CN109159070B - Robot is from borrowing power wrench device - Google Patents
Robot is from borrowing power wrench device Download PDFInfo
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- CN109159070B CN109159070B CN201811314070.9A CN201811314070A CN109159070B CN 109159070 B CN109159070 B CN 109159070B CN 201811314070 A CN201811314070 A CN 201811314070A CN 109159070 B CN109159070 B CN 109159070B
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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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Abstract
The application discloses robot is from borrowing power wrench device, adopt the planetary gear set structure, make spanner and spanner support frame antiport, utilize the interact between spanner support frame and fixing bolt's the gold utensil, provide the moment of screwing up or loosening the bolt, do not rely on the weight of robot itself and the mechanical strength of arm, it needs to rely on the weight of robot itself to come the operation to have solved the current spanner that is used for fastening the gold utensil, it is big to lead to robot weight, the practicality receives the limitation, influence the technical problem of site operation efficiency.
Description
Technical Field
The application relates to the technical field of electric power fittings, in particular to a robot self-borrowing wrench device.
Background
In the process of electric power operation, the robot often encounters a situation that the output capacity and the weight of the robot are contradictory, for example, in the process of electric power transmission line operation robot operation, the fastening and the loosening of bolts of hardware such as a drainage plate are operated by using an electric wrench device, but the electric wrench device used at present needs to tighten the bolts by means of the weight of the robot body, for example, "development of electric power transmission line electrified fastening bolt robot" disclosed in "high voltage electric appliance" in 2017, which has relatively high requirements on the weight of the robot body and the mechanical strength of the mechanical arm, and the bolts on the electric power transmission line need to be tightened by relatively large robot weight and relatively high mechanical strength of the mechanical arm, so that the practicability is limited, and the field operation efficiency is influenced.
Disclosure of Invention
The application provides a robot is from borrowing power wrench device for solve current spanner that is used for fastening the gold utensil and need rely on the weight of robot itself to come the operation, lead to robot weight big, the practicality receives the limitation, influences the technical problem of site operation efficiency.
The application provides a robot is from borrowing power wrench device, includes: the wrench comprises a wrench, a wrench support frame, a planetary gear shell, a planetary gear, a planet carrier, a dead axle gear and a motor input shaft;
the planetary gear shell is fixedly connected with the wrench supporting frame;
the planet gear is connected with the planet carrier;
the spanner is fixedly connected with the planet carrier;
the fixed shaft gear is fixedly connected with the motor input shaft;
the fixed shaft gear is meshed with the planetary gear;
the planetary gear and the dead axle gear are both arranged inside the planetary gear shell;
the inner wall of the planetary gear shell is provided with an annular internal gear, and the planetary gear shell is meshed with the planetary gear to form a planetary gear set structure.
Preferably, the robot self-borrowing wrench device further comprises: a back shell;
the dorsal scale includes last dorsal scale and lower dorsal scale, go up the dorsal scale set up in the upper surface of planetary gear shell, lower dorsal scale set up in the lower surface of planetary gear shell.
Preferably, the wrench supporting frame comprises a transverse plate and supporting legs, and the supporting legs are fixed at two ends of the transverse plate.
Preferably, the wrench is a hexagonal wrench.
Preferably, a first distance from a force bearing point of the wrench to a rotation center of the wrench is smaller than a second distance from the supporting foot to the rotation center.
Preferably, the number of the planetary gears is 3.
Preferably, the robot self-borrowing wrench device further comprises: a drive motor;
the driving motor is connected with the motor input shaft.
Preferably, the robot self-borrowing wrench device further comprises: a controller;
the controller is connected with the driving motor.
Preferably, the robot self-borrowing wrench device further comprises: a camera;
the camera is connected with the controller.
Preferably, the planetary gear housing is of annular configuration.
According to the technical scheme, the method has the following advantages:
the utility model provides a robot is from borrowing power wrench device, includes: the wrench comprises a wrench, a wrench support frame, a planetary gear shell, a planetary gear, a planet carrier, a dead axle gear and a motor input shaft; the planetary gear shell is fixedly connected with the wrench supporting frame; the planet gear is connected with the planet carrier; the spanner is fixedly connected with the planet carrier; the fixed shaft gear is fixedly connected with the input shaft of the motor; the fixed shaft gear is meshed with the planetary gear; the planetary gear and the fixed shaft gear are both arranged in the planetary gear shell; an annular internal gear is arranged on the inner wall of the planetary gear shell, and the planetary gear shell is meshed with the planetary gear to form a planetary gear set structure. The device that this application provided adopts the planetary gear set structure, makes spanner and spanner support frame antiport, utilizes the interact between spanner support frame and fixing bolt's the gold utensil, provides the moment of screwing up or loosening the bolt, does not rely on the weight of robot itself and the mechanical strength of arm, has solved the current spanner that is used for fastening the gold utensil and has need rely on the weight of robot itself to come the operation, leads to robot weight big, the practicality receives the limitation, influences the technical problem of site operation efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a robot self-help wrench device from a first perspective in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a robot self-help wrench device from a second perspective in an embodiment of the present application;
wherein the reference numerals are:
1. a wrench; 2. a transverse plate; 3. supporting legs; 4. a planetary gear housing; 5. a planetary gear; 6. a planet carrier; 7. a fixed shaft gear; 8. a motor input shaft; 9. a back shell.
Detailed Description
The embodiment of the application discloses a robot is from borrowing power wrench device for solve current spanner that is used for fastening the gold utensil and need rely on the weight of robot itself to come the operation, lead to robot weight big, the practicality receives the limitation, influences the technical problem of site operation efficiency.
Referring to fig. 1 and 2, the present application provides an embodiment of a self-assisted robot wrench device, which includes: the wrench comprises a wrench 1, a wrench supporting frame, a planetary gear shell 4, a planetary gear 5, a planet carrier 6, a dead axle gear 7 and a motor input shaft 8;
the planetary gear shell 4 is fixedly connected with the wrench supporting frame;
the planet gear 5 is connected with the planet carrier 6;
the wrench 1 is fixedly connected with the planet carrier 6;
the fixed shaft gear 7 is fixedly connected with a motor input shaft 8;
the fixed shaft gear 7 is meshed with the planet gear 5;
the planetary gear 5 and the fixed shaft gear 7 are both arranged in the planetary gear shell 4;
an annular internal gear is arranged on the inner wall of the planetary gear shell 4, and the planetary gear shell 4 is meshed with the planetary gear 5 to form a planetary gear set structure.
It should be noted that, in this embodiment of the application, the working process of the robot screwing the bolt on the drainage plate from the wrench device by gravity is as follows:
1. the robot moves to the position of the drainage plate, and controls a wrench of the robot self-power-assisted wrench device to align with the bolt, and certainly, the robot self-power-assisted wrench device is suspended at two sides of the drainage plate in the suspension manner by avoiding wires, hardware fittings and the like at the initial position of a supporting leg of a wrench supporting frame of the robot self-power-assisted wrench device;
2. the wrench is controlled to move linearly in the bolt direction, so that a bolt enters the wrench, then the planetary gear set is driven to rotate through the motor input shaft 8, and under the action of the planetary gear set, the planetary gear housing 4 drives the wrench support frame to rotate in the direction opposite to the rotation direction of the motor input shaft 8, and it can be understood that the rotation direction of the motor input shaft 8 is the same as the rotation direction of the fixed shaft gear 7, the rotation direction of the planetary gear 5 and the rotation direction of the planetary gear housing 4 are both opposite to the rotation direction of the fixed shaft gear 7, the rotation direction of the planet carrier 6 is the same as the rotation direction of the planetary gear 5, and the rotation direction of the wrench 1 is the same as the rotation direction of the planet carrier 6;
3. after the spanner support frame rotates certain angle, drainage plate or wire etc. will be touch to the supporting legs of spanner support frame, and the supporting legs of spanner support frame is blockked by drainage plate or wire, no longer rotates, and because drainage plate and wire all are the fixture, the moment of torsion of 8 inputs of motor input shaft will make planet carrier 6 continue to rotate this moment, drive spanner 1 and screw up the bolt.
In the process, the torque used for screwing the bolt by the wrench is directly transmitted to the wire and the drainage plate by the wrench supporting frame, so that the mechanical strength of the mechanical arm and the weight requirement of the robot body are reduced without passing through the mechanical arm or the robot body. It can be understood that the above only provides a working process of the robot for screwing the bolt on the drainage plate from the force-assisted wrench device, and the working principle of the robot for unscrewing the bolt on the drainage plate from the force-assisted wrench device is similar to the above-mentioned process for screwing the bolt, and is not described in detail herein.
The embodiment of this application provides a robot is from borrowing power wrench device, includes: the wrench comprises a wrench 1, a wrench supporting frame, a planetary gear shell 4, a planetary gear 5, a planet carrier 6, a dead axle gear 7 and a motor input shaft 8; the planetary gear shell 4 is fixedly connected with the wrench supporting frame; the planet gear 5 is connected with the planet carrier 6; the wrench 1 is fixedly connected with the planet carrier 6; the fixed shaft gear 7 is fixedly connected with a motor input shaft 8; the fixed shaft gear 7 is meshed with the planet gear 5; the planetary gear 5 and the fixed shaft gear 7 are both arranged in the planetary gear shell 4; an annular internal gear is arranged on the inner wall of the planetary gear shell 4, and the planetary gear shell 4 is meshed with the planetary gear 5 to form a planetary gear set structure. The device that this application provided adopts the planetary gear set structure, make spanner 1 and spanner support frame counter rotation, utilize the interact between spanner support frame and fixing bolt's the gold utensil, provide the moment of screwing up or loosening the bolt, do not rely on the weight of robot itself and the mechanical strength of arm, it needs to rely on the weight of robot itself to come the operation to have solved the current spanner that is used for fastening the gold utensil, it is big to lead to robot weight, the practicality receives the limitation, influence the technical problem of site operation efficiency.
The above is one embodiment of a robot self-assisted wrench device provided by the present application, and the following is another embodiment of a robot self-assisted wrench device provided by the present application.
Referring to fig. 1 and 2, the present application provides another embodiment of a robot self-assisted wrench device, which includes: the wrench comprises a wrench 1, a wrench supporting frame, a planetary gear shell 4, a planetary gear 5, a planet carrier 6, a dead axle gear 7 and a motor input shaft 8;
the planetary gear shell 4 is fixedly connected with the wrench supporting frame;
the planet gear 5 is connected with the planet carrier 6;
the wrench 1 is fixedly connected with the planet carrier 6;
the fixed shaft gear 7 is fixedly connected with a motor input shaft 8;
the fixed shaft gear 7 is meshed with the planet gear 5;
the planetary gear 5 and the fixed shaft gear 7 are both arranged in the planetary gear shell 4;
an annular internal gear is arranged on the inner wall of the planetary gear shell 4, and the planetary gear shell 4 is meshed with the planetary gear 5 to form a planetary gear set structure.
Further, the robot is from borrowing power wrench device still includes: a back shell 9;
the back shell 9 includes an upper back shell and a lower back shell, the upper back shell is disposed on the upper surface of the planetary gear housing 4, and the lower back shell is disposed on the lower surface of the planetary gear housing 4.
It should be noted that, in fig. 1 and fig. 2, the back shell is only drawn in half, and actually, the back shell covers and seals the planetary gear set in the planetary gear housing, so as to prevent impurities such as dust from contaminating the planetary gear set, causing malfunction and affecting the service life of the device.
Further, the spanner support frame includes a diaphragm 2 and two supporting legs 3, and two supporting legs 3 are fixed respectively at the both ends of diaphragm 2.
It should be noted that, in this application embodiment, the wrench supporting frame mainly plays a supporting and limiting role, and the structure of the wrench supporting frame, in addition to the connection mode of one transverse plate 2 and two supporting legs 3 in this application embodiment, can also be set by those skilled in the art according to actual conditions, for example, two transverse plates are arranged in a crossed manner, more than two supporting legs are arranged, and the like.
Further, the wrench 1 is a hexagonal wrench.
It should be noted that, in this application embodiment, the wrench 1 is used to tighten or loosen the hexagon bolt on the power transmission line, and certainly, a person skilled in the art can design the shape structure of the wrench 1 according to the actually required working environment, and the wrench support frame can also be set to 3 support legs or more than 3 support legs according to the actually applied scene.
Further, a first distance from the force point of wrench 1 to the rotation center of wrench 1 is smaller than a second distance from the supporting foot to the rotation center.
It should be noted that, a first distance from the stress point of the wrench 1 to the rotation center of the wrench 1 is smaller than a second distance from the supporting leg to the rotation center, so as to ensure that the acting force of the wrench supporting frame on the line hardware and the wire is far smaller than the acting force of the wrench 1 on the bolt, thereby ensuring that the line hardware and the wire cannot be damaged while the bolt is screwed.
Further, the number of the planetary gears is 3.
Further, the planetary gear housing 4 is of an annular structure.
Further, the robot is from borrowing power wrench device still includes: a drive motor;
the driving motor is connected with the motor input shaft 8.
In the embodiment of the present application, the motor input shaft 8 is driven by a driving motor, so as to drive the planetary gear set to rotate.
Further, the robot is from borrowing power wrench device still includes: a controller;
the controller is connected with the driving motor.
Further, the robot is from borrowing power wrench device still includes: a camera;
the camera is connected with the controller.
It should be noted that, in this embodiment of the application, the working process of the robot screwing the bolt on the drainage plate from the wrench device by gravity is as follows:
1. the robot moves to the position of the drainage plate, the wrench of the robot self-power-borrowing wrench device is controlled to align the bolt, of course, the robot self-power-borrowing wrench device is controlled to avoid wires, hardware fittings and other objects from the initial position of the supporting leg 3 of the robot self-power-borrowing wrench device and to be suspended on two sides of the drainage plate, in order to avoid the wires, the hardware fittings and other objects, the environment around the drainage plate needs to be shot through a camera, the controller identifies the positions of the wires, the hardware fittings and other objects according to the shot pictures, then the output torque of the driving motor is controlled, and the position of the wrench supporting frame is adjusted;
2. the wrench is controlled to move linearly in the bolt direction, so that a bolt enters the wrench, then the planetary gear set is driven to rotate through the motor input shaft 8, and under the action of the planetary gear set, the planetary gear housing 4 drives the wrench support frame to rotate in the direction opposite to the rotation direction of the motor input shaft 8, and it can be understood that the rotation direction of the motor input shaft 8 is the same as the rotation direction of the fixed shaft gear 7, the rotation direction of the planetary gear 5 and the rotation direction of the planetary gear housing 4 are both opposite to the rotation direction of the fixed shaft gear 7, the rotation direction of the planet carrier 6 is the same as the rotation direction of the planetary gear 5, and the rotation direction of the wrench 1 is the same as the rotation direction of the planet carrier 6;
3. after the spanner support frame rotated certain angle, drainage plate or wire etc. will be touchhed to two supporting legss 3, and two supporting legss 3 are blockked by drainage plate or wire, no longer rotate, and because drainage plate and wire all are the fixture, the moment of torsion of 8 inputs of motor input shaft will make planet carrier 6 continue to rotate this moment, drive spanner 1 and screw up the bolt.
In this application embodiment, spanner 1 screws up the required moment of bolt and need not pass through the arm transmission, and the arm only bears terminal gravity, consequently, can adopt light materials such as carbon fiber preparation, can reduce the weight of robot by a wide margin, convenient transportation and field installation. Simultaneously, the device that this application provided, the rotation center of spanner 1, moment center maintain at same point throughout, can not influence the position stability of robot itself because of the robot operation, have reduced the control degree of difficulty to the device, can not produce shear stress to other parts such as arm yet, have improved the holistic safety and stability nature of robot.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (7)
1. A robot is from borrowing power wrench device which characterized in that includes: the wrench comprises a wrench, a wrench support frame, a planetary gear shell, a planetary gear, a planet carrier, a dead axle gear and a motor input shaft;
the planetary gear shell is fixedly connected with the wrench supporting frame;
the planet gear is connected with the planet carrier;
the spanner is fixedly connected with the planet carrier;
the fixed shaft gear is fixedly connected with the motor input shaft;
the fixed shaft gear is meshed with the planetary gear;
the planetary gear and the dead axle gear are both arranged inside the planetary gear shell;
an annular internal gear is arranged on the inner wall of the planetary gear shell, and the planetary gear shell is meshed with the planetary gear to form a planetary gear set structure;
the wrench supporting frame is used for generating a reverse acting force with a hardware fitting of a fixing bolt, so that the stress direction of the wrench supporting frame is opposite to the rotation direction of the wrench;
the robot is from borrowing power wrench device still includes: a drive motor;
the driving motor is connected with the motor input shaft;
the robot is from borrowing power wrench device still includes: a controller;
the controller is connected with the driving motor;
the robot is from borrowing power wrench device still includes: a camera;
the camera is connected with the controller.
2. The robotic self-borrowing wrench device according to claim 1, wherein the robotic self-borrowing wrench device further comprises: a back shell;
the dorsal scale includes last dorsal scale and lower dorsal scale, go up the dorsal scale set up in the upper surface of planetary gear shell, lower dorsal scale set up in the lower surface of planetary gear shell.
3. The robotic self-borrowing wrench device according to claim 1, wherein the wrench support frame includes a cross plate and support feet, the support feet being secured to both ends of the cross plate.
4. The robotic self-lending wrench device according to claim 1, wherein the wrench is a hex wrench.
5. The robotic self-lending wrench device according to claim 3, wherein a first distance from a force point of the wrench to a center of rotation of the wrench is less than a second distance from the support foot to the center of rotation.
6. The robotic self-lending wrench device according to claim 1, wherein the number of planetary gears is 3.
7. The robotic self-lending wrench device according to claim 1, wherein the planetary gear housing is of an annular configuration.
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 CN109159070A (en) | 2019-01-08 |
| CN109159070B true CN109159070B (en) | 2020-11-10 |
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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) |
Family Cites Families (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 |
| WO2016028727A1 (en) * | 2014-08-19 | 2016-02-25 | 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 |
-
2018
- 2018-11-06 CN CN201811314070.9A patent/CN109159070B/en active Active
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| CN109159070A (en) | 2019-01-08 |
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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. |