour's technical problem has been consumeed.

2. By arranging the steering device, two sections of pipelines carried by the clamping manipulator can be rotated, so that bolt holes on a flange at one end opposite to the pipeline can be positioned on a horizontal line, the two sections of pipelines can be conveniently installed and fixed by inserting bolts, the two sections of pipelines are placed on the fixed arc block and are contacted with the rollers, the pipelines can be clamped and fixed by relative movement of the fixed arc block, when the pipelines need to be rotated, the rollers are driven by the micro motor to rotate, the pipelines contacted with the rollers are forced to slowly rotate by rotation of the rollers, the monitoring camera can detect the condition of the flange bolt holes at the opposite ends of the pipelines, the flange bolt holes at two ends are symmetrical, the micro motor stops passing through, the limiting wheels can be contacted with the outer side surface of the flange, the pipelines are prevented from horizontally moving in the rotating process, the monitoring camera is abutted, and the pipelines are positioned at the same time, the movable hydraulic cylinder pushes the sliding plate, the pipeline on the fixed arc block can be driven to move relatively, the bolt convenient to fix the flange can improve the working efficiency, the flange butt joint is not needed, the problem that the existing rail transit pipeline is installed through manual work is solved, the workload is increased, the operation causes low working efficiency, safety accidents are easily caused, and a large amount of labor force is consumed.

3. Through the arrangement of the tightening device, flanges opposite to two pipelines can be automatically fixed by using bolts, the bolt limiting pipe and the nut limiting pipe can be conveniently moved by adjusting the grabbing mechanical arm, after the bolt electromagnet is electrified, the second hydraulic cylinder pushes the electromagnet to move, the bolts on the bolt placing plate can be fixed in the bolt limiting pipe after being magnetically adsorbed, the nuts can be fixed in the nut limiting pipe through the nut electromagnet, when the bolt limiting pipe is driven to rotate by a tightening motor, the bolts inserted on the flanges can be connected in a threaded manner, two flanges between the two flanges are fixed, so that the bolts can be automatically fixed in bolt holes on the flanges, the flanges of the two pipelines are fixed, the splicing of the two pipelines is realized, the problem that the existing rail transit pipeline is manually installed is solved, and the workload is increased, the operation causes the technical problems of low working efficiency, easy safety accident and large labor consumption.

Drawings

Fig. 1 is a schematic diagram of an intelligent robot for installing a rail transit pipeline according to the present invention;

fig. 2 is a perspective view of a mobile base structure of an intelligent robot for installing a rail transit pipeline according to the present invention;

fig. 3 is a perspective view of a six-axis mechanical arm structure of an intelligent robot for installing a rail transit pipeline, provided by the invention;

fig. 4 is a perspective view of a clamping hydraulic cylinder structure of an intelligent robot for installing a rail transit pipeline, which is provided by the invention;

fig. 5 is a perspective view of a support frame structure of an intelligent robot for installing a rail transit pipeline according to the present invention;

FIG. 6 is a perspective view of a slide plate structure of an intelligent robot for installing a rail transit pipeline according to the present invention;

fig. 7 is a perspective view of a double-headed screw structure of an intelligent robot for installing a rail transit pipeline according to the present invention;

fig. 8 is a perspective view of a limiting hydraulic cylinder structure of an intelligent robot for installing a rail transit pipeline, which is provided by the invention;

fig. 9 is a perspective view of a grabbing mechanical arm structure of the intelligent robot for installing the rail transit pipeline, provided by the invention;

fig. 10 is a perspective view of a bolt placing plate structure of an intelligent robot for installing a rail transit pipeline according to the present invention;

fig. 11 is a perspective view of a first hydraulic cylinder structure of the intelligent robot for installing the rail transit pipeline provided by the invention;

fig. 12 is a perspective view of a nut placing plate structure of an intelligent robot for installing a rail transit pipeline according to the present invention;

fig. 13 is a perspective view of a second hydraulic cylinder structure of the intelligent robot for installing the rail transit pipeline according to the present invention.

In the figure: 1. moving the base; 11. a control box; 12. an operation screen; 13. a main camera; 2. a mobile platform; 21. a six-axis mechanical arm; 22. positioning a camera; 23. clamping the shell; 24. a clamping hydraulic cylinder; 25. an adjusting bracket; 26. a hinged connecting rod; 27. a limiting rod; 28. a gripper; 3. a support frame; 31. a moving hydraulic cylinder; 32. a slide plate; 4. a steering groove body; 41. a steering motor; 42. a double-ended lead screw; 43. fixing the arc block; 44. a micro motor; 45. a roller; 5. a limiting hydraulic cylinder; 51. a limiting motor; 52. a limiting wheel; 53. monitoring a camera; 6. a support plate; 61. grabbing a mechanical arm; 62. a bolt placing plate; 63. a nut placing plate; 7. a first housing; 71. a first hydraulic cylinder; 72. a bolt limiting pipe; 73. a bolt electromagnet; 8. a second housing; 81. screwing down the motor; 82. a second hydraulic cylinder; 83. a nut limiting pipe; 84. and a nut electromagnet.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-13, an intelligent robot for installing a rail transit pipeline comprises a mobile base 1, a control box 11, an operation screen 12, a main camera 13, a clamping manipulator, a steering device and a tightening device.

As shown in fig. 1-2, the lower surface of the control box 11 is fixedly mounted on the upper surface of the mobile base 1, the lower surface of the operation panel 12 is fixedly mounted on the upper surface of the control box 11, and the two main cameras 13 are fixedly mounted on the upper surface of the operation panel 12;

as shown in fig. 1-4, the gripping manipulator is located on the outer side of the control box 11 and is placed on the steering device after gripping the pipeline on the ground;

the clamping manipulators are provided with two groups, the clamping manipulators are arranged on the outer side surface of the control box 11, in order to facilitate the clamping by moving up and down and adjusting according to the position of the pipeline, the moving platforms 2 are fixedly arranged on the outer surfaces of two sides of the control box 11, each moving platform 2 consists of a supporting shell, a threaded rod, a main motor and a sliding block, and in order to position and clamp according to the position of the pipeline, six mechanical arms 21 are fixedly arranged on the outer side surfaces of the sliding blocks of the moving platforms 2;

the clamping mechanism is arranged at one end of a six-shaft mechanical arm 21, a positioning camera 22 is fixedly arranged at one end of the six-shaft mechanical arm 21 through a connecting plate in order to position a pipeline on the ground, a clamping shell 23 is fixedly arranged at one end of the six-shaft mechanical arm 21 in order to clamp the pipeline on the ground automatically, a clamping hydraulic cylinder 24 is fixedly arranged at the inner top wall of the clamping shell 23, an adjusting frame 25 is fixedly arranged on the lower surface of the clamping shell 23, hinged connecting rods 26 are fixedly arranged at the rear two ends of a piston rod of the clamping hydraulic cylinder 24 penetrating through the inner top wall of the adjusting frame 25 in order to fix the pipeline on the ground, the hinged connecting rods 26 are formed by hinging a connecting rod and a V-shaped rod through pin shafts, the outer side surfaces of the two hinged connecting rods 26 are respectively hinged to the two sides of the inner side wall of the adjusting frame 25 through pin shafts, and the pipeline is prevented from falling down in order to fix the pipeline, the two sides of the inner side wall of the adjusting frame 25 are hinged with limiting rods 27 through pin shafts, in order to clamp a pipeline, one ends of the limiting rods 27 are hinged with claws 28 through pin shafts, and then the other ends of the two hinged connecting rods 26 are respectively hinged with one ends of the two claws 28 through pin shafts to drive the two claws 28 to move oppositely or reversely to clamp the pipeline.

As shown in fig. 5-8, the steering device is located on the upper surface of the movable base 1 and rotates the pipeline clamped by the clamping manipulator, so as to realize the alignment action of the threaded holes of the flanges of the pipelines on the two sides;

the steering device comprises a moving mechanism, a steering mechanism and a limiting mechanism, wherein the moving mechanism adjusts the position of a pipeline positioned on the steering mechanism, the steering mechanism adjusts the rotation of the pipeline to realize the symmetry with a bolt hole on a pipeline flange on the other steering mechanism, and the limiting mechanism limits the pipeline on the steering mechanism;

the moving mechanism is arranged on the upper surface of the moving base 1, in order to support a pipeline, the support frames 3 are fixedly arranged on two sides of the upper surface of the moving base 1, in order to drive the pipeline to move relatively, the sliding plate 32 is inserted on the upper surface of the support frame 3 in a sliding manner, in order to automatically control the sliding plate 32 to move, the moving hydraulic cylinder 31 is fixedly arranged on the outer side surface of the support frame 3 through a connecting plate, and then one end of a piston rod of the moving hydraulic cylinder 31 and the outer side surface of the sliding plate 32 are fixedly arranged to push the sliding plate 32 to slide on the upper surface of the support frame 3;

the steering mechanism is arranged on the surface position of the sliding plate 32, in order to perform corresponding adjustment according to the pipeline, the steering groove bodies 4 are fixedly arranged on both sides of the upper surface of the sliding plate 32, in order to automatically perform corresponding adjustment according to the diameter of the pipeline, the steering motor 41 is fixedly arranged on the outer side surface of the steering groove body 4, in order to perform accurate adjustment according to the diameter of the pipeline, the double-headed screw 42 is fixedly arranged on the inner side wall of the steering groove body 4 through a bearing, the bolt lines at both ends of the double-headed screw 42 are symmetrically distributed, in order to fix the pipeline, the fixed arc blocks 43 are fixedly arranged at both ends of the double-headed screw 42, the inner walls of the two slide blocks are respectively bolted on the double-headed screw 42 and used for driving the two fixed arc blocks 43 to move oppositely, in order to drive the pipeline to rotate, the micro motor 44 is fixedly arranged on the outer side surface of the fixed arc blocks 43, the types of the micro motors 44 are the same, then the output shafts of the micro motors 44 are fixedly provided with the rollers 45, the other ends of the rollers 45 are fixedly arranged on the inner side wall of the fixed arc block 43, the rollers 45 are positioned on the inner surface of the fixed arc block 43, the rollers 45 can drive the pipeline to rotate when rotating, the rollers 45 are in contact with the pipeline to realize the purpose of fixing the pipeline when not rotating, the rollers 45 are made of wear-resistant materials, and the outer surface in contact with the pipeline is subjected to rough treatment to increase friction force, so that the pipeline can be driven to rotate conveniently;

limiting mechanism, install on moving base 1's upper surface position, in order not to hinder the butt joint of two sections pipelines, at the equal fixed mounting of moving base 1's upper surface both sides spacing pneumatic cylinder 5, in order to prevent that the pipeline from taking place to remove at the rotation in-process, pass through connecting plate fixed mounting limiting motor 51 in limiting hydraulic cylinder 5's piston rod one end, then limiting motor 51's spacing wheel 52 of output shaft fixed mounting is used for spacing the pipeline, in order to realize the pipeline flange bolt hole symmetry at both ends automatically, there is monitoring camera 53 at limiting hydraulic cylinder 5's piston rod one end through connecting plate fixed mounting.

As shown in fig. 9-13, the tightening device is located on the outer surface of the control box 11 and is bolted to the aligned pipe at the upper flange of the steering device;

the tightening device comprises supporting plates 6, grabbing mechanical arms 61, bolt placing plates 62, nut placing plates 63, bolt fixing mechanisms and nut fixing mechanisms, wherein the lower surfaces of the two supporting plates 6 are respectively and fixedly installed on two sides of the outer side surface of the control box 11 through grooves;

the bolt fixing mechanism is installed at one end of one grabbing mechanical arm 61, in order to support the bolt fixing mechanism, a first machine shell 7 is fixedly installed at one end of one grabbing mechanical arm 61, in order to push a bolt to move, a first hydraulic cylinder 71 is fixedly installed on the inner side wall of the first machine shell 7, in order to fix the bolt, a bolt limiting pipe 72 is fixedly communicated with the outer side surface of the first machine shell 7, a pipe opening of the bolt limiting pipe 72 is hexagonal and is in sliding insertion connection with a nut of the bolt, one end of the bolt limiting pipe 72 penetrates through the inner side wall of the first machine shell 7 to extend into the first machine shell, and in order to grab the bolt, a bolt electromagnet 73 is fixedly installed after one end of a piston rod of the first hydraulic cylinder 71 extends into the bolt limiting pipe 72;

a nut fixing mechanism installed at one end of the other of the grasping robot arms 61, for supporting the nut fixing mechanism, a second machine shell 8 is fixedly arranged at one end of the other grabbing mechanical arm 61, and in order to drive the nut to rotate to realize screwing work, a tightening motor 81 is fixedly installed on the outer side surface of the second housing 8, a second hydraulic cylinder 82 is fixedly installed after an output shaft of the tightening motor 81 penetrates the inner side wall of the second housing 8 in order to push the nut to move, and in order to fix the nut, a nut limiting pipe 83 is fixedly installed on the outer side surface of the second housing 8 through a bearing, and in order to grab the nut, a nut electromagnet 84 is fixedly installed after one end of the piston rod of the second hydraulic cylinder 82 extends to the inside of the nut limiting pipe 83, in order to drive the nut limiting pipe 83 to rotate, one end of the nut limiting pipe 83 penetrates through the inside of the second housing 8 and is fixedly mounted on the outer surface of the second hydraulic cylinder 82.

The working principle is as follows: when pipelines need to be spliced and installed, the moving platform 2 on the control box 11 drives the six-axis mechanical arm 21 to move downwards, the positioning camera 22 positions the pipelines placed on the ground, the six-axis mechanical arm 21 drives the clamping shell 23 to be located above the pipelines needing to be clamped, the piston rod of the clamping hydraulic cylinder 24 is controlled to extend out to drive the hinged connecting rod 26 to deflect, so that the machine claws 28 on two sides are opened, the six-axis mechanical arm 21 drives the clamping shell 23 to move downwards, the machine claws 28 are located on two sides of the pipelines, and after the piston rod of the clamping hydraulic cylinder 24 retracts, the machine claws 28 can clamp and lift the pipelines;

two clamping manipulators respectively grab a pipeline and place the pipeline between the fixed arc blocks 43 on the support frame 3, after the pipeline is contacted with the roller 45, the steering motor 41 controls the double-headed screw 42 in the steering groove body 4 to rotate, so that the two fixed arc blocks 43 move relatively to clamp the pipeline, the monitoring camera 53 is pushed by the ascending of the piston rod of the limiting hydraulic cylinder 5 to monitor whether the flange bolt holes of the pipelines on two sides are symmetrical, when the two fixed arc blocks are not symmetrical, the micro motor 44 is controlled to drive the roller 45 to rotate, meanwhile, the limiting motor 51 drives the limiting wheel 52 to rotate to force the pipeline to rotate, when the flange bolt holes on the opposite end of the pipeline are symmetrical, the micro motor 44 and the limiting motor 51 are controlled to stop, meanwhile, the limiting hydraulic cylinder 5 drives the monitoring camera 53 to descend, the sliding plate 32 is pushed by the moving hydraulic cylinder 31 on the support frame 3 to move, so that the sliding blocks on two sides drive the pipelines to move relatively, the opposite faces of the flanges of the two pipelines are contacted;

the grabbing mechanical arm 61 on the supporting plate 6 on the control box 11 adjusts the position of the bolt fixing mechanism, so that the bolt limiting pipe 72 is perpendicular to the bolt placing plate 62 and contacts with the upper surface of the bolt placing plate 62, and is positioned above a bolt to be grabbed, the bolt electromagnet 73 is pushed by the first hydraulic cylinder 71 of the first machine shell 7 to move and is close to the pipe orifice of the bolt limiting pipe 72, the bolt electromagnet 73 can adsorb the bolt below, similarly, the other grabbing mechanical arm 61 drives the nut limiting pipe 83 to be perpendicular to the nut placing plate 63 and contacts with the upper surface of the nut placing plate 63, and is positioned above a nut to be grabbed, the nut electromagnet 84 is pushed by the second hydraulic cylinder 82 of the second machine shell 8 to move, the nut electromagnet 84 can adsorb the nut below after being electrified, the nut is inserted into the inner wall of the pipe orifice of the nut limiting pipe 83 and does not contact with the nut electromagnet 84, the direction of the bolt can be adjusted by driving the bolt limiting pipe 72 of the grabbing mechanical arm 61 to move, so that the bolt can be inserted into the bolt hole of the opposite flange, meanwhile, the other grabbing mechanical arm 61 drives the nut limiting pipe 83 to move and adjust the direction, so that the nut inside the nut limiting pipe 83 is contacted with one end of the bolt, the outer side surface screwing motor 81 of the second shell 8 is started, the grabbing mechanical arm 61 drives the nut limiting pipe 83 to move forwards while driving the nut limiting pipe 83 to move, so that the nut is screwed into one end of the bolt, the first hydraulic cylinder 71 pushes the bolt to move towards the outside of the bolt limiting pipe 72, the bolt can be completely screwed by the nut, the flange between the bolt and the bolt is fixed, after the operations are repeated, the bolt is fixed in the bolt hole, when the grabbing mechanical arm 61 is inconvenient to fix the bolt hole of the pipeline flange, the pipeline can be driven by the roller 45 to rotate, so that the flange which is not fixed by the bolt is positioned at one side of the grabbing mechanical arm 61, the grabbing mechanical arm 61 is convenient to fix by using bolts;

the fixed pipelines are clamped by the clamping mechanical arm, the fixed arc blocks 43 move oppositely, the clamping mechanical arm enables the pipelines to be close to the wall surface, the spliced pipelines are fixed on the wall body by workers, and then the pipelines are connected with the pipelines which are spliced and fixed on the wall body in the prior art through clamps or other connecting pieces.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.