CN109159070A - A kind of robot is from borrowing torque wrench device - Google Patents
A kind of robot is from borrowing torque wrench device Download PDFInfo
- Publication number
- CN109159070A CN109159070A CN201811314070.9A CN201811314070A CN109159070A CN 109159070 A CN109159070 A CN 109159070A CN 201811314070 A CN201811314070 A CN 201811314070A CN 109159070 A CN109159070 A CN 109159070A
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- CN
- China
- Prior art keywords
- planetary gear
- spanner
- torque wrench
- robot
- borrows
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses robots to borrow torque wrench device certainly, using planetary gear set structure, rotate spanner and spanner support frame opposite direction, utilize the interaction between spanner support frame and the fitting of fixing bolt, the torque for tightening or unclamping bolt is provided, independent of the weight of robot itself and the mechanical strength of mechanical arm, it solves the existing spanner for fastening fitting to need to carry out operation by the weight of robot itself, cause robot weight big, the technical issues of practicability is limited to, and field operation efficiency is influenced.
Description
Technical field
This application involves electric armour clamp technical fields more particularly to a kind of robot to borrow torque wrench device certainly.
Background technique
During electric operating, being frequently encountered fan-out capability, there are contradictory feelings with robot volume weight for robot
Condition, for example, the fastening and release of the bolt of the fittings such as drainage plate are using electricity during transmission line operation robot manipulating task
Wrench device operates, and at present used in electric wrench device, need to tighten spiral shell by the weight of robot body
Bolt, for example, " development of electric transmission line hot-line fastening bolt robot " disclosed in " High-Voltage Electrical Appliances " 07 phase in 2017, this is just to machine
The weight of device human body and the mechanical strength of mechanical arm have relatively high requirement, to tighten the bolt on transmission line of electricity, just need
The mechanical strength of bigger robot weight and higher mechanical arm is wanted, there are limitations for practicability, influence field operation effect
Rate.
Summary of the invention
This application provides a kind of robots from torque wrench device is borrowed, for solving the existing spanner for being used to fasten fitting
It needs to carry out operation by the weight of robot itself, causes robot weight big, practicability is limited to, and field operation effect is influenced
The technical issues of rate.
This application provides a kind of robots from borrowing torque wrench device, comprising: spanner, spanner support frame, outside planetary gear
Shell, planetary gear, planet carrier, fixed axis gear and motor input shaft；
The planetary gear shell is fixedly connected with the spanner support frame；
The planetary gear is connect with the planet carrier；
The spanner is fixedly connected with the planet carrier；
The fixed axis gear is fixedly connected with the motor input shaft；
The fixed axis gear engages connection with the planetary gear；
The planetary gear and the fixed axis gear are all set in the planetary gear interior of shell；
The planetary gear outer casing inner wall is provided with ring gear, and the planetary gear shell is nibbled with the planetary gear
Connection is closed, planetary gear set structure is formed.
Preferably, the robot borrows torque wrench device certainly further include: dorsal shield；
The dorsal shield includes upper dorsal shield and lower dorsal shield, and the upper dorsal shield is set to the upper surface of the planetary gear shell,
The lower dorsal shield is set to the lower surface of the planetary gear shell.
Preferably, the spanner support frame includes transverse slat and support leg, and the support leg is fixed on the both ends of the transverse slat.
Preferably, the spanner is die nut.
Preferably, the stress point of the spanner to the spanner rotation center first distance, be less than the support leg
To the second distance of the rotation center.
Preferably, the planetary gear quantity is 3.
Preferably, the robot borrows torque wrench device certainly further include: driving motor；
The driving motor and the motor input axis connection.
Preferably, the robot borrows torque wrench device certainly further include: controller；
The controller is connect with the driving motor.
Preferably, the robot borrows torque wrench device certainly further include: camera；
The camera is connect with the controller.
Preferably, the planetary gear shell is ring structure.
As can be seen from the above technical solutions, the application has the following advantages:
A kind of robot provided herein borrows torque wrench device certainly, comprising: spanner, spanner support frame, planetary gear
Shell, planetary gear, planet carrier, fixed axis gear and motor input shaft；Planetary gear shell is fixedly connected with spanner support frame；Row
Star gear is connect with planet carrier；Spanner is fixedly connected with planet carrier；Fixed axis gear is fixedly connected with motor input shaft；Fixed axis gear
Connection is engaged with planetary gear；Planetary gear and fixed axis gear are all set in planetary gear interior of shell；In planetary gear shell
Wall is provided with ring gear, and planetary gear shell engages connection with planetary gear, forms planetary gear set structure.The application mentions
The device of confession rotates spanner and spanner support frame opposite direction, is utilized spanner support frame and fixation using planetary gear set structure
Interaction between the fitting of bolt provides the torque for tightening or unclamping bolt, independent of robot itself weight and
The mechanical strength of mechanical arm solves the existing spanner for fastening fitting and needs to make by the weight of robot itself
The technical issues of industry causes robot weight big, and practicability is limited to, and influences field operation efficiency.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is the structural representation that a kind of robot provided in the embodiment of the present application borrows the first visual angle of torque wrench device certainly
Figure；
Fig. 2 is the structural representation that a kind of robot provided in the embodiment of the present application borrows the second visual angle of torque wrench device certainly
Figure；
Wherein, appended drawing reference are as follows:
1, spanner；2, transverse slat；3, support leg；4, planetary gear shell；5, planetary gear；6, planet carrier；7, fixed axis gear；
8, motor input shaft；9, dorsal shield.
Specific embodiment
This reality application embodiment discloses a kind of robot from borrowing torque wrench device, existing for fastening gold for solving
The spanner of tool needs to carry out operation by the weight of robot itself, causes robot weight big, and practicability is limited to, and influences existing
The technical issues of field operating efficiency.
Fig. 1 and Fig. 2 are please referred to, this application provides one embodiment that a kind of robot borrows torque wrench device certainly, this Shens
Please the robot that provides of embodiment from borrowing torque wrench device, comprising: spanner 1, spanner support frame, planetary gear shell 4, planet tooth
Wheel 5, planet carrier 6, fixed axis gear 7 and motor input shaft 8；
Planetary gear shell 4 is fixedly connected with spanner support frame；
Planetary gear 5 is connect with planet carrier 6；
Spanner 1 is fixedly connected with planet carrier 6；
Fixed axis gear 7 is fixedly connected with motor input shaft 8；
Fixed axis gear 7 engages connection with planetary gear 5；
Planetary gear 5 and fixed axis gear 7 are all set in inside planetary gear shell 4；
4 inner wall of planetary gear shell is provided with ring gear, and planetary gear shell 4 engages connection, shape with planetary gear 5
At planetary gear set structure.
It should be noted that in the embodiment of the present application, bolt on drainage plate is tightened from borrowing torque wrench device by robot
The course of work are as follows:
1, robot is moved to drainage plate position, and control robot borrows the spanner of torque wrench device to be directed at bolt certainly,
It is, of course, understood that the initial position of robot from the support leg for the spanner support frame for borrowing torque wrench device should be avoided leading
The objects such as line and fitting, vacantly in the two sides of drainage plate；
2, control spanner moves linearly toward bolt direction, so that bolt enters spanner, is then driven by motor input shaft 8
Planetary gear set rotation, under the action of planetary gear set, planetary gear shell 4 will be with spanner support frame to motor input shaft
The opposite direction rotation of 8 rotations, it is to be understood that the rotation direction phase of the rotation direction of motor input shaft 8 and fixed axis gear 7
Together, and the rotation direction of planetary gear 5 and the rotation direction of planetary gear shell 4 with the rotation direction of fixed axis gear 7 on the contrary,
The rotation direction of planet carrier 6 is identical as the rotation direction of planetary gear 5, the rotation direction of spanner 1 and the rotation direction of planet carrier 6
It is identical；
3, after spanner support frame turns an angle, the support leg of spanner support frame will encounter drainage plate or conducting wire
Deng, the support leg of spanner support frame is stopped by drainage plate or conducting wire, it no longer rotates, and since drainage plate and conducting wire are all fixed
Object, the torque that motor input shaft 8 inputs at this time will be so that planet carrier 6 continue to rotate, and band wrench 1 tightens bolt.
In this process, spanner tightens torque used in bolt and is directly passed to conducting wire and drainage plate by spanner support frame,
No longer need to reduce the requirement of the mechanical strength and robot body weight of mechanical arm by mechanical arm or robot body.
It is understood that robot is merely provided above from the course of work for borrowing torque wrench device to tighten the bolt on drainage plate,
And robot is similar to the above-mentioned process for tightening bolt from the working principle for borrowing torque wrench device to unscrew bolt on drainage plate,
This is no longer repeated.
A kind of robot provided in the embodiment of the present application borrows torque wrench device certainly, comprising: spanner 1, spanner support frame, row
Star gear casing 4, planetary gear 5, planet carrier 6, fixed axis gear 7 and motor input shaft 8；Planetary gear shell 4 and spanner support
Frame is fixedly connected；Planetary gear 5 is connect with planet carrier 6；Spanner 1 is fixedly connected with planet carrier 6；Fixed axis gear 7 and motor input
Axis 8 is fixedly connected；Fixed axis gear 7 engages connection with the wheel of planet tooth 5；Planetary gear 5 and fixed axis gear 7 are all set in planetary gear
Inside shell 4；4 inner wall of planetary gear shell is provided with ring gear, and planetary gear shell 4 engages connection with planetary gear 5,
Form planetary gear set structure.Device provided by the present application keeps spanner 1 and spanner support frame anti-using planetary gear set structure
Direction rotation, using the interaction between spanner support frame and the fitting of fixing bolt, provides the power for tightening or unclamping bolt
Square solves existing for fastening the spanner of fitting independent of the weight of robot itself and the mechanical strength of mechanical arm
It needs to carry out operation by the weight of robot itself, causes robot weight big, practicability is limited to, and field operation effect is influenced
The technical issues of rate.
It is a kind of robot provided by the present application above from the one embodiment for borrowing torque wrench device, is that the application mentions below
A kind of robot supplied borrows another embodiment of torque wrench device certainly.
Fig. 1 and Fig. 2 are please referred to, this application provides a kind of robots from another embodiment for borrowing torque wrench device, originally
The robot that application embodiment provides borrows torque wrench device certainly, comprising: spanner 1, spanner support frame, planetary gear shell 4, planet
Gear 5, planet carrier 6, fixed axis gear 7 and motor input shaft 8；
Planetary gear shell 4 is fixedly connected with spanner support frame；
Planetary gear 5 is connect with planet carrier 6；
Spanner 1 is fixedly connected with planet carrier 6；
Fixed axis gear 7 is fixedly connected with motor input shaft 8；
Fixed axis gear 7 engages connection with planetary gear 5；
Planetary gear 5 and fixed axis gear 7 are all set in inside planetary gear shell 4；
4 inner wall of planetary gear shell is provided with ring gear, and planetary gear shell 4 engages connection, shape with planetary gear 5
At planetary gear set structure.
Further, robot borrows torque wrench device certainly further include: dorsal shield 9；
Dorsal shield 9 includes upper dorsal shield and lower dorsal shield, and upper dorsal shield is set to the upper surface of planetary gear shell 4, lower dorsal shield setting
In the lower surface of planetary gear shell 4.
It should be noted that in Fig. 1 and Fig. 2, dorsal shield has only drawn half, and actually dorsal shield should will be in planetary gear shell
Planetary gear set cover closing, avoid the dirty planetary gear set of dust and other impurities, cause failure and influence service using life.
Further, spanner support frame includes a transverse slat 2 and two support legs 3, and two support legs 3 are separately fixed at cross
The both ends of plate 2.
It should be noted that spanner support frame mainly plays support limit, spanner support frame in the embodiment of the present application
For structure in addition to the connection type of a transverse slat 2 and two support legs 3 in the embodiment of the present application, those skilled in the art can be with
It is configured according to the actual situation, for example, two transverse slats are arranged in a crossed manner, more than two support legs etc..
Further, spanner 1 is die nut.
It should be noted that spanner 1 is used to tighten or unscrew the hex bolts on transmission line of electricity in the embodiment of the present application,
Certainly, those skilled in the art can be according to the shape and structure of the Environment Design spanner 1 of practically necessary work, spanner support frame
It can also be arranged to the support leg of 3 support legs or 3 or more quantity according to practical application scene.
Further, the stress point of spanner 1 to spanner 1 rotation center first distance, be less than support leg into rotation
The second distance of the heart.
It should be noted that the stress point of spanner 1 to spanner 1 rotation center first distance, be less than support leg to revolve
The second distance for turning center reaches the active force for guaranteeing spanner support frame to line hardware and conducting wire much smaller than spanner 1 to bolt
Active force, so that it is guaranteed that line hardware and conducting wire will not be damaged while turning bolt.
Further, planetary gear quantity is 3.
Further, planetary gear shell 4 is ring structure.
Further, robot borrows torque wrench device certainly further include: driving motor；
Driving motor is connect with motor input shaft 8.
It should be noted that in the embodiment of the present application, by driving motor come driving motor input shaft 8, to drive row
The rotation of star gear set.
Further, robot borrows torque wrench device certainly further include: controller；
Controller is connect with driving motor.
Further, robot borrows torque wrench device certainly further include: camera；
Camera is connect with controller.
It should be noted that in the embodiment of the present application, bolt on drainage plate is tightened from borrowing torque wrench device by robot
The course of work are as follows:
1, robot is moved to drainage plate position, and control robot borrows the spanner of torque wrench device to be directed at bolt certainly,
It is, of course, understood that robot borrows the initial position of the support leg 3 of torque wrench device that should avoid conducting wire and fitting etc. certainly
Object is needed through camera vacantly in the two sides of drainage plate, and in order to avoid the objects such as conducting wire and fitting to drainage plate ambient enviroment
It is shot, controller is identified according to the position that the picture of shooting carries out the objects such as conducting wire and fitting, then control driving electricity
The output torque of machine is adjusted the position of spanner support frame；
2, control spanner moves linearly toward bolt direction, so that bolt enters spanner, is then driven by motor input shaft 8
Planetary gear set rotation, under the action of planetary gear set, planetary gear shell 4 will be with spanner support frame to motor input shaft
The opposite direction rotation of 8 rotations, it is to be understood that the rotation direction phase of the rotation direction of motor input shaft 8 and fixed axis gear 7
Together, and the rotation direction of planetary gear 5 and the rotation direction of planetary gear shell 4 with the rotation direction of fixed axis gear 7 on the contrary,
The rotation direction of planet carrier 6 is identical as the rotation direction of planetary gear 5, the rotation direction of spanner 1 and the rotation direction of planet carrier 6
It is identical；
3, after spanner support frame turns an angle, two support legs 3 will encounter drainage plate or conducting wire etc., two branch
Support foot 3 is stopped by drainage plate or conducting wire, no longer rotates, and since drainage plate and conducting wire are all fixtures, at this time motor input shaft 8
The torque of input will be so that planet carrier 6 continues to rotate, and band wrench 1 tightens bolt.
In the embodiment of the present application, torque needed for spanner 1 tightens bolt does not need to transmit by mechanical arm, and mechanical arm is only held
By the gravity of end, therefore, the production of the lightweight materials such as carbon fiber can be used, the weight of robot, convenient transportation can be greatly reduced
And in-site installation.Meanwhile device provided by the present application, rotation center, the centre of moment of spanner 1 maintain the same point always,
The positional stability that robot itself will not be influenced because of robot manipulating task reduces the control difficulty to device, will not
To mechanical arm etc., other lose generation shearing stress, improve the security and stability of robot entirety.
Above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although with reference to the foregoing embodiments
The application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of robot is from borrowing torque wrench device characterized by comprising spanner, spanner support frame, planetary gear shell,
Planetary gear, planet carrier, fixed axis gear and motor input shaft；
The planetary gear shell is fixedly connected with the spanner support frame；
The planetary gear is connect with the planet carrier；
The spanner is fixedly connected with the planet carrier；
The fixed axis gear is fixedly connected with the motor input shaft；
The fixed axis gear engages connection with the planetary gear；
The planetary gear and the fixed axis gear are all set in the planetary gear interior of shell；
The planetary gear outer casing inner wall is provided with ring gear, and the planetary gear shell engages company with the planetary gear
It connects, forms planetary gear set structure.
2. robot according to claim 1 borrows torque wrench device certainly, which is characterized in that the robot borrows torque wrench certainly
Device further include: dorsal shield；
The dorsal shield includes upper dorsal shield and lower dorsal shield, and the upper dorsal shield is set to the upper surface of the planetary gear shell, described
Lower dorsal shield is set to the lower surface of the planetary gear shell.
3. robot according to claim 1 borrows torque wrench device certainly, which is characterized in that the spanner support frame includes cross
Plate and support leg, the support leg are fixed on the both ends of the transverse slat.
4. robot according to claim 1 borrows torque wrench device certainly, which is characterized in that the spanner is die nut.
5. robot according to claim 1 borrows torque wrench device certainly, which is characterized in that the stress point of the spanner to institute
The first distance for stating the rotation center of spanner, less than the support leg to the second distance of the rotation center.
6. robot according to claim 1 is from borrowing torque wrench device, which is characterized in that the planetary gear quantity is
3.
7. robot as claimed in any of claims 1 to 6 borrows torque wrench device certainly, which is characterized in that the machine
Device people borrows torque wrench device certainly further include: driving motor；
The driving motor and the motor input axis connection.
8. robot according to claim 7 borrows torque wrench device certainly, which is characterized in that the robot borrows torque wrench certainly
Device further include: controller；
The controller is connect with the driving motor.
9. robot according to claim 8 borrows torque wrench device certainly, which is characterized in that the robot borrows torque wrench certainly
Device further include: camera；
The camera is connect with the controller.
10. robot according to claim 1 is from borrowing torque wrench device, which is characterized in that the planetary gear shell is
Ring structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314070.9A CN109159070B (en) | 2018-11-06 | 2018-11-06 | Robot is from borrowing power wrench device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314070.9A CN109159070B (en) | 2018-11-06 | 2018-11-06 | Robot is from borrowing power wrench device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109159070A true CN109159070A (en) | 2019-01-08 |
| CN109159070B CN109159070B (en) | 2020-11-10 |
Family
ID=64875951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811314070.9A Active CN109159070B (en) | 2018-11-06 | 2018-11-06 | Robot is from borrowing power wrench device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109159070B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2808445Y (en) * | 2005-05-27 | 2006-08-23 | 赖民财 | Labour-saving spanner |
| CN2810896Y (en) * | 2005-01-20 | 2006-08-30 | 乌家欢 | Support foot changeable boosting wrench |
| CN205310136U (en) * | 2015-12-12 | 2016-06-15 | 张玲聪 | Laborsaving screwdriver with higher speed |
| CN205600600U (en) * | 2016-05-18 | 2016-09-28 | 浙江超力机械工具制造有限公司 | Electric spanner's transmission structure |
| US20170239791A1 (en) * | 2014-08-19 | 2017-08-24 | Jack Innovations, Llc | Reversible planetary gear screw driver |
| CN209110947U (en) * | 2018-11-06 | 2019-07-16 | 广东电网有限责任公司 | A kind of robot is from borrowing torque wrench device |
-
2018
- 2018-11-06 CN CN201811314070.9A patent/CN109159070B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2810896Y (en) * | 2005-01-20 | 2006-08-30 | 乌家欢 | Support foot changeable boosting wrench |
| CN2808445Y (en) * | 2005-05-27 | 2006-08-23 | 赖民财 | Labour-saving spanner |
| US20170239791A1 (en) * | 2014-08-19 | 2017-08-24 | Jack Innovations, Llc | Reversible planetary gear screw driver |
| CN205310136U (en) * | 2015-12-12 | 2016-06-15 | 张玲聪 | Laborsaving screwdriver with higher speed |
| CN205600600U (en) * | 2016-05-18 | 2016-09-28 | 浙江超力机械工具制造有限公司 | Electric spanner's transmission structure |
| CN209110947U (en) * | 2018-11-06 | 2019-07-16 | 广东电网有限责任公司 | A kind of robot is from borrowing torque wrench device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109159070B (en) | 2020-11-10 |
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Effective date of registration: 20200110 Address after: 510000 room 501-503, annex building, Huaye building, No.1-3, Chumo new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province Applicant after: Guangdong Electric Power Research Institute of energy technology limited liability company Address before: 510600 No. 757 Dongfeng East Road, Guangzhou, Guangdong, Yuexiu District Applicant before: GUANGDONG STATE GRID CO., LTD. Applicant before: ELECTRIC POWER RESEARCH INSTITUTE, GUANGDONG POWER GRID CO., LTD. |
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Address after: Room 501-503, annex building, Huaye building, No.1-3 Chuimao new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province 510000 Patentee after: China Southern Power Grid Power Technology Co.,Ltd. Address before: Room 501-503, annex building, Huaye building, No.1-3 Chuimao new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province 510000 Patentee before: GUANGDONG ELECTRIC POWER SCIENCE RESEARCH INSTITUTE ENERGY TECHNOLOGY Co.,Ltd. |