CN112828813B - Nut screwing tool and method for screwing nuts by live working robot - Google Patents
Nut screwing tool and method for screwing nuts by live working robot Download PDFInfo
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- CN112828813B CN112828813B CN202110136935.2A CN202110136935A CN112828813B CN 112828813 B CN112828813 B CN 112828813B CN 202110136935 A CN202110136935 A CN 202110136935A CN 112828813 B CN112828813 B CN 112828813B
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- nut
- screwing
- guide
- mechanical arm
- guide part
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- 238000000034 method Methods 0.000 title claims description 13
- 238000004891 communication Methods 0.000 claims description 4
- 238000007781 pre-processing 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
- 238000009434 installation 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
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 tightening tool, which comprises: the nut screwing guide structure comprises a guide opening and a guide part, wherein the guide part is connected to the guide opening, the guide part is in a horn mouth shape, and a plurality of inclined slots are formed in the side face of the guide part; the insulating electric hand drill comprises an insulating rod, the insulating rod is connected to the mechanical arm, a motor is arranged at the top of the insulating rod, a universal sleeve is arranged at the end of the motor, and a six-axis force sensor is arranged on the universal sleeve.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a nut tightening tool and a nut tightening operation method of a live working robot.
Background
The traditional manual live working has large task amount, high risk coefficient, severe environment and occurrence of casualties. Therefore, in recent years, development of robots capable of replacing people to perform live working on overhead lines is attracting more and more attention, and rapid and accurate installation and disassembly of nuts by robots are the basis of live working, and how to accurately control accurate alignment of robot gripping nuts with bolts is one of the current research hotspots.
Live robots typically use universal sleeves to remove nuts, but there are significant difficulties in installing nuts. Firstly, the sizes of a bolt and a nut are smaller, the sizes of a bolt head and a nut hole are generally about 1cm, accurate identification and positioning are difficult, according to the existing autonomous nut screwing method of a robot, the deviation of the axial direction of the nut head and the bolt exceeds 3mm, the nut cannot be basically screwed in or screwed in by 1mm or 2mm, and the nut cannot be clamped due to the fact that the axial direction of the bolt and the nut are not parallel, at the moment, if a spanner does not have force feedback, the nut and the bolt are worn after the nut are continuously screwed in, the problem of nut screwing is solved on 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 stability of the nut screwing are difficult to ensure; secondly, it is difficult to confirm whether the nut is fully screwed in when screwing in the nut, if the arm does not have force feedback to judge, the nut degree is screwed in and can only rely on the vision to judge, because the nut is small, the degree of screwing in is not good to observe, if the degree of screwing in is not enough then leaves the potential safety hazard simultaneously, if fully screw in and continue screwing in, then screw out bad spanner and nut easily.
Disclosure of Invention
The invention aims to provide a working method for screwing nuts by a live working robot, which is characterized in that nuts to be installed are adhered to a nut screwing guide structure, the nuts are guided to screw through a horn-shaped guide part in the nut screwing guide structure, so that accurate alignment of the nuts and bolts is realized, simplicity and reliability are realized, meanwhile, a six-axis force sensor is added into a universal sleeve of an insulated electric hand drill, the screwing feedback force of the nuts is accurately detected, and the nuts are fully screwed.
In order to achieve the above purpose, the present invention provides the following technical solutions:
A nut tightening tool comprising:
the nut screwing guide structure comprises a guide opening and a guide part, wherein the guide part is connected to the guide opening, the guide part is in a horn mouth shape, and a plurality of inclined slots are formed in the side face of the guide part;
The insulating electric hand drill comprises an insulating rod, the insulating rod is connected to the mechanical arm, a motor is arranged at the top of the insulating rod, a universal sleeve is arranged at the end of the motor, and a six-axis force sensor is arranged on the universal sleeve.
Preferably, the insulated electric hand drill further comprises a wireless communication module, and the wireless communication module is connected with a teleoperation end through a wireless network.
A method of a live working robot nut tightening operation, the method comprising:
S1, preprocessing a nut: providing a nut tightening tool, and bonding a nut to be installed with a nut screwing guide structure of the nut tightening tool;
S2, positioning and identifying a bolt head: identifying the position of the bolt head in the image through a binocular camera positioned at the tail end of the mechanical arm, and carrying out three-dimensional positioning on the bolt head through a laser ranging sensor beside the binocular camera to determine the three-dimensional coordinates and accurate orientation information of the bolt head;
S3, mechanical arm movement: the mechanical arm drives the universal sleeve of the insulating electric hand drill to grasp the nut, drives the universal sleeve to screw the nut into the guide opening of the guide structure to be sleeved on the bolt head, and controls the motor of the insulating electric hand drill to drive the universal sleeve to rotate so as to screw the nut on the bolt;
s4, screwing the nut: along with the continuous screwing of the nut, when the nut is fully screwed, the guide part of the nut screwing guide structure and the bolt fixing surface are fully extruded to be broken into multiple-petal falling.
Preferably, the nut screwing further comprises:
when the nut is fully screwed down, the tail end position of the mechanical arm is not changed any more, the change of the tail end moment of the mechanical arm is detected through the six-axis force sensor of the insulated electric hand drill, and whether the nut is screwed down is judged according to a moment threshold value.
Compared with the prior art, the invention has the beneficial effects that:
According to the working method for screwing the nuts by the hot-line work robot, the nuts to be installed are bonded with the nut screwing guide structure, and the nuts and the bolts are accurately aligned through the nut screwing guide structure, so that the hot-line work robot is simple and reliable; meanwhile, the six-axis force sensor is added into the universal sleeve of the insulated electric hand drill, the screw-in feedback force of the nut is accurately detected, the nut is guaranteed to be sufficiently screwed, the reliability and stability of the nut screwing are improved, and the screw-in degree of the nut is accurately quantized.
Drawings
Fig. 1 is a front view of a nut screwing guide structure of a nut screwing tool according to an embodiment of the present invention;
fig. 2 is a top view of a nut-threading guide structure of a nut tightening tool provided by an embodiment of the present invention;
Fig. 3 is a front view of an insulated electric hand drill of a nut tightening tool provided by an embodiment of the present invention;
fig. 4 is a side view of an insulated electric hand drill of a nut tightening tool provided by an 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. a six-axis force sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a front view of a nut screwing guide structure of a nut screwing tool according to an embodiment of the present invention, and fig. 2 is a plan view of the nut screwing guide structure of the nut screwing tool according to the 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 screwing guide structure including a guide opening 1 and a guide portion 2, the guide portion 2 is connected to the guide opening 1, the guide portion 2 is in a bell mouth shape, and a plurality of inclined slots 3 are formed in 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 requirement of bolt and nut alignment 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 inclined grooves 3, the nut screwing-in guide structure is broken into multiple-petal falling off due to the fact that the bolt fixing surface is fully extruded when the nut is fully screwed down along with the continuous screwing of the nut, and therefore the nut and the bolt are fully screwed down.
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 insulating electric hand drill, which may include an insulating rod 4, the insulating rod 4 is connected to a mechanical arm, a motor 5 is provided at the top of the insulating rod 4, a universal sleeve 6 is provided at the end of the motor 5, and a six-axis force sensor 7 is provided on the universal sleeve 6.
Through the technical scheme, the nut tightening tool provided by the embodiment of the invention is connected with the mechanical arm through the insulating rod 4 of the insulating electric hand drill, and the insulating electric hand drill is driven by the mechanical arm to move, so that the nut is grabbed through the universal sleeve 6 and is tightened and installed.
The embodiment of the invention also provides a working method for the hot-line work robot to screw nuts, which comprises the following steps:
S1, preprocessing a nut: providing a screw nut tightening tool, and bonding the screw nut to be installed with a screw nut screwing guide structure of the screw nut tightening tool;
S2, positioning and identifying a bolt head: identifying the position of the bolt head in the image through a binocular camera positioned at the tail end of the mechanical arm, and carrying out three-dimensional positioning on the bolt head through a laser ranging sensor beside the binocular camera to determine the three-dimensional coordinates and accurate orientation information of the bolt head;
s3, mechanical arm movement: the mechanical arm drives the universal sleeve 6 of the insulated electric hand drill to grab the nut, drives the universal sleeve 6 to screw the nut into the guide opening of the guide structure to be sleeved on the bolt head, and controls the motor of the insulated electric hand drill to drive the universal sleeve 6 to rotate so as to screw the nut on the bolt;
S4, screwing the nut: as the nut is continuously screwed, when the nut is sufficiently screwed, the guide part 2 of the nut screwing-in guide structure is sufficiently extruded with the bolt fixing surface, and the nut is broken into multiple pieces to fall off.
Further, the nut screwing may further include:
When the nut is fully screwed down, the tail end position of the mechanical arm is not changed any more, the change of the tail end moment 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 down is judged according to a moment threshold value.
According to the technical scheme, in the working method for screwing the nuts by the live working robot, the nuts to be installed are bonded with the nut screwing guide structure, and the nuts are guided to be screwed through the horn-shaped guide part 2 in the nut screwing guide structure, so that accurate alignment of the nuts and the bolts is realized, and simplicity and reliability are realized; meanwhile, the six-axis force sensor 7 is added into the universal sleeve of the insulated electric hand drill, the screw-in feedback force of the nut is accurately detected, the nut is guaranteed to be sufficiently screwed, the reliability and stability of the nut screwing are improved, and the screw-in degree of the nut is accurately quantized.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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 screwing-in 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 slots (3) are formed in the side face of the guide part (2); bonding a nut to be mounted with a nut screwing guide structure of the nut screwing tool, wherein when the nut is sufficiently screwed, a guide part (2) of the nut screwing guide structure is sufficiently extruded with a bolt fixing surface to be broken into multiple-petal falling;
The insulating electric hand drill comprises an insulating rod (4), the insulating rod (4) is connected to the mechanical arm, a motor (5) is arranged at the top of the insulating rod (4), a universal sleeve (6) is arranged at the end of the motor (5), and a six-axis force sensor (7) is arranged on the universal sleeve (6).
2. The nut tightening tool of claim 1, wherein the insulated power hand drill further comprises a wireless communication module, the wireless communication module being connected to a teleoperational end via a wireless network.
3. A method for a live working robot to screw nuts, the method comprising:
S1, preprocessing a nut: providing a nut tightening tool according to claim 1 or 2, bonding a nut to be installed with a nut-driving guide of the nut tightening tool;
S2, positioning and identifying a bolt head: identifying the position of the bolt head in the image through a binocular camera positioned at the tail end of the mechanical arm, and carrying out three-dimensional positioning on the bolt head through a laser ranging sensor beside the binocular camera to determine the three-dimensional coordinates and accurate orientation information of the bolt head;
S3, mechanical arm movement: the mechanical arm drives a universal sleeve (6) of the insulating electric hand drill to grasp the nut, drives the universal sleeve (6) to screw the nut into a guide opening (1) of a guide structure to be sleeved on a bolt head, and controls a motor (5) of the insulating electric hand drill to drive the universal sleeve (6) to rotate so as to screw the nut on the bolt;
s4, screwing the nut: along with the continuous screwing of the nut, when the nut is fully screwed, the guide part (2) of the nut screwing guide structure and the bolt fixing surface are fully extruded to be broken into multiple-petal falling.
4. A method of operating a live working robot to screw a nut as defined in claim 3, wherein the nut threading further comprises:
when the nut is fully screwed down, the tail end position of the mechanical arm is not changed any more, the change of the tail end moment 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 down 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 |
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| Publication Number | Publication Date |
|---|---|
| CN112828813A CN112828813A (en) | 2021-05-25 |
| CN112828813B true CN112828813B (en) | 2024-06-07 |
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| 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 |
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| Country | Link |
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| CN (1) | CN112828813B (en) |
Families Citing this family (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 (10)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM414299U (en) * | 2011-03-24 | 2011-10-21 | wei-jie Zhuang | Torque socket |
-
2021
- 2021-02-01 CN CN202110136935.2A patent/CN112828813B/en active Active
Patent Citations (10)
| 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 |
| 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 |
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| Publication number | Publication date |
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| CN112828813A (en) | 2021-05-25 |
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