CN108555584B - Circumferential movement screw bolt tightening robot - Google Patents
Circumferential movement screw bolt tightening robot Download PDFInfo
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- CN108555584B CN108555584B CN201810455738.5A CN201810455738A CN108555584B CN 108555584 B CN108555584 B CN 108555584B CN 201810455738 A CN201810455738 A CN 201810455738A CN 108555584 B CN108555584 B CN 108555584B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
A circumferential movement screw bolt tightening robot, comprising a movement device, a clamping device and an adaptive device; the problems in the prior art are well solved, the overhaul accuracy is high, the efficiency is high, the cost is low, the tower does not need to be climbed, and the safety risk is small.
Description
Technical Field
The invention relates to a circumferential movement bolt tightening robot which is particularly applied to overhauling the connection and fastening conditions of a wind turbine generator tower connecting bolt and can be also applied to a mechanical structure with a certain radian.
Background
At present, the connecting bolt of the tower cylinder of the domestic wind turbine generator mainly depends on manual overhaul, the labor intensity of workers is high, the risk is high, the working environment is severe, the labor cost is high, and the problem that a high-strength bolt checking tool is not used normally exists in manual overhaul, and part of workers use a spanner to judge the screwing degree by feeling or directly use a torque spanner which is not checked, so that overhaul is inaccurate.
Disclosure of Invention
The invention aims to: the invention provides a circumferential movement screw bolt screwing robot for overhauling a tower cylinder connecting bolt of a wind turbine generator, and aims to solve the problems that the manual overhauling accuracy of the tower cylinder connecting bolt is low, the efficiency is low, the cost is high, the climbing of the tower cylinder is inconvenient and the safety risk is high.
The technical scheme is as follows: the invention is realized by the following technical scheme:
the utility model provides a circumferential movement screw up bolt robot which characterized in that: the robot comprises a motion device, a clamping device and an adaptive device;
the motion device comprises a motion driving motor (22), an upper middle rectangular plate (23), a lower middle rectangular plate (17), a sliding block (19), an arc rack (18), an external gear (21) and a limiting wheel (20); an upper left rectangular plate (28) and an upper right rectangular plate (29) are respectively arranged on two sides of the upper middle rectangular plate (23); a lower left rectangular plate (30) and a lower right rectangular plate (31) are respectively arranged on two sides of the lower middle rectangular plate (17), an upper left rectangular plate (28) corresponds to the lower left rectangular plate (30) up and down, an upper middle rectangular plate (23) corresponds to the lower middle rectangular plate (17) up and down, and an upper right rectangular plate (29) corresponds to the lower right rectangular plate (31) up and down; the driving motor (22) is fixed on the sliding block (19), the sliding block (19) is connected with the upper middle rectangular plate (23), a rotating shaft of the motion driving motor (22) is connected with the external gear (21), the external gear (21) is meshed with the circular arc rack (18), the circular arc rack (18) is connected with the lower middle rectangular plate (17), the limiting wheel (20) is connected with the sliding block (19) and is tightly attached to the circular arc rack (18), the sliding block (19) is limited to move on the circular arc rack (18), and when in use, the motion driving motor (22) controls the external gear (21) to rotate positively and drives the external gear (21) and the sliding block (19) connected with the external gear to move with the upper middle rectangular plate (23), and when the rectangular driving motor (22) rotates reversely, the lower middle rectangular plate (17) is driven to move;
the clamping device is arranged at an upper left rectangular plate (28), an upper right rectangular plate (29), a lower left rectangular plate (30) and a lower right rectangular plate (31), and comprises a clamping driving motor (15), a left roller (1), a right roller (12), a left sliding straight rod (2), a right sliding straight rod (11), a left spring (3), a right spring (10) and a left L-shaped right angle arm (4) (the left L-shaped right angle arm is an L-shaped structure formed by two support arms (4-1 and 4-2)), a right L-shaped right angle arm (9) (the right L-shaped right angle arm is an L-shaped structure formed by two support arms (9-1 and 9-2)), a left middle sliding straight rod (5), a right middle sliding straight rod (7), a large gear (13), a small gear (14), a straight gear (6) and an electric push rod (8); the left roller (1) is arranged at the front end of the left sliding straight rod (2), the left spring (3) is sleeved on the left sliding straight rod (2), the rear end of the left sliding straight rod (2) stretches into one support arm (4-1) of the left L-shaped right angle arm (4), the left sliding straight rod (2) can do axial telescopic motion relative to the support arm, (the left spring (3) mainly aims at enabling the rear end of the left middle sliding straight rod (5) to stretch into the other support arm (4-2) of the left L-shaped right angle arm (4) after the left sliding straight rod (2) is compressed, the front end of the left middle sliding straight rod (5) can do axial telescopic motion relative to the support arm, the front end of the left middle sliding straight rod (5) is movably connected with the front end of the right middle sliding straight rod (7) (the left L-shaped right angle arm (4), the right L-shaped right angle arm (9) and components connected with the straight rod form a W-shaped structure), the rear end of the right middle sliding straight rod (7) stretches into the other support arm (9) of the right L-shaped right angle arm (4), the rear end of the right middle sliding straight rod (7) can stretch into the other support arm (9) to do axial telescopic motion relative to the other support arm (9) and stretch into the right angle arm (9), the front end of the right sliding straight rod (11) is provided with a right roller (12), the right spring (10) is sleeved on the right sliding straight rod (11), the action of the right spring (10) is the same as that of the left spring, namely when the right sliding straight rod (11) is compressed and is in pressure contact, the right sliding straight rod (11) can pop up under the action of the right spring to realize resetting-
The straight rack (6) is movably connected with the connecting point of the left middle sliding straight rod (5) and the right middle sliding straight rod (7), the straight rack (6) is meshed with the large gear (13), the large gear (13) is connected with the small gear (14), the small gear (14) is connected with the rotating shaft of the clamping driving motor (15), the small gear (14) is connected with the corresponding rectangular plate (the corresponding rectangular plate is an upper left rectangular plate (28), an upper right rectangular plate (29), a lower left rectangular plate (30) or a lower right rectangular plate (31), the corresponding rectangular plate is arranged at which position, when in use, the clamping driving motor (15) positively rotates to control the pinion (14) to positively rotate, the pinion (14) drives the large gear (13) to rotate through the ratchet mechanism, the large gear (13) drives the straight rack (6) to retreat (namely, downward direction | in figure 3), the left sliding straight rod (2) and the right sliding straight rod (11) are lifted up, the left roller (1) and the right roller (12) are propped against a wall, the joint of the left L-shaped right angle arm (4) and the right L-shaped right angle arm (9) is propped against a bolt (16), the left L-shaped right-angle arm (4) and the right L-shaped right-angle arm (9) are clamped by the electric push rod (8) (the electric push rod (8) clamps the left L-shaped right-angle arm (4) and the right L-shaped right-angle arm (9) to be well known, for example, after clamping, the electric push rod (8) can be used for supporting the 4-1 and the 9-2 to be in a stable position |) so that the robot is clamped on a bolt, when the clamping driving motor (15) is reversed, the left roller (1) and the right roller (12) are loosened, and the joint of the left L-shaped right-angle arm (4) and the right L-shaped right-angle arm (9) leaves the bolt so that the robot loosens the bolt;
the self-adapting device is arranged between the upper middle rectangular plate (23) and the upper left rectangular plate (28), between the upper middle rectangular plate (23) and the upper right rectangular plate (29), between the lower middle rectangular plate (17) and the lower left rectangular plate (30) and between the lower middle rectangular plate (17) and the lower right rectangular plate (31),
the rear corners of the adjacent edges of the upper middle rectangular plate (23) and the upper left rectangular plate (28) are movably connected through a rear rotating shaft (34), the front corners of the adjacent edges of the upper middle rectangular plate (23) and the upper left rectangular plate (28) are provided with self-adapting devices, the rear corners of the adjacent edges of the upper middle rectangular plate (23) and the upper right rectangular plate (29) are movably connected through a lower rotating shaft (34), the front corners of the adjacent edges are provided with self-adapting devices, the rear corners of the lower middle rectangular plate (17) and the rear corners of the lower left rectangular plate (30) are movably connected through a lower rotating shaft (34), the front corners of the adjacent edges of the lower middle rectangular plate (17) and the lower right rectangular plate (31) are movably connected through a lower rotating shaft (34), and the front corners of the adjacent edges are provided with self-adapting devices; the self-adaptive device comprises a crank (24), a sliding block (25) and an axial block (25-1), wherein the sliding block (25) and the axial block (25-1) are respectively arranged on two adjacent rectangular plates, the sliding block (25) is connected to the rectangular plates through a first sliding block rotating shaft (32) and can rotate by taking the sliding block rotating shaft (32) as an axis, the axial block (25-1) is connected to the other rectangular plate through a second sliding block rotating shaft (32-1), the axial block (25-1) can rotate by taking the second sliding block rotating shaft (32-1) as an axis, one end of the crank (24) is connected with the axial block (25-1), and the other end of the crank passes through the sliding block (25) and can freely shuttle in the sliding block (25). The self-adaptive device is characterized in that a crank (24) positioned on an upper middle rectangular plate (23) and a sliding block (25) positioned on an upper left rectangular plate slide and fix an included angle between the upper middle rectangular plate (23) and the upper left rectangular plate so as to adapt to bolts with different curvatures and with equal circumferential distance.
The self-adaptive device enables the angle between the rectangular plates to be adjustable, and the same circumferential movement can be achieved to screw up the bolts by the bolt screwing robot to screw up the circumferentially equidistant bolts with different curvatures.
The robot further comprises a clamping spanner device, wherein the clamping spanner device comprises an electric push rod (26) and a clamp (27), the electric push rod (26) is arranged on the upper middle rectangular plate (23), the electric push rod (26) is connected with the clamp (27), an electric torque spanner is arranged on the clamp (27), and bolts are screwed through the electric torque spanner.
The electric control system is divided into a power supply system and a singlechip driving module, the power supply system is connected with the singlechip driving module and provides power, the singlechip driving module is connected with a driving motor and controls the movement device, the clamping spanner device and the torque spanner clamped by the clamping device.
The upper middle rectangular plate (23) is provided with a through hole (35) which is used for the power torque wrench to move downwards and pass through at a position corresponding to the clamp (27).
The large gear (13) corresponding to the upper left rectangular plate (28) and the large gear (13) corresponding to the upper right rectangular plate (29) are meshed and driven through two driving gears (36); the big gear corresponding to the lower left rectangular plate (30) and the big gear corresponding to the lower right rectangular plate (31) are also meshed and driven by two driving gears.
The advantages and effects: the invention provides a circumferential movement bolt tightening robot which comprises a movement device composed of a movement driving motor, an upper middle rectangular plate, a lower middle rectangular plate, a sliding block, an arc rack, an external gear and a limiting wheel, and comprises a clamping device composed of a clamping driving motor, left and right idler wheels, left and right sliding straight rods, left and right springs, left and right L-shaped right angle arms, left, middle and right sliding straight rods, a big and small gear, a straight rack, an electric push rod and a rectangular plate, and an adaptive device composed of a crank and a sliding block, wherein the adaptive device comprises the electric push rod and a clamping spanner device composed of a clamp, the clamping spanner device comprises a power supply system and a singlechip driving module, and is characterized in that the angle between the rectangular plates is adjustable, and bolts with different curvatures can be tightened by the same circumferential movement bolt tightening robot.
The motion device is characterized in that a motion driving motor is fixed on a sliding block, the sliding block is connected with an upper middle rectangular plate, a rotating shaft of the motion driving motor is connected with an outer gear, the outer gear is meshed with an arc rack, the arc rack is connected with a lower middle rectangular plate, a limiting wheel is connected with the sliding block and is tightly attached to the arc rack, the motion driving motor controls the outer gear to rotate positively and drives the outer gear, the sliding block connected with the outer gear and the upper middle rectangular plate to move, and the motion driving motor rotates reversely and drives the lower middle rectangular plate to move.
The left roller is connected with a left sliding straight rod, the left spring is sleeved on the left sliding straight rod, the left sliding straight rod is sleeved in a left L-shaped right-angle arm, a left middle sliding straight rod is sleeved in the left L-shaped right-angle arm, the left middle sliding straight rod is connected with a right middle sliding straight rod, a right middle sliding straight rod is sleeved in a right L-shaped right-angle arm, the right spring is sleeved on the right sliding straight rod, the right sliding straight rod is sleeved in a right L-shaped right-angle arm, and the joint of the straight rack and the left L-shaped right-angle arm is connected to form a W-shaped mechanism; the straight rack is meshed with the large gear, the large gear is connected with the small gear, the small gear is connected with a rotating shaft of the clamping driving motor, the small gear is connected with the rectangular plate, the clamping driving motor is in forward rotation to control the small gear to rotate forward, the small gear drives the large gear to rotate through the ratchet mechanism, the large gear drives the straight rack to retreat, the left and right idler wheels are enabled to prop against the wall, the joint of the left and right L-shaped right angle arms prop against the bolt, the electric push rod is used for clamping the left and right L-shaped right angle arms, the robot is enabled to clamp on the bolt, the clamping driving motor is in reverse rotation, the left and right idler wheels are loosened, the joint of the left and right L-shaped right angle arms leaves the bolt, and the robot is enabled to loosen the bolt.
The self-adaptive device slides by a crank positioned on the upper middle rectangular plate and a sliding block positioned on the upper left rectangular plate and fixes an included angle between the upper middle rectangular plate and the upper left rectangular plate so as to adapt to bolts with different curvatures and distributed at equal intervals on the circumference. The clamping spanner device is characterized in that an electric push rod is arranged on an upper middle rectangular plate and connected with the clamp, an electric torque spanner is arranged on the clamp, and bolts are screwed through the electric torque spanner.
The problems in the prior art are well solved, the overhaul accuracy is high, the efficiency is high, the cost is low, the tower does not need to be climbed, and the safety risk is small.
Description of the drawings:
FIG. 1 is an overall schematic view of a circumferential motion bolt tightening robot;
FIG. 2 is a schematic diagram of a circumferential motion tightening bolt robot motion device;
FIG. 3 is a schematic structural view of a circumferential motion bolt tightening robot clamping device;
FIG. 4 is a schematic structural view of a circumferential motion bolt tightening robot adaptive device;
fig. 5 is a schematic structural view of a circumferential movement tightening bolt robot clamping wrench device.
The specific embodiment is as follows: the invention is further described with reference to the accompanying drawings:
as shown in fig. 1, the present invention provides a circumferential movement screw tightening robot including a movement device, a clamping device, and an adaptive device;
the motion device comprises a motion driving motor (22), an upper middle rectangular plate (23), a lower middle rectangular plate (17), a sliding block (19), an arc rack (18), an external gear (21) and a limiting wheel (20); an upper left rectangular plate (28) and an upper right rectangular plate (29) are respectively arranged on two sides of the upper middle rectangular plate (23); a lower left rectangular plate (30) and a lower right rectangular plate (31) are respectively arranged on two sides of the lower middle rectangular plate (17), an upper left rectangular plate (28) corresponds to the lower left rectangular plate (30) up and down, an upper middle rectangular plate (23) corresponds to the lower middle rectangular plate (17) up and down, and an upper right rectangular plate (29) corresponds to the lower right rectangular plate (31) up and down; the driving motor (22) is fixed on the sliding block (19), the sliding block (19) is connected with the upper middle rectangular plate (23), a rotating shaft of the motion driving motor (22) is connected with the external gear (21), the external gear (21) is meshed with the circular arc rack (18), the circular arc rack (18) is connected with the lower middle rectangular plate (17), the limiting wheel (20) is connected with the sliding block (19) and is tightly attached to the circular arc rack (18), the sliding block (19) is limited to move on the circular arc rack (18), and when in use, the motion driving motor (22) controls the external gear (21) to rotate positively and drives the external gear (21) and the sliding block (19) connected with the external gear to move with the upper middle rectangular plate (23), and when the rectangular driving motor (22) rotates reversely, the lower middle rectangular plate (17) is driven to move;
the clamping device is arranged at an upper left rectangular plate (28), an upper right rectangular plate (29), a lower left rectangular plate (30) and a lower right rectangular plate (31), and comprises a clamping driving motor (15), a left roller (1), a right roller (12), a left sliding straight rod (2), a right sliding straight rod (11), a left spring (3), a right spring (10) and a left L-shaped right angle arm (4) (the left L-shaped right angle arm is an L-shaped structure formed by two support arms (4-1 and 4-2), the connection point between the components with the reference numbers of 4-1 and 4-2 is connected with the rectangular plate through a rotating shaft, so that the left L-shaped right angle arm can rotate along the shaft), the right L-shaped right L-shaped right angle arm (9) (the right L-shaped right angle arm is an L-shaped structure formed by two support arms (9-1 and 9-2), the connection point between the components with the reference numbers of 9-1 and 9-2 is also connected with the rectangular plate through the rotating shaft, the right L-shaped right angle arm (9) can rotate along the shaft, the left L-shaped right angle arm (4-1 and 4-2), the left sliding straight rod (7), the right straight rod (7) and the right straight rod (6) in the gear (13), and the large gear (13); the left roller (1) is arranged at the front end of the left sliding straight rod (2), the left spring (3) is sleeved on the left sliding straight rod (2), the rear end of the left sliding straight rod (2) stretches into one support arm (4-1) of the left L-shaped right angle arm (4), the left sliding straight rod (2) can do axial telescopic motion relative to the support arm, (the left spring (3) mainly aims at enabling the rear end of the left middle sliding straight rod (5) to stretch into the other support arm (4-2) of the left L-shaped right angle arm (4) after the left sliding straight rod (2) is compressed, the front end of the left middle sliding straight rod (5) can do axial telescopic motion relative to the support arm, the front end of the left middle sliding straight rod (5) is movably connected with the front end of the right middle sliding straight rod (7) (the left L-shaped right angle arm (4), the right L-shaped right angle arm (9) and components connected with the straight rod form a W-shaped structure), the rear end of the right middle sliding straight rod (7) stretches into the other support arm (9) of the right L-shaped right angle arm (4), the rear end of the right middle sliding straight rod (7) can stretch into the other support arm (9) to do axial telescopic motion relative to the other support arm (9) and stretch into the right angle arm (9), the front end of the right sliding straight rod (11) is provided with a right roller (12), the right spring (10) is sleeved on the right sliding straight rod (11), the action of the right spring (10) is the same as that of the left spring, namely when the right sliding straight rod (11) is compressed and is in pressure contact, the right sliding straight rod (11) can pop up under the action of the right spring to realize resetting-
The straight rack (6) is movably connected with the connecting point of the left middle sliding straight rod (5) and the right middle sliding straight rod (7), the straight rack (6) is meshed with the large gear (13), the large gear (13) is connected with the small gear (14), the small gear (14) is connected with the rotating shaft of the clamping driving motor (15), the small gear (14) is connected with the corresponding rectangular plate (the corresponding rectangular plate is an upper left rectangular plate (28), an upper right rectangular plate (29), a lower left rectangular plate (30) or a lower right rectangular plate (31), the corresponding rectangular plate is arranged at which position, when in use, the clamping driving motor (15) positively rotates to control the pinion (14) to positively rotate, the pinion (14) drives the large gear (13) to rotate through the ratchet mechanism, the large gear (13) drives the straight rack (6) to retreat (namely, downward direction | in figure 3), the left sliding straight rod (2) and the right sliding straight rod (11) are lifted up, the left roller (1) and the right roller (12) are propped against a wall, the joint of the left L-shaped right angle arm (4) and the right L-shaped right angle arm (9) is propped against a bolt (16), the left L-shaped right-angle arm (4) and the right L-shaped right-angle arm (9) are clamped by the electric push rod (8) (the electric push rod (8) clamps the left L-shaped right-angle arm (4) and the right L-shaped right-angle arm (9) to be well known, for example, after clamping, the electric push rod (8) can be used for supporting the 4-1 and the 9-2 to be in a stable position |) so that the robot is clamped on a bolt, when the clamping driving motor (15) is reversed, the left roller (1) and the right roller (12) are loosened, and the joint of the left L-shaped right-angle arm (4) and the right L-shaped right-angle arm (9) leaves the bolt so that the robot loosens the bolt;
the self-adapting device is arranged between the upper middle rectangular plate (23) and the upper left rectangular plate (28), between the upper middle rectangular plate (23) and the upper right rectangular plate (29), between the lower middle rectangular plate (17) and the lower left rectangular plate (30) and between the lower middle rectangular plate (17) and the lower right rectangular plate (31),
the rear corners of the adjacent edges of the upper middle rectangular plate (23) and the upper left rectangular plate (28) are movably connected through a rear rotating shaft (34), the front corners of the adjacent edges of the upper middle rectangular plate (23) and the upper left rectangular plate (28) are provided with self-adapting devices, the rear corners of the adjacent edges of the upper middle rectangular plate (23) and the upper right rectangular plate (29) are movably connected through a lower rotating shaft (34), the front corners of the adjacent edges are provided with self-adapting devices, the rear corners of the lower middle rectangular plate (17) and the rear corners of the lower left rectangular plate (30) are movably connected through a lower rotating shaft (34), the front corners of the adjacent edges of the lower middle rectangular plate (17) and the lower right rectangular plate (31) are movably connected through a lower rotating shaft (34), and the front corners of the adjacent edges are provided with self-adapting devices; the self-adaptive device comprises a crank (24), a sliding block (25) and an axial block (25-1), wherein the sliding block (25) and the axial block (25-1) are respectively arranged on two adjacent rectangular plates, the sliding block (25) is connected to the rectangular plates through a first sliding block rotating shaft (32) and can rotate by taking the sliding block rotating shaft (32) as an axis, the axial block (25-1) is connected to the other rectangular plate through a second sliding block rotating shaft (32-1), the axial block (25-1) can rotate by taking the second sliding block rotating shaft (32-1) as an axis, one end of the crank (24) is connected with the axial block (25-1), and the other end of the crank passes through the sliding block (25) and can freely shuttle in the sliding block (25). The self-adaptive device is characterized in that a crank (24) positioned on an upper middle rectangular plate (23) and a sliding block (25) positioned on an upper left rectangular plate slide and fix an included angle between the upper middle rectangular plate (23) and the upper left rectangular plate so as to adapt to bolts with different curvatures and with equal circumferential distance. The angle between the rectangular plates is adjustable, and the screw tightening robot with the same circumferential movement can be used for tightening the circumferentially equidistant bolts with different curvatures. The relative positions of the crank (24) and the slide block (25) are temporarily fixed by the fastener 33.
The robot further comprises a clamping spanner device, wherein the clamping spanner device comprises an electric push rod (26) and a clamp (27), the electric push rod (26) is arranged on the upper middle rectangular plate (23), the electric push rod (26) is connected with the clamp (27), an electric torque spanner is arranged on the clamp (27), and bolts are screwed through the electric torque spanner.
The upper middle rectangular plate (23) is provided with a through hole (35) which is used for the power torque wrench to move downwards and pass through at a position corresponding to the clamp (27).
The large gear (13) corresponding to the upper left rectangular plate (28) and the large gear (13) corresponding to the upper right rectangular plate (29) are meshed and driven through two driving gears (36); the big gear corresponding to the lower left rectangular plate (30) and the big gear corresponding to the lower right rectangular plate (31) are also meshed and driven by two driving gears. As shown in FIG. 1, of course, this is just one embodiment, and it is also possible to make the large gear of each clamping mechanism individually driven corresponding to one clamping driving motor, specifically as long as the required selection is made-!
The robot can further comprise an electric control system, the electric control system is divided into a power supply system and a single-chip microcomputer driving module, the power supply system is connected with the single-chip microcomputer driving module to provide power, the single-chip microcomputer driving module is connected with all driving motors of the whole robot, and the movement device, the clamping spanner device and the torque spanner clamped by the single-chip microcomputer driving module are controlled. Because this connection is well known in the art, the description of-!
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the circumferential movement bolt tightening robot comprises a movement device composed of a movement driving motor 22, an upper middle rectangular plate 23, a lower middle rectangular plate 17, a sliding block 19, an arc rack 18, an external gear 21 and a limiting wheel 20, and comprises clamping devices composed of a clamping driving motor 15, left and right idler wheels 1 and 12, left and right sliding straight rods 2 and 11, left and right springs 3 and 10, left and right L-shaped right angle arms 4 and 9, left, middle and right sliding straight rods 5 and 7, large and small gears 13 and 14, a straight rack 6, an electric push rod 8 and a rectangular plate, and comprises a self-adaptive device composed of a crank 24 and a sliding block 25, and a clamping wrench device composed of an electric push rod 26 and a clamp 27, wherein the angle between the rectangular plates is adjustable, and the circumferential distribution bolts with different curvatures can be screwed by the same circumferential movement bolt tightening robot.
As shown in fig. 2, the movement device is that a movement driving motor 22 is fixed on a slide block 19, the slide block 19 is connected with an upper middle rectangular plate 23, a rotating shaft of the movement driving motor 22 is connected with an external gear 21, the external gear 21 is meshed with an arc rack 18, the arc rack 18 is connected with a lower middle rectangular plate 17, a limiting wheel 20 is connected with the slide block 19 and is tightly attached to the arc rack 18, the movement driving motor 22 controls the external gear 21 to rotate positively and drives the external gear 21, the slide block 19 connected with the external gear 21 and the upper middle rectangular plate 23 to move, and the movement driving motor 22 reverses and drives the lower middle rectangular plate 17 to move.
As shown in fig. 3, the clamping device is that a left roller 1 is connected with a left sliding straight rod 2, a left spring 3 is sleeved on the left sliding straight rod 2, the left sliding straight rod 2 is sleeved with a left L-shaped right angle arm 4, a left middle sliding straight rod 5 is connected with a right middle sliding straight rod 7, a right middle sliding straight rod 7 is sleeved with a right L-shaped right angle arm 9, a right spring 10 is sleeved on a right sliding straight rod 11, a right sliding straight rod 11 is sleeved with a right L-shaped right angle arm 9, and a straight rack 6 is connected with the joint of the left L-shaped right angle arm 4 and the right L-shaped right angle arm 9 to form a W-shaped mechanism; the straight rack 6 is meshed with the large gear 13, the large gear 13 is connected with the small gear 14, the small gear 14 is connected with a rotating shaft of the clamping driving motor 15, the small gear 14 is connected with the rectangular plate, the clamping driving motor 15 rotates positively to control the small gear 14 to rotate positively, the small gear 14 drives the large gear 13 to rotate through the ratchet mechanism, the large gear 13 drives the straight rack 6 to retreat, the left idler wheels 1 and 12 abut against a wall, the joint of the left L-shaped right-angle arms 4 and 9 abuts against a bolt 16, the electric push rod 8 clamps the left L-shaped right-angle arms 4 and 9, the robot is clamped on the bolt, the clamping driving motor 15 rotates reversely, the left idler wheels 1 and 12 are loosened, the joint of the left L-shaped right-angle arms 4 and 9 leaves the bolt, and the robot releases the bolt.
As shown in fig. 4, the self-adapting device slides by a crank 24 positioned on an upper middle rectangular plate 23 and a sliding block 25 positioned on an upper left rectangular plate and fixes an included angle between the upper middle rectangular plate 23 and the upper left rectangular plate so as to adapt to bolts with different curvatures and equidistant circumferences.
As shown in fig. 5, the clamping wrench device is a device in which an electric push rod 26 is mounted on an upper middle rectangular plate 23, the electric push rod 26 is connected to a clamp 27, an electric torque wrench is mounted on the clamp 27, and a bolt is screwed by the electric torque wrench.
The robot is installed at the connecting bolt of the tower, the motor of the moving device is controlled to rotate in the forward and reverse directions alternately through the singlechip driving module, the robot moves all the time to the circumference of the tower, the duration of the forward rotation and the reverse rotation of the motor are equal, the distance between the adjacent bolts is determined according to the distribution distance of the adjacent tower bolts, namely, for example, three bolts are used for one time, the upper left rectangular plate (28) and the upper right rectangular plate (29) respectively correspond to one bolt on two sides and are clamped through the clamping device, then the upper middle rectangular plate (23) corresponds to the bolt on the middle position, in this way, the electric moment spanner moves downwards and rotates forwards, the function of screwing the bolt is achieved, after the end, the robot moves to the next bolt, namely, the robot stays right above a certain bolt, namely, the bolt corresponding to the upper middle rectangular plate (23) is matched with the bolts on two sides of the W-shaped clamping mechanism of the clamping device and the tower wall, the robot is fixed above the bolt, and the electric moment installed on the clamping spanner moves downwards and rotates forwards, so that the function of screwing the bolt is achieved. After the tightening is finished, the electric torque wrench moves upwards, the W-shaped clamping mechanism is loosened, the motor of the moving device rotates forwards and backwards alternately again, the robot moves to the position of the next bolt, namely when the upper left rectangular plate (28) and the upper right rectangular plate (29) on the upper part are clamped by the clamping devices corresponding to the upper left rectangular plate (30) and the lower right rectangular plate (31), then the motor of the moving device rotates reversely, the lower middle rectangular plate 17, the lower left rectangular plate (30) and the lower right rectangular plate (31) are driven to move, the clamping devices corresponding to the lower left rectangular plate (30) and the lower right rectangular plate (31) clamp the bolt after reaching the next station, then the upper left rectangular plate (28) and the upper right rectangular plate (29) are loosened, the motor of the moving device rotates forwards, the upper middle rectangular plate 23, the upper left rectangular plate (28) and the upper right rectangular plate (29) are driven to move to the next station, and the actions are repeated until a circle of bolts are tightened.
Claims (2)
1. The utility model provides a circumferential movement screw up bolt robot which characterized in that: the robot comprises a motion device, a clamping device and an adaptive device;
the motion device comprises a motion driving motor (22), an upper middle rectangular plate (23), a lower middle rectangular plate (17), a sliding block (19), an arc rack (18), an external gear (21) and a limiting wheel (20); an upper left rectangular plate (28) and an upper right rectangular plate (29) are respectively arranged on two sides of the upper middle rectangular plate (23); a lower left rectangular plate (30) and a lower right rectangular plate (31) are respectively arranged on two sides of the lower middle rectangular plate (17), an upper left rectangular plate (28) corresponds to the lower left rectangular plate (30) up and down, an upper middle rectangular plate (23) corresponds to the lower middle rectangular plate (17) up and down, and an upper right rectangular plate (29) corresponds to the lower right rectangular plate (31) up and down; the driving motor (22) is fixed on the sliding block (19), the sliding block (19) is connected with the upper middle rectangular plate (23), a rotating shaft of the motion driving motor (22) is connected with the external gear (21), the external gear (21) is meshed with the circular arc rack (18), the circular arc rack (18) is connected with the lower middle rectangular plate (17), the limiting wheel (20) is connected with the sliding block (19) and is tightly attached to the circular arc rack (18), the sliding block (19) is limited to move on the circular arc rack (18), and when in use, the motion driving motor (22) controls the external gear (21) to rotate positively and drives the external gear (21) and the sliding block (19) connected with the external gear to move with the upper middle rectangular plate (23), and when the rectangular driving motor (22) rotates reversely, the lower middle rectangular plate (17) is driven to move;
the clamping device is arranged at the upper left rectangular plate (28), the upper right rectangular plate (29), the lower left rectangular plate (30) and the lower right rectangular plate (31) and comprises a clamping driving motor (15), a left roller (1), a right roller (12), a left sliding straight rod (2), a right sliding straight rod (11), a left spring (3), a right spring (10), a left L-shaped right angle arm (4), a right L-shaped right angle arm (9), a left middle sliding straight rod (5), a right middle sliding straight rod (7), a large gear (13), a small gear (14), a straight rack (6) and an electric push rod (8); the left roller (1) is arranged at the front end of the left sliding straight rod (2), the left spring (3) is sleeved on the left sliding straight rod (2), the rear end of the left sliding straight rod (2) stretches into one support arm (4-1) of the left L-shaped right angle arm (4), the left sliding straight rod (2) can axially stretch and retract relative to the support arm, the rear end of the left middle sliding straight rod (5) stretches into the other support arm (4-2) of the left L-shaped right angle arm (4), the left middle sliding straight rod (5) can axially stretch and retract relative to the support arm, the front end of the left middle sliding straight rod (5) is movably connected with the front end of the right middle sliding straight rod (7), the rear end of the right middle sliding straight rod (7) stretches into one support arm (9-2) of the right L-shaped right angle arm (9), the right middle sliding straight rod (7) can axially stretch and retract relative to the support arm, the rear end of the right sliding straight rod (11) stretches into the other support arm (9-1) of the right L-shaped right angle arm (9) and can axially stretch and retract relative to the support arm, the front end of the right sliding straight rod (11) is provided with a right roller (12), a right spring (10) is sleeved on the right sliding straight rod (11), a straight rack (6) is movably connected with a connecting point of the left middle sliding straight rod (5) and the right middle sliding straight rod (7), the straight rack (6) is meshed with a large gear (13), the large gear (13) is connected with the small gear (14), the small gear (14) is connected with a rotating shaft of the clamping driving motor (15), the small gear (14) is connected with a corresponding rectangular plate, when the robot is used, the clamping driving motor (15) rotates positively to control the small gear (14) to rotate positively, the small gear (14) drives the large gear (13) to rotate through the ratchet mechanism, the large gear (13) drives the straight rack (6) to retreat, the left sliding straight rod (2) and the right sliding straight rod (11) are lifted upwards, the left roller (1) and the right roller (12) are enabled to abut against a wall, the joint of the left L-shaped right arm (4) and the right L-shaped right arm (9) is enabled to abut against a bolt (16), the left L-shaped right arm (4) and the right L-shaped right arm (9) are clamped by the electric push rod (8), the robot is enabled to be clamped on the bolt, and when the clamping driving motor (15) rotates reversely, the left roller (1) and the right roller (12) are enabled to retreat, the left L-shaped right arm (4) and the right L-shaped right arm (9) are enabled to leave the bolt, and the right arm is enabled to be released;
the self-adapting device is arranged between the upper middle rectangular plate (23) and the upper left rectangular plate (28), between the upper middle rectangular plate (23) and the upper right rectangular plate (29), between the lower middle rectangular plate (17) and the lower left rectangular plate (30) and between the lower middle rectangular plate (17) and the lower right rectangular plate (31),
the rear corners of the adjacent edges of the upper middle rectangular plate (23) and the upper left rectangular plate (28) are movably connected through a rear rotating shaft, the front corners of the adjacent edges of the upper middle rectangular plate (23) and the upper left rectangular plate (28) are provided with self-adapting devices, the rear corners of the adjacent edges of the upper middle rectangular plate (23) and the upper right rectangular plate (29) are movably connected through a rear rotating shaft (34), the front corners of the adjacent edges are provided with self-adapting devices, the rear corners of the lower middle rectangular plate (17) and the rear corners of the lower left rectangular plate (30) are movably connected through a rear rotating shaft, the front corners of the adjacent edges of the lower middle rectangular plate (17) and the lower right rectangular plate (31) are movably connected through a rear rotating shaft, and the front corners of the adjacent edges are provided with self-adapting devices; the self-adaptive device comprises a crank (24), a sliding block (25) and an axial block (25-1), wherein the sliding block (25) and the axial block (25-1) are respectively arranged on two adjacent rectangular plates, the sliding block (25) is connected to the rectangular plates through a first sliding block rotating shaft (32) and can rotate by taking the sliding block rotating shaft (32) as an axis, the axial block (25-1) is connected to the other rectangular plate through a second sliding block rotating shaft (32-1), the axial block (25-1) can rotate by taking the second sliding block rotating shaft (32-1) as an axis, one end of the crank (24) is connected with the axial block (25-1), and the other end of the crank passes through the sliding block (25) and can freely shuttle in the sliding block (25);
the robot further comprises a clamping spanner device, wherein the clamping spanner device comprises an electric push rod (26) and a clamp (27), the electric push rod (26) is arranged on the upper middle rectangular plate (23), the electric push rod (26) is connected with the clamp (27), an electric torque spanner is arranged on the clamp (27), and bolts are screwed through the electric torque spanner;
the large gear (13) corresponding to the upper left rectangular plate (28) and the large gear (13) corresponding to the upper right rectangular plate (29) are meshed and driven through two driving gears (36); the big gear corresponding to the lower left rectangular plate (30) and the big gear corresponding to the lower right rectangular plate (31) are also meshed and driven by two driving gears.
2. The circumferentially moving tightening bolt robot of claim 1, wherein: the upper middle rectangular plate (23) is provided with a through hole (35) which is used for the power torque wrench to move downwards and pass through at a position corresponding to the clamp (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455738.5A CN108555584B (en) | 2018-05-14 | 2018-05-14 | Circumferential movement screw bolt tightening robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455738.5A CN108555584B (en) | 2018-05-14 | 2018-05-14 | Circumferential movement screw bolt tightening robot |
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| CN108555584A CN108555584A (en) | 2018-09-21 |
| CN108555584B true CN108555584B (en) | 2023-09-26 |
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