CN107538210A - Bolt clamp device and its operating method - Google Patents
Bolt clamp device and its operating method Download PDFInfo
- Publication number
- CN107538210A CN107538210A CN201710910821.2A CN201710910821A CN107538210A CN 107538210 A CN107538210 A CN 107538210A CN 201710910821 A CN201710910821 A CN 201710910821A CN 107538210 A CN107538210 A CN 107538210A
- Authority
- CN
- China
- Prior art keywords
- bolt
- clamp device
- bearing
- unit
- bolt clamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Clamps And Clips (AREA)
- Hand Tools For Fitting Together And Separating, Or Other Hand Tools (AREA)
Abstract
A kind of bolt clamp device and its operating method are disclosed, is included for being fastened on preloaded multiple bolts, the bolt clamp device on part：Bearing；Execution unit, on the bearing, tightened for bolt described in the bearing of trend tensioning along the bolt and by the nut on the bolt；Traveling unit, on the bearing, the path for driving the bolt clamp device to be arranged along the multiple bolt is advanced；Control system, control the action of the execution unit and the traveling unit.Above-mentioned bolt clamp device realizes the automatic Tensioning of bolt, reduces hand labor intensity, and improves retention efficiency, significantly improves fastening precision, can preferably control bolt installation quality.
Description
Technical field
The present invention relates to bolt installation fastening field, specifically, the present invention relates to a kind of bolt clamp device and operation
Method, more particularly to a kind of bolt clamp device and its operating method for being capable of automatically walk.
Background technology
MW grade wind driven generators unit is mainly made up of pylon, generator and impeller etc., and wherein pylon is typically multiple steel
Tower sections processed composition, and the thin-wall tube-shaped structure of tower sections to be usually both ends have annular flange.Generally exist on annular flange
It is evenly equipped with some bolt holes on circumferencial direction, connecting bolt and matching washer, nut are by these bolt holes by adjacent towers
Frame section links together.
When lifting tower sections, on the basis of bottom section tower sections are installed to and by after two tower sections centerings, operating personnel
First all bolts at annular flange are installed and manual pre-screwing, all bolts are then pressed into technique using hydraulic elongator
Order repeatedly stretching.During tensioning, first hydraulic elongator is placed at the bolt to be fastened by manpower, then turn pull bar makes
Pull bar and the bolt to be fastened or crab-bolt end are together by a threaded connection, and are then given hydraulic pressure oil supply cylinder, are made spiral shell by pull bar
Bolt or crab-bolt stretching, until reaching pre-set pressure value.Afterwards, spanner turn nut manually is used, it is pre- until reaching
Determine moment of torsion.The high pressure in hydraulic cylinder is finally laid down, stretcher is disassembled from the bolt fastened and is moved to next
Same tightening operation is performed at bolt.
In whole operation process, a bolt is often fastened, has been required for disassembling hydraulic elongator, then manually
It is placed at an other bolt.Because bolt number is more at tower flanges, and hydraulic elongator is generally heavier, therefore scene
Personnel's workload is very big.A bolt has often been fastened simultaneously, has been required for dismantling and reinstalling equipment, this causes the wave of time
Take and the reduction of in-site installation efficiency.In addition, scene is all artificial fastening bolt, bolt installation quality is difficult to control.
The content of the invention
It is an object of the invention to provide a kind of bolt clamp device, automatically to realize the fastening of bolt, reduces artificial
Operation input, improves installation quality.
Another object of the present invention is to provide a kind of method of fastening bolt.
To achieve these goals, according to an aspect of the present invention, there is provided a kind of bolt clamp device, for being fastened on
Preloaded multiple screw bolt and nut, the bolt clamp device include on part：Bearing；Execution unit, installed in the branch
On seat, tightened for bolt described in the bearing of trend tensioning along the bolt and by the nut on the bolt；Traveling unit,
On the bearing, the path for driving the bolt clamp device to be arranged along the multiple bolt is advanced；Control system
System, controls the operation of the execution unit and the traveling unit.
Preferably, the bearing includes bottom plate, at least two guide shafts extended vertically upwards from the bottom plate and installation
Linear bearing or sleeve on each guide shaft.
Preferably, being detachably provided with the bottom of the bottom plate can be with the matching ends of the multiple bolt
Guide rail.
Preferably, the guide rail is channled rail, and with least two bolted joints.
Preferably, the execution unit includes connecting plate, hydraulic cylinder and stretcher, and the connecting plate is fixedly installed to institute
State on linear bearing or sleeve, the swing arm of the hydraulic cylinder is fixed to the connecting plate, and the stretcher is arranged on the connection
On plate.
Preferably, the execution unit also includes linear displacement transducer, for detecting the position of the hydraulic cylinder.
Preferably, the stretcher includes：Cylinder, it is fixed on the downside of the connecting plate；Power transmission shaft, installed in the cylinder
It is interior, and be only capable of rotating relative to the cylinder；Stretching head (37), the bottom of the power transmission shaft is removably mounted on, and can
Engaged with the end of bolt；Shifting disc, the bottom of the cylinder is removably mounted on, and can be with the nut on the bolt
Coordinate；First motor unit, for driving the drive axis, so that the stretching head is engaged or departed from the end of bolt
Engagement；Second motor unit, for driving the shifting disc to rotate, so that the nut rotates predetermined angular.
Preferably, first motor unit is fixed on the upside of the connecting plate, and the first motor including being connected with
Decelerator, the output of the decelerator drive the drive axis.
Preferably, first motor unit also includes the first encoder to be communicated with the control system, for detecting
The output position information of first motor.
Preferably, second motor unit is fixed on the outside of the cylinder, and the second motor including being connected and
Decelerator, the output of the decelerator drive the shifting disc to rotate.
Preferably, second motor unit also includes the second encoder to be communicated with the control system, for detecting
The output position information of second motor.
Preferably, on the outer ring of the shifting disc formed with gear structure, the decelerator of second motor unit it is defeated
Go out and be meshed by gear with the gear structure, and the inner ring of the shifting disc is hexagonal.
Preferably, be additionally provided with elastic parts between the cylinder and the power transmission shaft, with to the power transmission shaft in axle
Apply elastic force upwards.
Preferably, the execution unit also includes being fixed on the image to communicate on the outside of the cylinder and with the control system
Identification module, for monitoring the relative position relation between the stretcher and bolt.
Preferably, the image identification module includes the camera lens for capture images, for handling image and to the control
System processed sends the processor of signal.
Preferably, the traveling unit includes：Fixed mount, fixed to the bearing；3rd motor unit, it is connected to described
On fixed mount；Drive gear, it is removably mounted on the downside of the fixed mount, the drive gear includes multiple gear teeth, wherein
One gear teeth bolt adjacent with two engages, and the 3rd motor unit drives the drive gear to rotate.
Preferably, the 3rd motor unit includes the 3rd motor and decelerator being connected, the output of the decelerator
The drive gear is driven to rotate.
Preferably, the 3rd motor unit also includes the 3rd encoder to be communicated with the control system, for detecting
The output position information of 3rd motor.
Preferably, sensing platform is provided with each gear teeth of the drive gear, and the traveling unit also wraps
The proximity switch on the fixed mount is included, the proximity switch is when often detecting that sensing platform passes through just to the control
System sends signal, and the signal that the control system is sent according to the proximity switch is counted.
Preferably, control system drive gear according to the execution unit relative to the position adjustments of bolt
Position, so that the execution unit is aligned with bolt.
Preferably, the bolt clamp device also includes the support unit being arranged on the bearing, to prevent the spiral shell
Bolt fastener is toppled over relative to the part.
Preferably, the support unit includes：Pivot plate, one end is pivotally connected to the bearing, with stowed position
Rotated between restraining position；Roller, installed in the other end of the pivot plate, and the roller is remote in the stowed position
From the part, it is brought into close contact on the part in the restraining position and is rolled along the part.
Preferably, the support unit also includes the Buffer Unit being arranged between the pivot plate and the roller.
Preferably, the relative position that the pivot plate is fixed between the bearing in the stowed position by spring catch
Relation, in the relative position relation that the restraining position is fixed by fastener between the bearing.
Preferably, the part is the flange in the adjacent tower segments of wind-driven generator unit.
According to another aspect of the present invention, a kind of method that bolt fastening is carried out using bolt clamp device, its feature are existed
In the bolt clamp device includes：Bearing；Execution unit, on the bearing, for the extension along the bolt
Bolt described in the tensioning of direction simultaneously tightens the nut on the bolt；Traveling unit, on the bearing, for driving
State bolt clamp device to advance along the multiple bolt, the described method comprises the following steps：A, the bolt clamp device is put
Put that pretension has on the end of multiple bolts of nut and is aligned with a bolt in the multiple bolt respectively；B, profit
Respective bolt is stretched to default value of thrust with the execution unit and tightens nut；C, the bolt fastened is discharged；D, control
The traveling unit makes the bolt clamp device march at next bolt；Repeat step B to D.
Preferably, methods described also includes：Chosen according to the specification of bolt and arrangement and be suitably fixed on the bearing
The guide rail of bottom, the drive gear engaged with two neighboring bolt of the traveling unit, the execution unit can be with spiral shell
The stretching head of bolt screw thread engagement and the shifting disc for tightening nut.
Preferably, the execution unit also includes stretching head, the first motor unit of the driving stretching head rotation, driving
The hydraulic cylinder of stretching head lifting, the shifting disc being arranged on below the stretching head, the second of disc spins are stirred described in driving
Motor unit, the step B include：Shunk by the hydraulic cylinder, the stretching head is moved to and the bolt end phase
The position connect；Drive the stretching head rotation to be engaged to enter with bolt by first motor unit, while make the liquid
Cylinder pressure correspondingly shrinks preset distance；The hydraulic cylinder is set to continue up stretching, tensioning bolt, until reaching the default pulling force
Value；Nut is tightened using disc spins are stirred described in second motor unit drive, until reaching predetermined torque value.
Preferably, step C includes：The hydraulic cylinder is shunk, its pulling force to bolt is reduced to zero；Utilize described first
Motor unit makes the stretching head reversely rotate to be disengaged from bolt, while the hydraulic cylinder is correspondingly stretched out, to return
To initial position.
Preferably, the traveling unit includes drive gear and the 3rd action of the driving drive gear rotation is single
Member, the step D include：The side arranged using the 3rd motor unit driving drive gear along the multiple bolt
To a tooth of advancing forward, the bolt clamp device is set to be positioned on next bolt.
Bolt clamp device according to an embodiment of the invention realizes the automatic Tensioning of bolt, it is only necessary to prior pretension bolt
Afterwards can automatic fastening bolt, so as to reduce the labor intensity that Field Force puts into fastening bolt, and improve fastening
Efficiency, the installation time of various equipment is shortened, reduces cost.In addition, by automatically controlling tightening operation, according to various
Model requirement of equipment etc. sets parameters, can significantly improve fastening precision, and make the tautness phase of each bolt
Together, bolt installation quality can preferably be controlled.
In addition, the part such as stretching head and the shifting disc of bolt clamp device by setting detachable or replaceable specification, energy
Enough it is adapted to various application scenarios.
Brief description of the drawings
Fig. 1 is the structural representation of bolt clamp device according to an embodiment of the invention；
Fig. 2 is the schematic diagram of the bearing shown in Fig. 1；
Fig. 3 is the schematic diagram of the execution unit shown in Fig. 1；
Fig. 4 is the partial sectional view along Fig. 3 line A-A interceptions；
Fig. 5 is the three-dimensional view of the execution unit shown in Fig. 3；
Fig. 6 is the schematic diagram of the shifting disc of execution unit；
Fig. 7 is the sectional view along Fig. 6 line B-B interceptions；
Fig. 8 is the three-dimensional view of the shifting disc shown in Fig. 6；
Fig. 9 is the schematic diagram of the traveling unit shown in Fig. 1；
Figure 10 is the schematic diagram of the support unit shown in Fig. 1；
Figure 11 is the sectional view along Figure 10 line C-C interceptions；
Figure 12 is the three-dimensional view of the support unit shown in Figure 10；
Figure 13 is the schematic diagram that bolt clamp device according to an embodiment of the invention is in job state；
Figure 14 is another partial schematic diagram that bolt clamp device according to an embodiment of the invention is in job state；
Figure 15 is the partial sectional view along Figure 14 line D-D interceptions；
Figure 16 is the Organization Chart of control system according to an embodiment of the invention；
Figure 17 is the operational flowchart of bolt clamp device according to an embodiment of the invention.
Description of reference numerals：
1：Bearing, 11：Guide rail, 12：Bottom plate, 13：Handle；14：Linear bearing, 15：Guide shaft, 16：Top plate, 17：Support
Block, 2：Support unit, 21：Spring catch, 22：Roller, 23：Spring, 24：Pivot plate, 25：Free end, 26：Otic placode, 27：Bolt
Fastener 28：Connection end, 3：Execution unit, 31：Hydraulic cylinder, 32：Connecting plate, 33：First motor unit, 34：Cylinder, 35：The
Two motor units, 36：Power transmission shaft, 37：Stretching head, 38：Shifting disc, 381：Outer ring, 382：Inner ring, 39：Elastic parts, 310：Shadow
Picture identification module, 4：Traveling unit, 41：Fixed mount, 42：3rd motor unit, 43：Drive gear, 44：Proximity switch, 45：Sense
Answer platform, 46：Connector, 5：Tower segments flange, 6：Nut, 7：Bolt, 100：Control system, 101：Controller, 102：Communicate mould
Block, 103：D/A converter module, 104：Execution control module, 105：Traveling control module, 106：Linear displacement transducer, 107：
Guidance panel, 108：I/O modules, 109：First motor control module, 110：Hydraulic control module, 112：Second motor control
Module, 113：Hydraulic control valve, 114：First motor, 115：Second motor, 116：3rd motor.
Embodiment
In order that those skilled in the art can be better understood from the present invention, below in conjunction with the accompanying drawings to the specific reality of the present invention
Example is applied to be described in detail.
Reference picture 1, bolt clamp device according to an embodiment of the invention is shown, the bolt clamp device is used for people
The bolt of work pretension is fastened to predetermined torque value, realizes the connection between part.The multiple bolts being applied to can be with each
The mode of kind rule is arranged, for example, can be arranged in a linear, or in circular arc or circumferential array.Bolt provided by the present invention
Fastener may include bearing 1, the execution unit 3 on bearing 1 and traveling unit 4 and for controlling execution unit 3
With the control system of the operation of traveling unit 4, execution unit 3 is used in the vertical direction tensile bolt and tightens the spiral shell on bolt
It is female that so as to which bolt be fastened, the path that traveling unit 4 is used to drive bolt clamp device to arrange along bolt is advanced forward, so as to
Moved to after a bolt has been fastened at next bolt and continue terminal operation, until having fastened all bolts.
Bearing 1 may include bottom plate 12, at least two guide shafts 15 extended vertically upwards is provided with bottom plate 12, such as Fig. 2
It is shown.Linear bearing 14 is mounted on each guide shaft 15, to be moved up and down along guide shaft 15.Execution unit 3 and linear axis
Hold 14 to be fixedly connected and supported by linear bearing 14, so as to move up and down along guide shaft 15 by linear bearing 14.Guide shaft 15 can
Think cylinder axis, its cross section can be circle, so as to which the linear bearing 14 with the inner tube wall with respective shapes is slided or rolled
Coordinate.However, the cross sectional shape of the cross sectional shape of guide shaft 15 and the inner tube wall of linear bearing 14 is not limited to circle, as long as both energy
It is enough to cooperate.In addition, linear bearing 14 can also be replaced with simple sliding sleeve.
The bottom of bearing 1 is also provided with guide rail 11, for guiding arrangement of the bolt clamp device along multiple bolts
Route is advanced forward.When performing bolt tightening operation, the end of guide rail 11 and multiple bolts cooperates, and passes through the end of bolt
The weight of portion's carrying bolt fastener.
Preferably, guide rail 11 is arranged on the basal surface of bottom plate 12, and can specifically be channled rail.Guide rail 11 prolongs
Stretching direction can be with the arrangement mode of matching screw, to adapt to the bolt of various different arrangements.Guide rail 11 can also removably pacify
On bottom plate 12, so as to which the size according to the bolt on different parts is different and changes different guide rails 11, so as to
Expand the application of bolt clamp device.In a preferred embodiment, it can move along below bottom plate 12 and pacify before and after direction
Two channled rails are filled, and each channled rail can accommodate the end of bolt, and two bolt ends can be at least accommodated, from
And bond strength is improved, prevent bolt clamp device from sliding.In addition to channled rail, other forms can also be used, as long as
With bolt end guiding can be coordinated to advance.For example, simply can be fixed on the bottom surface of bottom plate 12 two it is parallel
Plate.
Support block 17 can be also further connected between the upper surface of bottom plate 12 and guide shaft 15, so that guide shaft 15 is more steady
It is fixed, and support linear bearing 14.Support block 17 is arranged on the upper surface of bottom plate 12, and guide shaft 15 is arranged in support block 17, when
, can be by the top braces of support block 17 when linear bearing 14 slides downwards.Obviously, support block 17 it is not necessary to, also may be used
So that the diameter of the hypomere of guide shaft 15 reaches same effect more than the diameter of epimere.
Top plate 16 can be also further connected with the top of multiple guide shafts 15, is interconnected on the top of multiple guide shafts 15
Together, to strengthen the structural strength of bearing 1, and bolt clamp device is more stable in operation.
The through hole passed through when allowing execution unit 3 to move up and down or opening are provided with bottom plate 12 and in top plate 16.
In order to facilitate mobile bolt clamp device, handle 13 is also equipped with bottom plate 12, so as to operating personnel's handle
Hold.
The execution unit 3 of bolt clamp device according to an embodiment of the invention is carried out referring to Fig. 1, Fig. 3 to Fig. 8
Specifically describe.
The connecting plate 32 that execution unit 3 may include to fix with linear bearing 14, the liquid for driving the lifting of execution unit 3
Cylinder pressure 31 (as shown in Figure 1) and the stretcher for being stretched to bolt.Multiple holes can be offered on connecting plate 32,
To be fixedly connected with linear bearing 14.Hydraulic cylinder 31 is used to drive stretcher to perform tensioning operation, and its swing arm is permanently connected
On to the lower surface of connecting plate 32 and master cylinder is arranged on bottom plate 12, and stretcher is arranged on connecting plate 32, so as to stretcher
As connecting plate 32 moves up and down under the driving of hydraulic cylinder 31 together.In addition, execution unit 3 may also include straight-line displacement sensing
Device, for detecting the position of hydraulic cylinder 31, it is preferably magnetostriction class sensor, according to the straight-line displacement of hydraulic cylinder away from
Control system is sent to from different size of voltage or current value feedback signal is exported.
Stretcher can specifically include the cylinder 34 for being fixed on the lower section of connecting plate 32, and power transmission shaft is provided with cylinder 34
36, the power transmission shaft 36 can move up and down together with cylinder 34 while can be rotated relative to cylinder 34.At the bottom of power transmission shaft 34
End stretching head 37 is removably installed, the stretching head 37 is provided with internal thread, to be meshed with bolt end, so as to spiral shell
Tensioning is carried out to bolt after the engagement of bolt end.In addition, removably it is provided with what can be engaged with nut in the bottom of cylinder 34
Shifting disc 38, shifting disc 38 can equally move up and down together with cylinder 34 can also rotate relative to cylinder 34, so as to by spiral shell
Mother is screwed to predetermined torque value.
Stretching head 37 and shifting disc 38 can by it is various it is suitable in a manner of removably install.So, can be according to current
The model of screw bolt and nut fastened is needed, chooses stretching head 37 and the shifting disc 38 of suitable dimension to adapt to the spiral shell of different model
Screw bolt and nut.In the present embodiment, if needing to change, first cylinder 34 can be disassembled, then changes stretching head 37 again and stir
Disk 38, afterwards again by the fit on of cylinder 34.The shifting disc 38 of different size can have the outer ring of identical size and different chis
Very little inner ring.
Stretcher can also include the first motor unit 33 and the second motor unit 35, and the first motor unit 33 is used to drive
Dynamic power transmission shaft 36 and stretching head 37 rotate so that stretching head 37 engages with bolt end progress screw thread, and the second motor unit 35 can be with
Driving shifting disc 38 rotates, to tighten nut.Specifically, the first motor unit 33 can be arranged on the top of connecting plate 32, can wrap
Include the first motor and the decelerator with the output axis connection of the first motor, output (can be output shaft) and the transmission of decelerator
Axle 36 connects.First motor can be servomotor.First motor can communicate with control system, so as to according to control system
The control signal of transmission and the suitable time rotate and rotating requires amount.Therefore, the output shaft in the first motor can also be set
The first encoder is equipped with, to detect the amount of spin of the first motor, determines its output position information, and send accordingly to control system
Signal.
In addition, for the ease of the installation of stretcher, opening is may be provided with connecting plate 32, to allow the first motor unit
Connection between 33 and power transmission shaft 36.
Second motor unit 35 can be fixed on the outer wall of cylinder 34, and similarly, the second motor unit 35 may also comprise phase
The second motor and decelerator of connection, and the output (can be output shaft) of decelerator can be connected to shifting disc by transmission mechanism
38.Second motor can be servomotor, and transmission mechanism can include Hooks coupling universal coupling, gear pair etc..Equally, the second action is single
Member 35 also includes the second encoder for being used to detect the output position information of the second motor, and second encoder can send out detection information
Control system is sent to, so that control system controls the rotation of the second motor.
The outer ring 381 of the shifting disc 38 of stretcher can be formed gear structure, and inner ring 382 can with hexagonal shape,
To be engaged with nut, as shown in Figure 6 to 8.Gear structure on outer ring 381 can via a series of gear drive with
The output axis connection of decelerator, so as to be rotated under the driving of the second motor.
In addition, the first motor unit 33 and the second motor unit 35 can use the driving source of other forms, example
Such as hydraulic motor, and it is not limited to above-described motor and decelerator.
Elastic parts 39 is further provided between power transmission shaft 36 and cylinder 34, common spring, butterfly bullet can be selected
Spring etc..When power transmission shaft 36 moves downward and just started to contact with bolt end to enter engagement, elastic parts 39 is now located
In compressive state, so as to apply downward elastic force to power transmission shaft 36 in the axial direction, to assist between power transmission shaft 36 and bolt
Initial engagement, make between the two be easier enter engagement.When having fastened bolt, with power transmission shaft 36 depart from bolt after
Continuous motion upwards, because power transmission shaft 36 is more and more far away from bolt so that elastic parts 39 is elongated, and returns to initial position.
Execution unit 3 may also include the image identification module 310 on cylinder 34, for detecting the current phase of stretcher
Corresponding signal is sent for the position of bolt, and to control system, so as to which control system controls traveling unit according to the signal
Action so that stretcher is in directly over bolt to be tightened and performs tensioning.Specifically, image identification module 310 can
Camera lens or video camera and the image captured for processing and the processing that signal is sent to control system including capture images
Device.
The traveling unit 4 to bolt clamp device according to an embodiment of the invention is specifically described below.Such as Fig. 9 institutes
Show, traveling unit 4 specifically may include fixed mount 41, the 3rd motor unit 42 and drive gear 43.Fixed mount 41 can be fixed to
Bearing 1, it can specifically be fixed to bottom plate 12.Drive gear 43 is removably mounted on the lower section of fixed mount 41, has thereon
Multiple gear teeth, the size of these gear teeth are designed to be meshed with two adjacent bolts, so, can be according to the specification of bolt
The drive gear 43 that suitable dimension is chosen with arrangement is installed.
Drive gear 43 can be driven by the 3rd motor unit 42, meanwhile, when drive gear 43 is per one tooth of traveling forward, OK
Entering unit 4 can drive bolt clamp device to march to forward at next bolt, so as to continue that fastening work is performed to the bolt
Industry.For example, drive gear 43 can currently engage with i-th and i+1 bolt, now stretcher can be to the i-th -3 (specific root
Depending on the size of bolt clamp device) individual bolt performs terminal operation, and after fastening is completed, drive gear 43 is just to forward
A tooth is moved, so as to which a gear teeth engage with i+1 and the i-th+2 bolts, at this moment stretcher is aligned with the i-th -2 bolts,
To perform terminal operation to this bolt.
Drive gear 43 can be in chain colyliform, and its engaging between bolt can be similar to engaging for sprocket wheel and chain.For example,
Vertical axle can be installed on fixed mount 41, then drive gear 43 is fixed on the axle, and the 3rd motor unit 42 can be with
The axis connection and drive the axle and drive gear 43 to rotate.
3rd motor unit 42 can be arranged on fixed mount 41, and similarly, the 3rd motor unit 42 may include to be connected
The 3rd motor and decelerator, the output (can be output shaft) of decelerator is connected with drive gear 43, specifically can be with installation
The axis connection of drive gear 43.3rd motor can be servomotor.Equally, the 3rd coding is may also set up on the 3rd motor
Device, for detecting the output position information of the 3rd motor and sending corresponding signal to control system.Specifically, control system
It can be closed according to what is received from the image identification module 310 of execution unit 3 on the relative position between stretcher and bolt
It is to control the 3rd motor of the 3rd motor unit 42, so as to adjust the position of drive gear 43 so that stretcher is exactly in
Above bolt to be tightened, or the alignment error between stretcher and bolt is follow-up without influenceing within the scope of making a reservation for
Screw thread engagement and fastening.
Traveling unit 4 can also further comprise proximity switch 44, and the proximity switch 44 can be arranged on solid by connector 46
Determine on frame 41.Sensing platform 45 is may be provided with each tooth of drive gear 43, when drive gear 43 rotates, senses platform 45
It can pass through immediately below proximity switch 44 or near it.When drive gear 43 advances forward a tooth, proximity switch 44 is just
A sensing platform 45 can have been sensed to pass through and produce an on-off model, and the signal is fed back into control system.Control
System will count after signal is received, so as to detect the Number of Bolts that current bolt clamp device has completed fastening
Measure and when all bolts are completed to fasten.For example, when needing to fasten N number of bolt, complete fastening when first bolt and
When drive gear 43 is advanced at next bolt, control system just starts counting up 1, when the counting of control system reaches N, says
Bright terminal operation is fully completed, and bolt clamp device can be out of service.
In addition, bolt clamp device according to an embodiment of the invention also includes the support list being arranged on bearing 1
Member 2, for being stablely supported at the end of multiple bolts in bolt clamp device operation, prevents bolt clamp device
Topple over relative to part.Specifically, as shown in Figure 10 to Figure 12, support unit 2 may include pivot plate 24 and installed in pivot
The roller 22 of the free end 25 of plate 24, roller 22 can be rotated freely.The connection end 28 of pivot plate 24 can be pivotally connected to
The side of bearing 1, such as be attached on the side of bottom plate 12.Free end 25 described here for pivot plate 24 not with bearing 1
One end of connection, that is, one end relative with connection end 28.
Pivot plate 24 can rotate relative to bearing 1 between stowed position and restraining position.Pivot plate 24 is in stowed position
When be generally in the top of bearing 1, roller 22 with component contact to be tightened, and does not turn in restraining position, pivot plate 24 from bearing 1
Turn, make the 25 times rotations in free end and be in the lower section of bearing 1, and roller 22 is directly fitted on part.Roller 22 can
Rolled on part, on the one hand bolt clamp device can so be played a supportive role, prevent bolt clamp device relative to portion
Part is toppled over, and on the other hand also not interfering with bolt clamp device advances forward.Pivot plate 24 should have certain length, with increase
The overturning-preventing torque that can be provided.
Specifically, as shown in figure 1, pivot plate 24 can be connected to bottom plate 12 by spring catch 21, received so as to be positioned at
Position is played, when pivot plate 24 is turned into restraining position, operating personnel can utilize extra bolt fastener etc. by pivot plate
24 to be positioned at restraining position motionless.Roller 22 can be arranged on otic placode 26, and otic placode 26 can be fastened by bolts part 27 and be connected to
Pivot plate 24, and the nut end of bolt fastener 27 can be placed in the size that is opened on otic placode 26 it is relative with nut end more greatly
Groove in, and screw rod can be threadedly coupled with pivot plate 24, so as to which otic placode 26 and roller 22 are tight relative to pivot plate 24 and bolt
Firmware 27 has certain motion surplus in the axial direction of bolt fastener 27.Further set between otic placode 26 and pivot plate 24
There is Buffer Unit, to absorb vibration.The Buffer Unit can specifically be spring 23, and spring 23 can be enclosed on bar, one end of the bar
On may be provided with screw thread and may be threadably connected in the screwed hole on otic placode 26, the other end can be placed in the corresponding of pivot plate 24
In hole, and there is no annexation between this one end and the hole, therefore, it is allowed to which there is certain fortune between otic placode 26 and pivot plate 24
Dynamic surplus.By the elasticity of spring 23, row buffering can be entered when roller 22 vibrates.In addition, support unit 2 can be with
Connection and buffer structure using other forms, as long as roller 22 can be connected into pivot plate 26 and also be shaken with buffering
Dynamic function.
The control system 100 of bolt clamp device according to an embodiment of the invention is carried out referring to Figure 16 to Figure 17
Description.
Control system 100 mainly includes controller 101 and the execution control module 104 to be communicated with controller 101 and row
Enter control module 105.The operation that control module 104 is used to control execution unit 3 is performed, and traveling control module 105 is used to control
The operation of traveling unit 4 processed.
Specifically, performing control module 104 may include the first motor control module 109 and hydraulic control module 110, the
One motor control module 109 is used for the operation for controlling the first motor 114 and the second motor 115 of execution unit 3, so as to control respectively
The action of stretching head 37 and shifting disc 38 processed, entered with order stretching head 37 with bolt and engaged, and order shifting disc 38 tightens spiral shell
Mother, so as to fastening bolt.Hydraulic control module 110 is used for the action for controlling hydraulic cylinder 31, to carry out tensioning to bolt.Specifically
Ground, the hydraulic control valve 113 (for example, proportioning valve) between hydraulic cylinder 31 and outside fuel reserve tank can be connected to by control come real
Now to the control of hydraulic cylinder 31.
Controller 101 can be by communication module 102 (for example, communication interface (such as RS485 interfaces in communication module 102
Deng)) and D/A converter module 103 communicated with the first motor control module 109, wherein, D/A converter module 103 is by controller
101 digital controlled signals sent are converted into analog signal form and are sent to the first motor control module 109, then the first electricity
Machine control module 109 correspondingly acts according to the size of the control signal (curtage value) of input come motor.For example,
Controller 101 can send parameter preset (such as rotating speed and the number of turns) to the two motors.
Controller 101 can send signal by communication module 101 to hydraulic control module 110, and hydraulic control module 110 will
Caused control signal is sent to hydraulic control valve 113 after the signal transacting received, hydraulic control valve 113 produces accordingly
Action, and then control the linear telescopic of hydraulic cylinder 31.
Traveling control module 105 may include the second motor control module 112, for controlling the 3rd motor of traveling unit 4
116 operation, so as to control the motion of drive gear 43 so that bolt clamp device moves to next bolt to be tightened
Place, and execution unit 3 is aligned with bolt.Controller 101 orders the mode of the 3rd motor 116 operation and above-mentioned control
First motor and the second motor are identical, will not be repeated here.
Motor control module (or can be described as electric machine controller) above can preferably be motor servo controller, and
It is configurable on the first to the 3rd motor.
Controller 101 can specifically be realized using equipment such as PLC, industrial computers, can be the central processing unit in PLC
(CPU)。
The encoder E being arranged on the output shaft of each motor as shown in Figure 16 can feed back electricity to controller 101
The output position information of machine now.Specifically, encoder E can gather the angular signal of each motor and send these signals
To corresponding motor control module.Then sent after motor control module is handled these signals by communication module 102
To controller 1100, the closed-loop control to each motor is realized.
So, motion control submodule can be integrated with motor control module, for will be received from each encoder E
Angular signal be processed into the angle position information of corresponding motor, such information is then sent to control through communication module 102
Device 101 processed.
For the retracted position of hydraulic cylinder 31, can be detected by linear position sensors 106, and different size of electricity can be produced
Pressure or current value feedback signal, the feedback signal can send controller 101 to via communication module 102, so as to realize to liquid
The closed-loop control of cylinder pressure 31.
Control system may also include location identification module, for obtaining the relative position between current elongation device and bolt
Relation, and acquired positional information is sent to controller 101, controller 101 can control according to such information to advancing
Module 105 sends signal to control traveling unit 4 so that traveling unit 4 is aligned with bolt.Specifically, location identification module
Can be specifically image identification module 310, its can by communication module 102 to controller 101 feed back stretcher and bolt it
Between position deviation information, controller 101 can according to such information come to the second motor control module 112 send control
Signal, to control drive gear 34 constantly to act, until stretcher is aligned with bolt or in the error range of permission, so as to
Stretching head 37 is set to be engaged with bolt into screw thread.
When drive gear 34 advances forward a tooth, proximity switch 44 just produces an on-off model, and passes through I/O
Module 108 feeds back the signal to controller 101, so as to which controller 101 just counts, until completing all bolt terminal operations.
In addition, staff can also manually input the various parameters being related to during fastening to controller 101.Specifically
Say, input operation can be performed, the parameter of input may include each via guidance panel 107 according to the information of specific tower segments
The position (for example, S1-S3 positions which will be described) of stage hydraulic cylinder, default value of thrust and predetermined torque value etc..Operation
Information specifically may be selected in panel 107, and sends controller 101 to by communication module 102, and then completes different tower segments and match somebody with somebody
The selection put.
With reference to controls of the Figure 13 to Figure 17 to bolt clamp device according to an embodiment of the invention and operating process
It is specifically described.
As it was previously stated, multiple bolts that bolt clamp device may be used on thereon have it is various regularly arranged (for example, straight line
Or circular arrangement) part, illustrated below by taking the connection of the tower segments of wind power generating set as an example.
In wind power generating set, tower is generally connected by multiple tower segments to be formed, and is led between adjacent two tower segments
Cross flange 5 to connect, uniform multiple bolts 7 in the circumference of each flange 5.Now, the guide rail 11 on bolt clamp device can be with
Extended with arc form, to adapt to the arrangement of bolt 7.
First, regular suitably bolt clamp device the end that pretension respectively there are multiple bolts 7 of nut 6 has been placed on
It is aligned in portion and with one of bolt.Specifically, when lifting tower segments, operating personnel will be had at tower segments flange 5
Bolt 7 installs and manual pre-load nut 6.Then according to the screw thread specification of bolt 7 drive gear corresponding with arrangement selection
43rd, stretching head 37, shifting disc 38 and suitable guide rail 11, can fasten bolt after bolt clamp device assembling is finished
Device is placed on multiple bolts 7 of flange 5 so that each guide rail 11 engages with two bolt ends, drive gear 43 and phase
Two adjacent bolts 7 engage, and downwardly turn over the pivot plate 24 of support unit 2, and utilize extra fastener by pivot plate 24
It is fixed on restraining position so that roller 22 is fitted in the side wall of flange 5 and can rolled along, as shown in figure 13.Afterwards may be used
Hydraulic cylinder 31 is connected to external hydraulic pump using oil pipe and snap joint, and bolt clamp device and hydraulic pump are supplied
Electricity, to start bolt clamp device.
Now, staff can be manually entered various control parameters, including liquid by guidance panel 107 to controller 101
Torque value of each positional information and fastening bolt of cylinder pressure etc..Now, bolt clamp device is in original state, and stretcher is just
Benefit is directly over first bolt 7 to be tightened and aligned therewith, and hydraulic cylinder 31 is in maximum stretching state.
Afterwards, a bolt 7 aligned with it can be stretched to default value of thrust and tighten nut using execution unit 3
6.Specifically, controller 101 controls hydraulic control valve 113 to make hydraulic pressure to the fuel feeding of hydraulic cylinder 31 by hydraulic control module 110
Cylinder 31 shrinks, and so as to drive connecting plate 32 and stretcher to move downward, now, linear displacement transducer 106 is by hydraulic cylinder 31
Real-time position information is sent to controller 101.When the position that the end of the arrival stretching head 37 of hydraulic cylinder 31 connects with bolt end
When (abbreviation S1 positions), controller 101 will pass through the first motor control module 109 and send control signal to the first motor 114,
To order the first motor 114 to rotate, so as to drive stretching head 37 to rotate so that stretching head 37 enters with the screw thread on the end of bolt 7
Enter engagement, enter engagement initial stage at both, elastic parts 39 can apply elastic force to power transmission shaft 36, to be easier to enter engagement.
During progressively engaging, controller 101 also controls the piston end of hydraulic cylinder 31 to continue to shrink simultaneously, and makes hydraulic cylinder
31 contraction preset distance so that the one side of stretching head 37 enters with bolt end and engaged on one side under the driving of the first motor 114
Move downward, until completing screw thread engagement.When hydraulic cylinder 31 and stretching head 37 reach having engaged for stretching head 37 and bolt end
During into position (abbreviation S2 positions), the stopping of 31 and first motor of hydraulic cylinder 114 acts, now the screw thread of stretching head 37 and bolt 7
It is at a fully engaged together.Afterwards, controller 101 can control the piston end of hydraulic cylinder 31 to stretch out, and then drive the drawing of stretcher
37 pairs of bolts 7 of extension head carry out tensioning.When hydraulic cylinder 31 reaches the position (abbreviation S3 positions) for completing to stretch or straight-line displacement biography
When the increment of the unit interval for the displacement that sensor 106 measures is less than a certain threshold value, you can think what hydraulic cylinder 31 applied to bolt 7
Pulling force reaches default value of thrust.Afterwards, controller 101 is sent to the second motor 115 by the first motor control module 109 and controlled
Signal so that shifting disc 38 rotates, and can tighten nut 6 in the case where shifting disc 38 engages with nut 6.When shifting disc 38 is right
When the moment of torsion that nut 6 applies reaches predetermined torque value, the second motor 115 is stopped operating, and so far bolt fastening is completed.
Then, the bolt fastened is discharged.Specifically, controller 101 is sent to hydraulic control module 110 again
Control signal, shunk with order hydraulic cylinder 31 so that hydraulic cylinder 31 is reduced to zero to the pulling force of bolt 7.Then hydraulic cylinder 31 is made
Piston end continues up stretching, and so as to drive stretcher to move upwards, while controller 101 controls the first motor 114 reversely to turn
It is dynamic, stretching head 37 is disengaged from bolt 7, when stretcher moves a segment distance upwards, for example, when stretcher moves to S1 positions
After putting so that stretching head 37 and bolt 7 be separated from, the first motor 114 stops operating.Afterwards, controller 101 controls hydraulic cylinder
37 continue to stretch out, until returning to initial maximum stretching state (that is, at a distance of predetermined between the lower end of stretcher and the end of bolt
Distance), at this moment, the terminal operation of first bolt is completed.
Afterwards, bolt clamp device is made to march at next bolt using traveling unit 4, to be performed to next bolt
Terminal operation.Specifically, controller 101 is sent out by the second motor control module 112 to the 3rd motor 116 of traveling unit 4
Control signal is sent, to order the 3rd motor 116 to rotate, so as to drive drive gear 43 to advance forward a tooth.Work as proximity switch
44 have detected that a sensing platform 45 when passing through, just produces an on-off model and sends it to controller 101, controller
101 start counting up 1.When the 3rd motor 116 drives drive gear 43 to rotate forward, the camera identification module 310 of execution unit 3
The real-time position information of stretcher is fed back into controller 101, controller 101 controls the 3rd motor 116 according to the information and driven
The rotation of moving gear 43, order drive gear 43 stop in place so that stretcher can be aligned with next bolt
Or in the error range in permission, to carry out screw thread engagement.Afterwards, above-mentioned bolt terminal operation can be repeated,
In turn fastening bolt, untill all bolt fastenings are completed.
When the counting of controller 101 reaches bolt sum, it is meant that all bolts are all completed to fasten.Now controller
101 can control bolt clamp device to stop operation.
Bolt clamp device according to an embodiment of the invention realizes the automatic Tensioning of bolt, so as to reduce Field Force
Labor intensity, and retention efficiency is improved, installation time is shortened, reduces cost.In addition, by automatically controlling fastening to grasp
Make, fastening precision can be significantly improved, and make the tautness of each bolt identical, can preferably control bolt in-site installation
Quality.
The embodiment of the present invention is described in detail above, although having show and described some implementations
Example, it will be understood by those skilled in the art that limiting the of the invention of its scope by claim and its equivalent not departing from
In the case of principle and spirit, these embodiments can be modified and perfect, these are changed and improved also should be in the present invention
Protection domain in.
Claims (20)
- A kind of 1. bolt clamp device, for being fastened on preloaded multiple screw bolt and nut on part, it is characterised in that bag Include：Bearing (1)；Execution unit (3), on the bearing (1), for bolt described in the bearing of trend tensioning along the bolt simultaneously Nut on the bolt is tightened；Traveling unit (4), on the bearing (1), for driving the bolt clamp device along the multiple bolt cloth Advance in the path put；Control system (100), control the action of the execution unit (3) and the traveling unit (4).
- 2. bolt clamp device according to claim 1, it is characterised in that the bearing (1) includes bottom plate (12), from institute State at least two guide shafts (15) and the linear bearing on each guide shaft (15) that bottom plate (12) extends vertically upwards Or sleeve (14).
- 3. bolt clamp device according to claim 2, it is characterised in that in the bottom of the bottom plate (12) removably Being provided with can be with the guide rail (11) of the matching ends of the multiple bolt.
- 4. bolt clamp device according to claim 3, it is characterised in that the guide rail (11) is channled rail, and with At least two bolted joints.
- 5. bolt clamp device according to claim 2, it is characterised in that the execution unit (3) includes connecting plate (32), hydraulic cylinder (31) and stretcher, the connecting plate (32) are fixedly installed on the linear bearing (14) or sleeve, institute The swing arm for stating hydraulic cylinder (31) is fixed to the connecting plate (32), and the stretcher is arranged on the connecting plate (32).
- 6. bolt clamp device according to claim 5, it is characterised in that the execution unit (3) also includes straight line position Displacement sensor (106), for detecting the position of the hydraulic cylinder (31).
- 7. bolt clamp device according to claim 5, it is characterised in that the stretcher includes：Cylinder (34), it is fixed on the downside of the connecting plate (32)；Power transmission shaft (36), in the cylinder (34), and it is only capable of rotating relative to the cylinder (34)；Stretching head (37), the bottom of the power transmission shaft (36) is removably mounted on, and can be engaged with the end of bolt；Shifting disc (38), the bottom of the cylinder (34) is removably mounted on, and can coordinated with the nut on the bolt；First motor unit (33), for driving the power transmission shaft (36) to rotate, so that the end of the stretching head (37) and bolt Engage or be disengaged from portion；Second motor unit (35), for driving the shifting disc (38) to rotate, so that the nut rotates predetermined angular.
- 8. bolt clamp device according to claim 7, it is characterised in that in the cylinder (34) and the power transmission shaft (36) elastic parts (39) is additionally provided between, to apply elastic force in the axial direction to the power transmission shaft (36).
- 9. bolt clamp device according to claim 7, it is characterised in that the execution unit (3) also includes being fixed on The image identification module (310) to communicate on the outside of the cylinder (34) and with the control system (100), for monitoring the stretching Relative position relation between device and bolt, the image identification module (310) include the camera lens for capture images, for locating Manage image and the processor of signal is sent to the control system (100).
- 10. bolt clamp device according to claim 1, it is characterised in that the traveling unit (4) includes：Fixed mount (41), fixed to the bearing (1)；3rd motor unit (42), it is connected on the fixed mount (41)；Drive gear (43), is removably mounted on the downside of the fixed mount (41), and the drive gear (43) includes multiple wheels Tooth, one of gear teeth bolt adjacent with two engage, and the 3rd motor unit (42) drives the drive gear (43) Rotate.
- 11. bolt clamp device according to claim 1, it is characterised in that the bolt clamp device also includes installation Support unit (2) on the bearing (1), to prevent the bolt clamp device from toppling over relative to the part.
- 12. bolt clamp device according to claim 11, it is characterised in that the support unit (2) includes：Pivot plate (24), one end are pivotally connected to the bearing (1), to be rotated between stowed position and restraining position；Roller (22), the other end installed in the pivot plate (24), and the roller (22) is remote in the stowed position The part, it is brought into close contact on the part in the restraining position and is rolled along the part.
- 13. bolt clamp device according to claim 12, it is characterised in that the support unit (2) also includes setting Buffer Unit between the pivot plate (24) and the roller (22).
- 14. bolt clamp device according to claim 12, it is characterised in that the pivot plate (24) packs up position described The relative position relation fixed by spring catch (21) between the bearing (1) is put, passes through fastener in the restraining position Relative position relation between fixed and described bearing (1).
- 15. bolt clamp device according to claim 1, it is characterised in that the part is wind-driven generator unit Flange (5) in adjacent tower segments.
- A kind of 16. method that bolt fastening is carried out using bolt clamp device, it is characterised in that the bolt clamp device bag Include：Bearing (1)；Execution unit (3), on the bearing (1), for described in the bearing of trend tensioning along the bolt Bolt simultaneously tightens the nut on the bolt；Traveling unit (4), on the bearing (1), for driving the bolt Fastener is advanced along multiple bolts,It the described method comprises the following steps：A, by the bolt clamp device be placed on pretension respectively have nut multiple bolts end on and with it is described more Bolt alignment in individual bolt；B, respective bolt is stretched to default value of thrust using the execution unit (3) and tightens nut；C, the bolt fastened is discharged；D, the traveling unit (4) is controlled the bolt clamp device is marched at next bolt；Repeat step B to D.
- 17. according to the method for claim 16, it is characterised in that methods described also includes：The guide rail (11) for the bottom for being suitably fixed on the bearing (1), the traveling are chosen according to the specification of bolt and arrangement The drive gear (43) engaged with two neighboring bolt of unit (4), the execution unit (3) can engage with bolt thread Stretching head (37) and shifting disc (38) for tightening nut.
- 18. according to the method for claim 17, it is characterised in that the execution unit (3) also includes stretching head (37), driven The first motor unit (33) of dynamic stretching head (37) rotation, the hydraulic cylinder (31) of driving stretching head (37) lifting, set Shifting disc (38), the second motor unit (35) of driving shifting disc (38) rotation below the stretching head (37) are put, The step B includes：Shunk by the hydraulic cylinder (31), the stretching head (37) is moved to the position to connect with the bolt end；Drive stretching head (37) rotation to be engaged to enter with bolt by first motor unit (33), while make described Hydraulic cylinder (31) correspondingly shrinks preset distance；The hydraulic cylinder (31) is set to continue up stretching, tensioning bolt, until reaching the default value of thrust；Drive the shifting disc (38) to rotate using second motor unit (35) and tighten nut, until reaching predetermined torque Value.
- 19. according to the method for claim 18, it is characterised in that step C includes：The hydraulic cylinder (31) is shunk, its pulling force to bolt is reduced to zero；The stretching head (37) is reversely rotated to be disengaged from bolt using first motor unit (33), while make institute State hydraulic cylinder (31) correspondingly to stretch out, to return to initial position.
- 20. according to the method for claim 16, it is characterised in that the traveling unit (4) include drive gear (43) with And the 3rd motor unit (42) of driving drive gear (43) rotation, the step D include：Using the 3rd motor unit (42) drive the drive gear (43) along the direction that the multiple bolt arranges to One tooth of preceding traveling, makes the bolt clamp device be positioned on next bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710910821.2A CN107538210B (en) | 2017-09-29 | 2017-09-29 | Bolt fastening device and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710910821.2A CN107538210B (en) | 2017-09-29 | 2017-09-29 | Bolt fastening device and operation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107538210A true CN107538210A (en) | 2018-01-05 |
| CN107538210B CN107538210B (en) | 2020-01-31 |
Family
ID=60964704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710910821.2A Active CN107538210B (en) | 2017-09-29 | 2017-09-29 | Bolt fastening device and operation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107538210B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274227A (en) * | 2018-03-05 | 2018-07-13 | 王聪 | Automatic take-up and its working method for bolt connecting elements |
| CN108381142A (en) * | 2018-05-11 | 2018-08-10 | 杭州景业智能科技有限公司 | Nuclear industry motor vertical fast replacing device |
| EP3550139A1 (en) * | 2018-03-29 | 2019-10-09 | Hohmann, Frank | Device for tightening screw joints |
| CN111390546A (en) * | 2020-04-23 | 2020-07-10 | 中国铁建重工集团股份有限公司 | Three-degree-of-freedom fastening device |
| CN113020957A (en) * | 2021-02-24 | 2021-06-25 | 东方电气集团科学技术研究院有限公司 | Automatic assembly production line and assembly method for bolt fastening of large gear box |
| CN114799852A (en) * | 2022-06-29 | 2022-07-29 | 广东科凯达智能机器人有限公司 | Wind power tower cylinder operation robot and operation method |
| CN117961502A (en) * | 2024-03-28 | 2024-05-03 | 江苏牛劲石化机械有限公司 | Jack assembly clamping device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2860746A1 (en) * | 2003-10-09 | 2005-04-15 | Skf Equipements | Threaded rod fitting tool, especially for nuclear reactor vessel cover bolts, comprises robot with alignment monitor and control systems |
| CN201824125U (en) * | 2010-10-27 | 2011-05-11 | 三一电气有限责任公司 | Bolt tightening machine |
| CN103386606A (en) * | 2013-07-08 | 2013-11-13 | 广西大学 | Safe screw assembling device capable of automatically feeding and synchronously assembling and disassembling workpieces |
| CN104029007A (en) * | 2014-06-13 | 2014-09-10 | 中科华核电技术研究院有限公司 | Entire bolt stretcher for nuclear reactor pressure vessels and operating process thereof |
| CN105923071A (en) * | 2016-04-25 | 2016-09-07 | 江苏大学 | Toppling and falling prevention device |
| EP3195974A1 (en) * | 2016-01-21 | 2017-07-26 | Admede Ab | Robot to move a support platform along a flange connection |
-
2017
- 2017-09-29 CN CN201710910821.2A patent/CN107538210B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2860746A1 (en) * | 2003-10-09 | 2005-04-15 | Skf Equipements | Threaded rod fitting tool, especially for nuclear reactor vessel cover bolts, comprises robot with alignment monitor and control systems |
| CN201824125U (en) * | 2010-10-27 | 2011-05-11 | 三一电气有限责任公司 | Bolt tightening machine |
| CN103386606A (en) * | 2013-07-08 | 2013-11-13 | 广西大学 | Safe screw assembling device capable of automatically feeding and synchronously assembling and disassembling workpieces |
| CN104029007A (en) * | 2014-06-13 | 2014-09-10 | 中科华核电技术研究院有限公司 | Entire bolt stretcher for nuclear reactor pressure vessels and operating process thereof |
| EP3195974A1 (en) * | 2016-01-21 | 2017-07-26 | Admede Ab | Robot to move a support platform along a flange connection |
| CN105923071A (en) * | 2016-04-25 | 2016-09-07 | 江苏大学 | Toppling and falling prevention device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274227A (en) * | 2018-03-05 | 2018-07-13 | 王聪 | Automatic take-up and its working method for bolt connecting elements |
| CN108274227B (en) * | 2018-03-05 | 2023-09-26 | 王聪 | Automatic tightening device for bolt connecting member and working method thereof |
| EP3550139A1 (en) * | 2018-03-29 | 2019-10-09 | Hohmann, Frank | Device for tightening screw joints |
| CN108381142A (en) * | 2018-05-11 | 2018-08-10 | 杭州景业智能科技有限公司 | Nuclear industry motor vertical fast replacing device |
| CN111390546A (en) * | 2020-04-23 | 2020-07-10 | 中国铁建重工集团股份有限公司 | Three-degree-of-freedom fastening device |
| CN113020957A (en) * | 2021-02-24 | 2021-06-25 | 东方电气集团科学技术研究院有限公司 | Automatic assembly production line and assembly method for bolt fastening of large gear box |
| CN114799852A (en) * | 2022-06-29 | 2022-07-29 | 广东科凯达智能机器人有限公司 | Wind power tower cylinder operation robot and operation method |
| CN114799852B (en) * | 2022-06-29 | 2022-09-30 | 广东科凯达智能机器人有限公司 | Wind power tower cylinder operation robot and operation method |
| CN117961502A (en) * | 2024-03-28 | 2024-05-03 | 江苏牛劲石化机械有限公司 | Jack assembly clamping device |
| CN117961502B (en) * | 2024-03-28 | 2024-06-07 | 江苏牛劲石化机械有限公司 | Jack assembly clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107538210B (en) | 2020-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107538210A (en) | Bolt clamp device and its operating method | |
| CN107717817A (en) | Control system for bolt clamp device | |
| CN105583566B (en) | Special pipe framework of steel reinforcement automatic reducer seam welder | |
| CN105666478B (en) | Joint Manipulator fast assembling-disassembling system and assembly and disassembly methods under nuclear radiation environment | |
| CN105135151B (en) | A kind of crawler belt type pipeline robot adapted to active with adaptation function | |
| CN103878578B (en) | A kind of nut tightening device | |
| CN104890002B (en) | Adaptive mechanical arm apparatus | |
| CN104259837A (en) | Nut tightening machine | |
| CN209830770U (en) | Tubular pile welding robot fixing device | |
| CN104785943A (en) | Cylinder reinforcing ring assembling-welding workstation and welding method thereof | |
| CN108723266A (en) | A kind of processing of spiral and sleeve install equipment | |
| US4389894A (en) | Cylindrical guide rail for detector | |
| CN109128792A (en) | A kind of bolt tension device based on robot | |
| CN105923105A (en) | Adjustable chain guiding wheel for ship | |
| CN101786211A (en) | Quickly assembled and disassembled guide rail for all-position automatic welding of pipeline | |
| CN106239118B (en) | Pulling shaft tightening device | |
| CN206356868U (en) | Robot for assembling and disassembling track bolt | |
| CN105414966B (en) | A kind of water tank automatic assembly equipment | |
| CN109630806A (en) | The pipe robot that can be screwed on, grab and detect | |
| CN208185682U (en) | A kind of adapter tube driving tool | |
| CN106592353B (en) | Non-fragment orbit intelligently loads and unloads bolt robot | |
| WO2011048819A1 (en) | In-reactor piping work device and in-reactor piping work method | |
| CN204525507U (en) | Self adaptation Multifunctional apery mechanical finger | |
| CN208427941U (en) | Robot protection ring tightens, coupling pre-screwing device | |
| CN110280699A (en) | Steel reinforcement cage tie hoop rotates producing device automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 830026 No. 107, Shanghai Road, Urumqi economic and Technological Development Zone, the Xinjiang Uygur Autonomous Region Patentee after: Jinfeng Technology Co.,Ltd. Address before: 830026 No. 107, Shanghai Road, Urumqi economic and Technological Development Zone, the Xinjiang Uygur Autonomous Region Patentee before: XINJIANG GOLDWIND SCIENCE & TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |