CN112720353A - Walking positioning device based on bolt crawling - Google Patents
Walking positioning device based on bolt crawling Download PDFInfo
- Publication number
- CN112720353A CN112720353A CN202011609793.9A CN202011609793A CN112720353A CN 112720353 A CN112720353 A CN 112720353A CN 202011609793 A CN202011609793 A CN 202011609793A CN 112720353 A CN112720353 A CN 112720353A
- Authority
- CN
- China
- Prior art keywords
- crawling
- clamping jaw
- bolt
- positioning device
- device based
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
-
- 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
-
- 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
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of nuclear power overhaul, and particularly discloses a walking positioning device based on bolt crawling. The device comprises a spiral arm crawling device, a lifting device and a dismounting device, wherein two spiral arms in the spiral arm crawling device are connected through a rotary joint, so that the relative position adjustment of the two spiral arms is realized; the two spiral arms are provided with lifting devices, and the upper ends of the lifting devices are provided with clamping jaws which can move up and down within a certain distance range; the clamping jaws can be clamped and fixed on a protruding screw column section at the lower end of a nut to be disassembled, and a disassembling device capable of disassembling the nut is arranged above one clamping jaw. The device simple structure is reliable, has avoided the error of people because of causing, and the installation is reliable and stable, can greatly reduce personnel's irradiation dose, reduces the work risk.
Description
Technical Field
The invention belongs to the technical field of nuclear power overhaul, and particularly relates to a walking positioning device based on bolt crawling.
Background
During the period of refueling and overhaul of a nuclear power plant, bolts of equipment connecting parts are generally loosened, and the bolts are screwed down to realize connection after overhaul operation is completed. At present, the nuclear power plant mainly depends on workers to carry out loosening and fastening operations by holding a bolt disassembling and assembling tool, sometimes the operation space is limited, the workers can only carry out operations by half squatting, and the operators are very hard; in addition, the radioactive dose rate of a nuclear power site is high, the number of bolts needing to be disassembled and assembled is large, the consumed working time is long, and the work can be completed by multiple people in turn. At present, the manual operation has the following problems:
1) limited operation space, inconvenient operation for workers;
2) the environmental dose rate is high, and the working risk is large;
3) the machinery is repeatedly operated, and the installation quality requires highly, and the easy mistake of workman.
In summary, a tool for automatically disassembling and assembling bolts is urgently needed to be introduced into a nuclear power plant so as to reduce the personal safety of workers and the risk of working quality; in addition, the bolt dismounting process is less, so that the automatic operation is suitable and easy to realize.
Disclosure of Invention
The invention aims to provide a walking positioning device based on bolt crawling, and solves the problems of inconvenience in operation of workers, long labor consumption period, inconsistent installation quality and the like in the bolt dismounting and mounting process in the material changing overhaul period of a nuclear power plant.
The technical scheme of the invention is as follows: a walking positioning device based on bolt crawling comprises a spiral arm crawling device, a lifting device and a dismounting device, wherein two spiral arms in the spiral arm crawling device are connected through a rotary joint, so that the relative position adjustment of the two spiral arms is realized; the two spiral arms are provided with lifting devices, and the upper ends of the lifting devices are provided with clamping jaws which can move up and down within a certain distance range; the clamping jaws can be clamped and fixed on a protruding screw column section at the lower end of a nut to be disassembled, and a disassembling device capable of disassembling the nut is arranged above one clamping jaw.
The spiral arm crawling device comprises a first spiral arm, a second spiral arm, a first rotary joint, a second rotary joint and a third rotary joint, wherein the first spiral arm is connected with the second spiral arm through the second rotary joint, so that the first spiral arm rotates in any angle range relative to the second spiral arm.
The tail ends of the first radial arm and the second radial arm are respectively provided with a first rotary joint and a third rotary joint which can rotate at any angle.
The lifting device comprises a first lifting module and a second lifting module, the first lifting module and the second lifting module are respectively arranged at the end parts of the first swing arm and the second swing arm, the first lifting module comprises a first air cylinder and a first clamping jaw, and the first clamping jaw is fixedly arranged at the extending end of a piston rod of the first air cylinder; the second lifting module comprises a second cylinder and a second clamping jaw, and the second clamping jaw is fixedly installed at the extending end of a piston rod of the second cylinder.
The dismounting device is a torque wrench, the torque wrench is installed right above the second clamping jaw through a connecting plate, and the torque wrench and the second clamping jaw do not have space interference.
The clamping jaw is of an electric or pneumatic structure, and the whole walking positioning device is suspended by folding a stud section protruding from the lower end of the clamping nut.
The clamping force of the first clamping jaw and/or the second clamping jaw on the lower protruding stud of the nut to be disassembled and assembled independently is larger than the total weight of the whole positioning device.
The size of the two spiral arms can be adjusted and changed according to the distance between the bolts on the bolt group which needs to crawl.
The clamping jaw has a self-locking function, and can avoid the loosening or the separation of the clamping jaw after air or power failure.
The torque wrench is a hollow hydraulic wrench, sleeves of different specifications and sizes can be replaced, and the dismounting operation of bolts of different specifications and sizes is completed.
The invention has the following remarkable effects: the walking positioning device based on bolt crawling can automatically position and crawl on a bolt group, the clamping jaws and the dismounting device are moved to proper heights through the lifting device, fixing and walking on the bolt group are realized through the two clamping jaws, and dismounting and fastening of bolts are realized through the dismounting device; the device simple structure is reliable, has avoided the error of people because of causing, and the installation is reliable and stable, can greatly reduce personnel's irradiation dose, reduces the work risk.
Drawings
FIG. 1 is a schematic structural view of a walking positioning device based on bolt crawling according to the present invention;
FIG. 2 is a schematic structural view of a rotating arm crawling device in the walking positioning device based on bolt crawling, disclosed by the invention;
FIG. 3 is a schematic structural view of a lifting device in the walking positioning device based on bolt crawling according to the present invention;
FIG. 4 is a schematic structural view of another lifting device in the walking positioning device based on bolt crawling of the present invention;
FIG. 5 is a cross-sectional view of the walking positioning device based on bolt crawling in the working process;
in the figure: 1. a boom crawling device; 2. a lifting device; 3. a clamping jaw; 4. a dismounting device; 5. a first rotary joint; 6. a first swing arm; 7. a second rotary joint; 8. a second swing arm; 9. a third rotary joint; 10. a first cylinder; 11. a first jaw; 12. a second cylinder; 13. a second jaw; 14. a connecting plate; 15. A torque wrench.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 to 5, a walking positioning device based on bolt crawling includes a swing arm crawling device 1, a lifting device 2, a clamping jaw 3 and a dismounting device 4, wherein the swing arm crawling device 1 includes a first swing arm 6, a second swing arm 8, a first rotary joint 5, a second rotary joint 7 and a third rotary joint 9, the first swing arm 6 is connected with the second swing arm 8 through the second rotary joint 7, and the first swing arm 6 can rotate at any angle relative to the second swing arm 8 through the second rotary joint 7; a first rotary joint 5 and a third rotary joint 9 which can rotate at any angle are respectively arranged at the end parts of the first radial arm 6 and the second radial arm 8; the lifting device 2 comprises a first lifting module and a second lifting module, wherein the first lifting module and the second lifting module are respectively arranged on the first rotary joint 5 and the third rotary joint 9, and can enable the first lifting module and the second lifting module to respectively and independently rotate at any angle along with the first rotary joint 5 and the third rotary joint 9; the jaw 3 comprises a first jaw 11 and a second jaw 13; the first lifting module comprises a first cylinder 10 and a first clamping jaw 11, wherein the first cylinder 10 is fixed on the first rotary joint 5 and can rotate along with the first rotary joint 5, the first clamping jaw 11 is installed and fixed on a piston rod of the first cylinder 10, the first clamping jaw 11 is of an electric or pneumatic structure, and the connection and the disconnection between the first clamping jaw and a bolt section to be grabbed are realized by controlling the folding and the loosening of the clamping jaw; the first air cylinder 10 can independently control the first clamping jaw 11 to perform lifting movement within a certain distance range; the second lifting module comprises a second cylinder 12, a second clamping jaw 13 and a torque wrench 15, wherein the second cylinder 12 is fixed on the third rotary joint 9, the second clamping jaw 13 and a connecting plate 14 are fixedly installed on a piston rod of the second cylinder 12, the torque wrench 15 is installed and fixed right above the second clamping jaw 13 through the connecting plate 14, the torque wrench 15 adopts a hollow hydraulic wrench, when a sleeve in the torque wrench 15 is sleeved on a nut needing to be disassembled and assembled, the second clamping jaw 13 can draw a bolt protruding from the lower end of the clamping nut, and the torque wrench 15 and the second clamping jaw 13 cannot interfere in space; the first cylinder 10 and the second cylinder 12 move independently, and the lifting force is larger than the total weight of the clamping jaw and the torque wrench; first clamping jaw 11 and second clamping jaw 13 when grasping the convex bolt section of corresponding nut lower extreme, its clamp force is greater than the total weight of whole device, and simultaneously, first clamping jaw 11 and second clamping jaw 13 all possess self-locking function, can avoid cutting off the power supply or whole device after cutting off the gas fall. In addition, the crawling positioning of the device on bolt groups with different intervals can be realized by changing the lengths of the first radial arm 6 and the second radial arm 8; the nuts of different sizes can be disassembled and fastened by replacing the size of the torque wrench 15 corresponding to the sleeve.
Claims (10)
1. A walking positioning device based on bolt crawling is characterized by comprising a rotary arm crawling device (1), a lifting device (2), a clamping jaw (3) and a dismounting device (4), wherein two rotary arms in the rotary arm crawling device (1) are connected through a rotary joint, and the relative position adjustment of the two rotary arms is realized; lifting devices (2) are arranged on the two spiral arms, and clamping jaws (3) are arranged at the upper ends of the lifting devices (2) and can move up and down within a certain distance range; the clamping jaws (3) can be clamped and fixed on a protruding screw column section at the lower end of a nut to be disassembled, and a disassembling device (4) capable of disassembling the nut is arranged above one clamping jaw (3).
2. The walking positioning device based on bolt crawling of claim 1, characterized in that the radial arm crawling device (1) comprises a first radial arm (6), a second radial arm (8), a first rotary joint (5), a second rotary joint (7) and a third rotary joint (9), wherein the first radial arm (6) is connected with the second radial arm (8) through the second rotary joint (7), so that the first radial arm (6) can rotate in any angle range relative to the second radial arm (8).
3. The walking positioning device based on bolt crawling of claim 2, characterized in that the first rotary joint (5) and the third rotary joint (9) which can rotate at any angle are respectively arranged at the tail ends of the first rotary arm (6) and the second rotary arm (8).
4. The walking positioning device based on bolt crawling as claimed in claim 2 or 3, wherein the lifting device comprises a first lifting module and a second lifting module, and the first lifting module and the second lifting module are respectively arranged at the ends of the first radial arm (6) and the second radial arm (8), the first lifting module comprises a first air cylinder (10) and a first clamping jaw (11), and the first clamping jaw (11) is fixedly arranged on a piston rod of the first air cylinder (10); the second lifting module comprises a second air cylinder (12) and a second clamping jaw (13), and the second clamping jaw (13) is fixedly installed on a piston rod of the second air cylinder (12).
5. The walking positioning device based on bolt crawling of claim 4, characterized in that the dismounting device is a torque wrench (15), the torque wrench (15) is installed right above the second clamping jaw (13) through a connecting plate (14), and no space interference exists between the torque wrench (15) and the second clamping jaw (13).
6. The walking positioning device based on bolt crawling as claimed in claim 1, characterized in that the clamping jaw (3) is of an electric or pneumatic structure, and the whole walking positioning device is suspended by folding a stud section protruding from the lower end of a clamping nut.
7. The walking positioning device based on bolt crawling of claim 4, characterized in that the clamping force of the first clamping jaw (11) and/or the second clamping jaw (13) on the lower protruding stud of the nut to be disassembled and assembled separately is larger than the total weight of the whole positioning device.
8. The walking positioning device based on bolt crawling of claim 1, wherein the size of the two radial arms can be adjusted and changed according to the distance between the bolts on the bolt group to be crawled.
9. The walking positioning device based on bolt crawling as claimed in claim 1, characterized in that the clamping jaw (3) has a self-locking function, so that the clamping jaw (3) can be prevented from loosening or disengaging after air or electricity is cut off.
10. The walking positioning device based on bolt crawling of claim 5, characterized in that the torque wrench (15) is a hollow hydraulic wrench, which can replace sleeves of different specifications and sizes to complete the dismounting operation of bolts of different specifications and sizes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011609793.9A CN112720353A (en) | 2020-12-30 | 2020-12-30 | Walking positioning device based on bolt crawling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011609793.9A CN112720353A (en) | 2020-12-30 | 2020-12-30 | Walking positioning device based on bolt crawling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112720353A true CN112720353A (en) | 2021-04-30 |
Family
ID=75611791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011609793.9A Pending CN112720353A (en) | 2020-12-30 | 2020-12-30 | Walking positioning device based on bolt crawling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112720353A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070684A (en) * | 2022-05-19 | 2022-09-20 | 上海宇航系统工程研究所 | Tool and method for disassembling outer screw of spacecraft cabin |
-
2020
- 2020-12-30 CN CN202011609793.9A patent/CN112720353A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070684A (en) * | 2022-05-19 | 2022-09-20 | 上海宇航系统工程研究所 | Tool and method for disassembling outer screw of spacecraft cabin |
| CN115070684B (en) * | 2022-05-19 | 2023-09-29 | 上海宇航系统工程研究所 | Tool and method for disassembling screw outside spacecraft cabin |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201669703U (en) | Turnover mechanical arm | |
| CN112720353A (en) | Walking positioning device based on bolt crawling | |
| CN211250034U (en) | Mechanical manipulator convenient to disassemble and assemble | |
| CN214446052U (en) | Walking positioning device based on bolt crawling | |
| CN214685148U (en) | Six-axis robot cooperative screw tightening mechanism | |
| CN111890279B (en) | Power plant guide shoe gap adjusting tool and using method thereof | |
| CN111451550A (en) | Tower machine otic placode boring machine | |
| CN217046247U (en) | Disassembly and reassembly mechanism of intelligent disassembly platform for high-voltage bushing in direct-current valve hall | |
| CN209453112U (en) | A kind of multiple degrees of freedom Portable machine tool main shaft dismounting auxiliary tool | |
| CN208680832U (en) | A kind of novel welding machine people | |
| CN207874030U (en) | A kind of clamping device facilitating adjusting | |
| CN202176287U (en) | Novel transfer device for power tongs | |
| CN112743488B (en) | Automatic dismounting method and device for nut on lower end face of circular flange of nuclear power plant | |
| CN219881772U (en) | Steel construction installation tightening machine | |
| CN109092443B (en) | Impact plate replacing mechanism | |
| CN219788176U (en) | Dual-purpose switchable universal wrench | |
| CN215886032U (en) | Clutch housing stone tongs | |
| CN217711660U (en) | Jackscrew nut resetting device for jacking scaffold | |
| CN216226385U (en) | Outer hexagonal punching tool for bolt | |
| CN211491263U (en) | Socket spanner convenient to adjust | |
| CN210598183U (en) | Movable suspender installation tool | |
| CN211491268U (en) | Multifunctional ratchet wrench | |
| CN213225991U (en) | High-efficient thrust wheel assembly and disassembly tools of crawler-type excavator | |
| CN220575758U (en) | Multi-size bolt and nut mounting and dismounting structure | |
| CN2177796Y (en) | Sleeve jointing centralising device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |