CN112828813A - Nut screwing tool and nut screwing operation method of hot-line work robot - Google Patents
Nut screwing tool and nut screwing operation method of hot-line work robot Download PDFInfo
- Publication number
- CN112828813A CN112828813A CN202110136935.2A CN202110136935A CN112828813A CN 112828813 A CN112828813 A CN 112828813A CN 202110136935 A CN202110136935 A CN 202110136935A CN 112828813 A CN112828813 A CN 112828813A
- Authority
- CN
- China
- Prior art keywords
- nut
- screwing
- guide
- hand drill
- bolt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 13
- 239000012212 insulator Substances 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
- B25F5/02—Construction of casings, bodies or handles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a nut screwing tool, which comprises: the nut screwing guide structure comprises a guide opening and a guide part, the guide part is connected to the guide opening, the guide part is in a horn mouth shape, and a plurality of inclined grooves are formed in the side surface of the guide part; insulating electronic hand drill, insulating electronic hand drill includes the insulator spindle, the insulator spindle is connected in the arm, the top of insulator spindle is provided with the motor, the tip of motor is provided with omnipotent sleeve, be provided with six force transducer on the omnipotent sleeve.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a nut screwing tool and a nut screwing operation method of an electric operation robot.
Background
The traditional manual live working has the disadvantages of large task load, high danger coefficient, severe environment and casualty accidents. Therefore, in recent years, the development of robots capable of replacing people to perform live-wire work on overhead lines is receiving more and more extensive attention, the robots are the basis of live-wire work in terms of quickly and accurately mounting and dismounting nuts, and how to accurately control the robots to grasp the nuts and accurately align the bolts is one of the current research hotspots.
The electric working robot usually uses universal sleeves to remove the nuts, but the nuts are difficult to install. Firstly, the sizes of a bolt and a nut are small, the sizes of a bolt head and a nut hole are about 1cm generally, accurate identification and positioning are difficult, the deviation of the axial direction of the bolt head and the bolt is over 3mm according to the existing robot autonomous nut screwing method, the bolt head and the bolt can not be screwed in basically or can not be screwed in 1 mm and 2mm, the bolt and the nut are clamped due to the fact that the bolt and the nut are not parallel axially, if the spanner does not have force feedback, the nut and the bolt can be abraded due to continuous screwing, the problem of nut screwing is solved on the basis of a pure algorithm, the requirements on identification accuracy and control accuracy are extremely high, the fault tolerance rate is low, and the success rate and the stability of; secondly, it is difficult to determine whether the nut is sufficiently screwed when the nut is screwed in, if the mechanical arm does not have force feedback to judge, the screwing degree of the nut can only be judged by vision, because the nut is small in size, the screwing degree is not well observed, meanwhile, if the screwing degree is not sufficient, potential safety hazards are left, and if the nut is sufficiently screwed and is continuously screwed, the wrench and the nut are easily screwed down.
Disclosure of Invention
The invention aims to provide a nut screwing operation method of an electric operating robot, which is simple and reliable, realizes the accurate alignment of a nut and a bolt by bonding a nut to be installed with a nut screwing guide structure and guiding the nut to screw through a horn-shaped guide part in the nut screwing guide structure, and simultaneously, a six-axis force sensor is added in a universal sleeve of an insulated electric hand drill, so that the screwing feedback force of the nut is accurately detected, and the nut is fully screwed.
In order to achieve the purpose, the invention provides the following technical scheme:
a nut tightening tool comprising:
the nut screwing guide structure comprises a guide opening and a guide part, the guide part is connected to the guide opening, the guide part is in a horn mouth shape, and a plurality of inclined grooves are formed in the side surface of the guide part;
insulating electronic hand drill, insulating electronic hand drill includes the insulator spindle, the insulator spindle is connected in the arm, the top of insulator spindle is provided with the motor, the tip of motor is provided with omnipotent sleeve, be provided with six force transducer on the omnipotent sleeve.
Preferably, the insulated electric hand drill further comprises a wireless communication module, and the wireless communication module is connected with a remote operation end through a wireless network.
A nut screwing operation method of an electric operating robot, the method comprising:
s1, nut pretreatment: providing a nut tightening tool as described above, and bonding a nut to be installed to the nut precession guide structure of the nut tightening tool;
s2, bolt head positioning and identifying: recognizing the position of the bolt head in the image through a binocular camera positioned at the tail end of the mechanical arm, and performing three-dimensional positioning on the bolt head through a laser ranging sensor beside the binocular camera to determine three-dimensional coordinates and accurate orientation information of the bolt head;
s3, robot arm movement: the mechanical arm drives a universal sleeve of the insulated electric hand drill to grab a nut, the universal sleeve is driven to enable a guide opening of a nut screwing guide structure to be sleeved on a bolt head, and a motor of the insulated electric hand drill is controlled to drive the universal sleeve to rotate so as to screw the nut on a bolt;
s4, screwing in the nut: along with the continuous screwing of the nut, when the nut is fully screwed, the guide part of the screwing guide structure of the nut is fully extruded with the bolt fixing surface and can break into multiple pieces to fall off.
Preferably, the nut screwing further comprises:
when the nut is fully screwed, the tail end position of the mechanical arm is not changed any more, the change of the moment at the tail end of the mechanical arm is detected by the six-axis force sensor of the insulated electric hand drill, and whether the nut is screwed is judged according to a moment threshold value.
Compared with the prior art, the invention has the beneficial effects that:
according to the nut screwing operation method of the electric operation robot, the nut to be installed is bonded with the nut precession guide structure, and the nut and the bolt are accurately aligned through the nut precession guide structure, so that the nut screwing operation method is simple and reliable; meanwhile, a six-axis force sensor is added into a universal sleeve of the insulated electric hand drill, so that the screwing feedback force of the nut is accurately detected, the nut is fully screwed, the reliability and stability of the nut screwing are improved, and the nut screwing degree is accurately quantized.
Drawings
Fig. 1 is a front view of a nut precession guide structure of a nut tightening tool according to an embodiment of the present invention;
fig. 2 is a top view of a nut precession guide of a nut tightening tool according to an embodiment of the present invention;
FIG. 3 is a front view of an insulated power hand drill of a nut tightening tool provided in accordance with an embodiment of the present invention;
fig. 4 is a side view of an insulated electric hand drill of the nut tightening tool according to the embodiment of the present invention.
In the figure: 1. a guide port; 2. a guide part; 3. a chute; 4. an insulating rod; 5. a motor; 6. a universal sleeve; 7. six-axis force sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a front view of a nut precession guide structure of a nut tightening tool according to an embodiment of the present invention, and fig. 2 is a plan view of the nut precession guide structure of the nut tightening tool according to an embodiment of the present invention. As shown in fig. 1 and 2, an embodiment of the present invention provides a nut tightening tool, which may include a nut precession guide structure including a guide opening 1 and a guide portion 2, the guide portion 2 being connected to the guide opening 1, the guide portion 2 having a bell mouth shape, and a plurality of inclined grooves 3 being opened at a side surface of the guide portion 2.
Through the technical scheme, the guide part 2 of the nut screwing guide structure provided by the embodiment of the invention can guide the nut to align and adapt to the bolt head, so that the alignment requirement of the bolt and the nut is reduced, and the position deviation between the nut and the bolt is avoided; meanwhile, as the side face of the guide part 2 is provided with the plurality of chutes 3, the nuts are continuously screwed, and when the nuts are sufficiently screwed, the screwing guide structure of the nuts is sufficiently extruded by the bolt fixing face and can break into multiple pieces to fall off, so that the nuts and the bolts are completely screwed.
Fig. 3 is a front view of an insulated electric hand drill of a nut tightening tool according to an embodiment of the present invention, and fig. 4 is a side view of the insulated electric hand drill of the nut tightening tool according to the embodiment of the present invention. As shown in fig. 3 and 4, in one embodiment of the present invention, the nut tightening tool may further include an insulated electric hand drill, the insulated electric hand drill may include an insulating rod 4, the insulating rod 4 is connected to the robot arm, a motor 5 is disposed on a top of the insulating rod 4, a universal sleeve 6 is disposed on an end of the motor 5, and a six-axis force sensor 7 is disposed on the universal sleeve 6.
Through the technical scheme, the nut screwing tool provided by the embodiment of the invention is connected with the mechanical arm through the insulating rod 4 of the insulated electric hand drill, the insulated electric hand drill is driven to move by the mechanical arm, and the nut is grabbed through the universal sleeve 6 and is screwed and installed.
The embodiment of the invention also provides a nut screwing operation method of the electric operating robot, which comprises the following steps:
s1, nut pretreatment: providing a nut tightening tool in the foregoing, and bonding the nut to be installed with the nut precession guide structure of the nut tightening tool;
s2, bolt head positioning and identifying: recognizing the position of the bolt head in the image through a binocular camera positioned at the tail end of the mechanical arm, and performing three-dimensional positioning on the bolt head through a laser ranging sensor beside the binocular camera to determine three-dimensional coordinates and accurate orientation information of the bolt head;
s3, robot arm movement: the mechanical arm drives the universal sleeve 6 of the insulated electric hand drill to grab the nut, the universal sleeve 6 is driven to screw the nut into a guide opening of the guide structure to be sleeved on the head of the bolt, and a motor of the insulated electric hand drill is controlled to drive the universal sleeve 6 to rotate so as to screw the nut on the bolt;
s4, screwing in the nut: when the nut is screwed up fully, the guide part 2 of the screwing guide structure of the nut is fully extruded with the bolt fixing surface and can break into multiple pieces to fall off.
Further, the nut screwing may further include:
when the nut is fully screwed, the tail end position of the mechanical arm is not changed any more, the six-axis force sensor 7 of the insulated electric hand drill detects the change of the tail end moment of the mechanical arm, and whether the nut is screwed is judged according to a moment threshold value.
According to the technical scheme, the nut screwing operation method of the electric operating robot provided by the embodiment of the invention is simple and reliable, and the nut to be installed is adhered to the nut precession guide structure, and the nut precession is guided by the horn-shaped guide part 2 in the nut precession guide structure, so that the nut and the bolt are accurately aligned; meanwhile, the six-axis force sensor 7 is added into the universal sleeve of the insulated electric hand drill, so that the screwing feedback force of the nut is accurately detected, the nut is fully screwed, the reliability and stability of the nut screwing are improved, and the nut screwing degree is accurately quantized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A nut tightening tool, comprising:
the nut precession guide structure comprises a guide opening (1) and a guide part (2), wherein the guide part (2) is connected to the guide opening (1), the guide part (2) is in a horn mouth shape, and a plurality of inclined grooves (3) are formed in the side surface of the guide part (2);
insulating electronic hand drill, insulating electronic hand drill includes insulator spindle (4), insulator spindle (4) are connected in the arm, the top of insulator spindle (4) is provided with motor (5), the tip of motor (5) is provided with omnipotent sleeve (6), be provided with six force transducer (7) on omnipotent sleeve (6).
2. The nut tightening tool according to claim 2, wherein the insulated electric hand drill further comprises a wireless communication module connected to a remote operation terminal through a wireless network.
3. A nut screwing operation method of an electric operating robot is characterized by comprising the following steps:
s1, nut pretreatment: providing a nut tightening tool according to claim 1 or 2, bonding a nut to be installed to the nut precession guide structure of the nut tightening tool;
s2, bolt head positioning and identifying: recognizing the position of the bolt head in the image through a binocular camera positioned at the tail end of the mechanical arm, and performing three-dimensional positioning on the bolt head through a laser ranging sensor beside the binocular camera to determine three-dimensional coordinates and accurate orientation information of the bolt head;
s3, robot arm movement: the mechanical arm drives a universal sleeve (6) of the insulated electric hand drill to grab the nut, the universal sleeve (6) is driven to sleeve a guide port (1) of a nut screwing guide structure on the head of the bolt, and a motor (5) of the insulated electric hand drill is controlled to drive the universal sleeve (6) to rotate so as to screw the nut on the bolt;
s4, screwing in the nut: along with the continuous screwing of the nut, when the nut is fully screwed, the guide part (2) of the screwing guide structure of the nut is fully extruded with the bolt fixing surface and can break into multiple pieces to fall off.
4. The nut screwing operation method of an electric working robot according to claim 3, wherein the nut screwing further comprises:
when the nut is fully screwed, the tail end position of the mechanical arm is not changed any more, the change of the moment at the tail end of the mechanical arm is detected through the six-axis force sensor (7) of the insulated electric hand drill, and whether the nut is screwed is judged according to a moment threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110136935.2A CN112828813B (en) | 2021-02-01 | 2021-02-01 | Nut screwing tool and method for screwing nuts by live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110136935.2A CN112828813B (en) | 2021-02-01 | 2021-02-01 | Nut screwing tool and method for screwing nuts by live working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112828813A true CN112828813A (en) | 2021-05-25 |
| CN112828813B CN112828813B (en) | 2024-06-07 |
Family
ID=75931278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110136935.2A Active CN112828813B (en) | 2021-02-01 | 2021-02-01 | Nut screwing tool and method for screwing nuts by live working robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112828813B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114439836A (en) * | 2022-01-24 | 2022-05-06 | 海南大学 | Bolt convenient for cap recognition and cap recognition method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1469802A (en) * | 1974-03-13 | 1977-04-06 | Mitsubishi Electric Corp | Tool for screwing-up fastening members such as nuts and bolts |
| CN2256052Y (en) * | 1995-03-08 | 1997-06-11 | 李颖民 | Anti-dismounting nut with nominal torque |
| JP2005088104A (en) * | 2003-09-16 | 2005-04-07 | Daiwa House Ind Co Ltd | Torque control nut, torque control method and socket for power wrench |
| CN201016358Y (en) * | 2007-02-07 | 2008-02-06 | 张航 | License plate decorating inverse-locking nut screw |
| CN201739303U (en) * | 2010-08-30 | 2011-02-09 | 河南省电力公司安阳供电公司 | Disposable fixed torque nut |
| US20120240734A1 (en) * | 2011-03-24 | 2012-09-27 | Wei-Chieh Chuang | Torque socket |
| KR20160008803A (en) * | 2014-07-15 | 2016-01-25 | 기세진 | Anchor bolt assembly |
| CN105522536A (en) * | 2016-02-04 | 2016-04-27 | 国网浙江新昌县供电公司 | Screw type moment nut twisting-off and falling-off device of piercing connector |
| CN205438340U (en) * | 2015-12-28 | 2016-08-10 | 北京汽车研究总院有限公司 | Special spanner |
| CN206320150U (en) * | 2016-11-22 | 2017-07-11 | 中国南方电网有限责任公司超高压输电公司梧州局 | A kind of moment of torsion control type nut and special spanner |
| CN214870156U (en) * | 2021-02-01 | 2021-11-26 | 国网安徽省电力有限公司淮南供电公司 | Nut tightening tool |
-
2021
- 2021-02-01 CN CN202110136935.2A patent/CN112828813B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1469802A (en) * | 1974-03-13 | 1977-04-06 | Mitsubishi Electric Corp | Tool for screwing-up fastening members such as nuts and bolts |
| CN2256052Y (en) * | 1995-03-08 | 1997-06-11 | 李颖民 | Anti-dismounting nut with nominal torque |
| JP2005088104A (en) * | 2003-09-16 | 2005-04-07 | Daiwa House Ind Co Ltd | Torque control nut, torque control method and socket for power wrench |
| CN201016358Y (en) * | 2007-02-07 | 2008-02-06 | 张航 | License plate decorating inverse-locking nut screw |
| CN201739303U (en) * | 2010-08-30 | 2011-02-09 | 河南省电力公司安阳供电公司 | Disposable fixed torque nut |
| US20120240734A1 (en) * | 2011-03-24 | 2012-09-27 | Wei-Chieh Chuang | Torque socket |
| KR20160008803A (en) * | 2014-07-15 | 2016-01-25 | 기세진 | Anchor bolt assembly |
| CN205438340U (en) * | 2015-12-28 | 2016-08-10 | 北京汽车研究总院有限公司 | Special spanner |
| CN105522536A (en) * | 2016-02-04 | 2016-04-27 | 国网浙江新昌县供电公司 | Screw type moment nut twisting-off and falling-off device of piercing connector |
| CN206320150U (en) * | 2016-11-22 | 2017-07-11 | 中国南方电网有限责任公司超高压输电公司梧州局 | A kind of moment of torsion control type nut and special spanner |
| CN214870156U (en) * | 2021-02-01 | 2021-11-26 | 国网安徽省电力有限公司淮南供电公司 | Nut tightening tool |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114439836A (en) * | 2022-01-24 | 2022-05-06 | 海南大学 | Bolt convenient for cap recognition and cap recognition method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112828813B (en) | 2024-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214870156U (en) | Nut tightening tool | |
| CA2463774A1 (en) | Slickline power control interface | |
| CN1693033A (en) | Method for operating a disengagable screwdriver, and a disengagable screwdriver | |
| CN112828813A (en) | Nut screwing tool and nut screwing operation method of hot-line work robot | |
| KR20170050956A (en) | Magntic levitation screw-cramping jaw for automatic screwdrivers | |
| EP3162507B1 (en) | Magnetic levitation screw-clamping jaw for automatic screwdrivers | |
| US11125259B2 (en) | Automated self-aligning mechanical fastener | |
| US20110143679A1 (en) | Polling system for a moved machine component | |
| CN107895909B (en) | Remote control split type locking wire clamp | |
| CN112928570A (en) | Grounding wire operation tool, grounding wire hanging and dismounting system and method | |
| CN220074553U (en) | Spanner mechanism and cable maintenance platform | |
| CN215701713U (en) | Join in marriage broken instrument of tearing open of net live working robot special nut | |
| CN221495846U (en) | Quick-change end effector | |
| CN221164880U (en) | Variable-pitch carrying device | |
| CN208385806U (en) | A kind of low pressure overhead power line operation electricity getting device | |
| CN210221480U (en) | High-voltage switch mechanical characteristic detection device | |
| CN220481753U (en) | Clamping and stripping manipulator and mould pressing equipment for aspherical lenses | |
| CN214920948U (en) | Labor-saving bolt clipper capable of being operated by single hand | |
| KR102500368B1 (en) | Gripper module and robot system | |
| CN118023882B (en) | Battery pack dismounting device | |
| CN216888700U (en) | Electromagnetic buffering gripper for disordered parts and industrial robot | |
| CN221531928U (en) | Intelligent patrol positioning device | |
| CN114290295B (en) | Mounting chuck, mounting mechanism and expansion bolt mounting system | |
| CN116276754A (en) | Universal remote control device for pneumatic wrench | |
| CN221496085U (en) | Manipulator terminal handcart control actuating mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |