CN113500612A - Robot nut loosening device for drainage wire breaking operation - Google Patents
Robot nut loosening device for drainage wire breaking operation Download PDFInfo
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- CN113500612A CN113500612A CN202110851666.8A CN202110851666A CN113500612A CN 113500612 A CN113500612 A CN 113500612A CN 202110851666 A CN202110851666 A CN 202110851666A CN 113500612 A CN113500612 A CN 113500612A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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Abstract
The invention relates to the technical field of drainage wire breaking, and discloses a robot nut loosening device for drainage wire breaking operation, which comprises: the device comprises a first mounting seat, a second mounting seat and a clamping mechanism, wherein a nut fixing seat is connected onto the first mounting seat, a first driving mechanism is fixed onto the first mounting seat and connected with the nut fixing seat to drive the nut fixing seat to rotate around the axis of the nut fixing seat, the second mounting seat is connected with the first mounting seat through a first feeding mechanism so that the first mounting seat moves towards or away from the second mounting seat, the clamping mechanism is fixed onto the second mounting seat and comprises a first locking clamp, a second locking clamp and a driving mechanism respectively connected with the first locking clamp and the second locking clamp, so that the first locking clamp and the second locking clamp are closed or opened mutually, and the axis of the closed first locking clamp and the closed second locking clamp are overlapped with the axis of the nut fixing seat.
Description
Technical Field
The invention relates to the technical field of drainage wire breaking, in particular to a nut loosening device for a robot for drainage wire breaking operation.
Background
With the rapid development of economy in China, the operation task in a transformer substation is also increased year by year, the drainage wire breaking operation is a main operation project, and the most main operation of the drainage wire breaking is to screw 4 nuts off from screws respectively so as to separate a bus clamp from a drainage wire clamp, as shown in fig. 1. The existing work is mainly completed manually by operators, and factors such as dangerousness of high-altitude work, large workload of work tasks and the like are the main problems faced by the existing manual work.
At present, robot operation (including wire cutting, wire stripping, wire connection and the like) is realized for some simple subjects, but few robots can independently complete the operation of cutting a drainage wire, mainly because the operation of cutting and connecting the drainage wire needs to face the problem of independently loosening a nut under the condition of larger pose error, the existing method mainly depends on high-precision positioning to realize, and the operation of the robot is difficult to realize outdoors.
The main scheme of the existing robot for realizing the operation of the pine nut in other subjects is as follows:
1) the nut operating mechanism is separated from the robot, the nut operating mechanism is large in size, and the robot clamps the workpiece to the nut operating mechanism to achieve nut loosening operation.
2) And a nut operating module is arranged at the tail end of the robot, and nut loosening operation is realized through rotation and movement.
However, the application of the above robot nut loosening operation to the drainage wire breaking operation has the following problems:
1) the existing nut operating mechanism interacting with a robot is too large in size, cannot be installed at the tail end of the robot, and cannot adapt to high-altitude electric power operation with limited space.
2) The existing nut operating mechanism, whether a manual electric device or a robot autonomous operating device, highly depends on the accurate alignment of the nut operating mechanism and a nut, and can not be used for a large pose error.
Therefore, a nut loosening device for a drainage wire cutting robot is needed.
Disclosure of Invention
The invention provides a nut loosening device for a robot for drainage wire breaking operation, which can solve the problem that the robot cannot be operated for drainage wire breaking operation at present.
The invention provides a robot nut loosening device for drainage wire breaking operation, which comprises:
the first mounting seat is connected with a nut fixing seat, a first driving mechanism is fixed on the first mounting seat, and the first driving mechanism is connected with the nut fixing seat so as to drive the nut fixing seat to rotate around the axis of the nut fixing seat;
the second mounting seat is connected with the first mounting seat through a first feeding mechanism so that the first mounting seat moves towards the direction close to or away from the second mounting seat;
and the clamping mechanism is fixed on the second mounting seat and comprises a first locking clamp, a second locking clamp and a driving mechanism respectively connected with the first locking clamp and the second locking clamp, so that the first locking clamp and the second locking clamp are mutually closed or opened, and the axis of the first locking clamp and the axis of the second locking clamp after being closed coincide with the axis of the nut fixing seat.
Optionally, the method further includes:
and the third mounting seat is arranged opposite to the first mounting seat and the second mounting seat, and the third mounting seat is connected with the second mounting seat through a second feeding mechanism, so that the first mounting seat and the second mounting seat move towards the direction close to or away from the third mounting seat simultaneously.
Optionally, the first mounting seat includes:
the fixed base plate is fixedly connected with a first supporting seat, and the nut fixing seat is embedded in the first supporting seat;
and the second supporting seat is fixed on the fixed bottom plate, and the first driving mechanism is fixed on the first mounting seat through the second supporting seat.
Optionally, the first mounting seat further includes:
and one end face of the connecting plate is abutted to the end face of the fixed bottom plate, and a pressure sensor is fixedly connected between the connecting plate and the fixed bottom plate.
Optionally, the first driving mechanism is a hollow driving motor, an outer ring of the hollow driving motor is fixed to the second supporting seat, and an inner ring of the hollow driving motor is fixedly connected to the nut fixing seat, so that the nut fixing seat rotates around an axis of the nut fixing seat.
Optionally, a bearing is fixed in the first supporting seat, and the periphery of the nut fixing seat is fixed with an inner ring of the bearing.
Optionally, the drive mechanism comprises:
the driving motor is fixed on the second mounting seat, and an output shaft of the driving motor is fixedly connected with a driving bevel gear;
the two driven bevel gears are vertically meshed with the two sides of the driving bevel gear through rotating shafts respectively;
two sets of synchronous conveying pieces are connected with two driven bevel gears in a one-to-one correspondence mode respectively, the synchronous conveying pieces are connected with a driving shaft respectively so that the driving shaft and the driven bevel gears which correspond to the driving shaft rotate synchronously, and the first locking clamp and the second locking clamp are fixedly connected with the two driving shafts in the one-to-one correspondence mode so that the first locking clamp and the second locking clamp can rotate in the direction of mutual holding or mutual loosening.
Optionally, the first feeding mechanism comprises:
the first motor is fixed on the second mounting seat, and an output shaft of the first motor is parallel to the axis of the nut fixing seat;
one end of the first screw rod is fixedly connected with an output shaft of the first motor, a first screw hole is formed in the first mounting seat, and the first screw rod is in threaded fit with the first screw hole.
Optionally, the second feeding mechanism comprises:
the second motor is fixed on the third mounting seat, and an output shaft of the second motor is parallel to an output shaft of the first motor;
one end of the second screw rod is fixedly connected with an output shaft of the second motor, a second screw hole is formed in the second mounting seat, and the second screw rod is in threaded fit with the second screw hole.
Compared with the prior art, the invention has the beneficial effects that: the device disclosed by the invention is combined with the mechanical arm of the robot, the axis of the screw is coincided with the axis of the nut fixing seat by adjusting the clamping mechanism, so that the problem of pose deviation is solved, the distance between the first mounting seat and the second mounting seat can be adjusted by the first feeding mechanism so as to adjust the distance between the clamping mechanism and the nut fixing seat, the nut loosening operation of screws with different lengths can be adapted, the nut loosening operation of screws with different diameters can be solved by replacing the matched nut fixing seat, and the automatic drainage wire breaking operation can be realized by combining the robot. The invention can enhance the adaptability to field operation and has wide application prospect.
Drawings
FIG. 1 is a schematic view of a current busbar clamp and a current lead clamp fixed by screws and nuts;
fig. 2 is a schematic structural diagram of a first view angle of a robot nut loosening device for a drainage wire breaking operation according to an embodiment of the present invention;
fig. 3 is a structural schematic diagram of a second view angle of a robot nut loosening device for a drainage wire breaking operation according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;
fig. 5 is a fixed sectional view of the first supporting seat, the first driving mechanism, the nut fixing seat and the first supporting seat according to the embodiment of the present invention.
Description of reference numerals:
1-a first mounting seat, 10-a nut fixing seat, 11-a first driving mechanism, 12-a fixed bottom plate, 13-a first supporting seat, 14-a second supporting seat, 15-a connecting plate, 16-a pressure sensor, 17-a bearing, 18-an end cover, 2-a second mounting seat, 3-a first feeding mechanism, 30-a first motor, 31-a first screw rod, 4-a clamping mechanism, 40-a first locking clamp, 41-a second locking clamp, 42-a driving mechanism, 420-a driving motor, 421-a driving bevel gear, 422-a driven bevel gear, 423-a rotating shaft, 424-a synchronous conveying member, 425-a driving shaft, 5-a third mounting seat, 6-a second feeding mechanism, 60-a second motor, 61-a second screw rod, 7-a drainage wire clamp and 8-a bus clamp.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing technical solutions of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The most main work of disconnected drainage wire is to unscrew 4 nuts from the screw respectively, and then realizes that bus-bar clamp and drainage wire clamp break away from, as shown in fig. 1, current operation mainly still relies on operating personnel manual completion, and factors such as high altitude construction's danger, work task volume are big all the main problem that present manual work faces, and it can have following problem to be applied to disconnected drainage wire operation with the nut operation of robot:
1) the existing nut operating mechanism interacting with a robot is too large in size, cannot be installed at the tail end of the robot, and cannot adapt to high-altitude electric power operation with limited space.
2) The existing nut operating mechanism, whether a manual electric device or a robot autonomous operating device, highly depends on the accurate alignment of the nut operating mechanism and the nut, can not be used as a force when the position error is large,
as shown in fig. 2 and 3, in view of the above problems, a robot nut loosening device for a drainage wire breaking operation according to an embodiment of the present invention includes: a first mounting seat 1, a second mounting seat 2 and a clamping mechanism 4, wherein the first mounting seat 1 is connected with a nut fixing seat 10, the first mounting seat 1 is fixed with a first driving mechanism 11, the first driving mechanism 11 is connected with the nut fixing seat 10, so as to drive the nut fixing seat 10 to rotate around the axis, the second mounting seat 2 is connected with the first mounting seat 1 through the first feeding mechanism 3, so that the first mounting seat 1 moves towards or away from the second mounting seat 2, the clamping mechanism 4 is fixed on the second mounting seat 2, the clamping mechanism 4 comprises a first locking clamp 40, a second locking clamp 41 and a driving mechanism 42 respectively connected with the first locking clamp 40 and the second locking clamp 41, so that the first locking clamp 40 and the second locking clamp 41 can be mutually closed or opened, and the axis of the closed first locking clamp 40 and the axis of the closed second locking clamp 41 are coincided with the axis of the nut fixing seat 10.
Optionally, the device further comprises a third mounting seat 5, the third mounting seat 5 is arranged opposite to the first mounting seat 1 and the second mounting seat 2, and the third mounting seat 5 is connected with the second mounting seat 2 through a second feeding mechanism 6, so that the first mounting seat 1 and the second mounting seat 2 move towards or away from the third mounting seat 5 simultaneously.
In the process of loosening the nut, for a longer screw, the nut may completely exit from the first supporting seat 13 and the nut does not separate from the screw, through the third mounting seat 5 and the second feeding mechanism 6, after the nut is completely embedded into the nut fixing seat 10, the first driving mechanism 11 is controlled to rotate to drive the nut fixing seat 10 to synchronously rotate, and then the nut is driven to rotate, and meanwhile, the second feeding mechanism 6 is controlled to move, along with the movement of the second feeding mechanism 6, the first mounting seat 1 and the second mounting seat 2 can simultaneously move towards the direction close to the third mounting seat 5 to match the nut to move towards the direction far away from the screw, and finally, the nut loosening operation is realized, and the separation of the nut and the screw can be further ensured.
Specifically, the first mount 1 includes: PMKD 12 and second supporting seat 14, the first supporting seat 13 of fixedly connected with on the PMKD 12, nut fixing base 10 inlays in first supporting seat 13, and on second supporting seat 14 was fixed in PMKD 12, on first actuating mechanism 11 was fixed in first mount pad 1 through second supporting seat 14, satisfied mechanical requirement in the time of in order to reduce the assembly degree of difficulty, in this embodiment, PMKD 12 comprises two fixed plates together.
In this embodiment, the nut fixing seat 10 is an inner hexagonal sleeve, so that the size of the nut fixing seat 10 can be changed according to the size of the nut, and the inner diameter of the nut fixing seat is matched with the nut.
Optionally, the first mounting base 1 further includes a connecting plate 15, an end face of the connecting plate 15 is adjacent to an end face of the fixing base plate 12, a pressure sensor 16 is fixedly connected between the connecting plate 15 and the fixing base plate 12, the second motor 60 rotates to drive the second lead screw 61 to rotate, meanwhile, the first driving mechanism 11 drives the nut fixing base 10 to rotate and approach to the nut direction, and force information is collected based on the pressure sensor 16 in the approaching process to control the force of the second motor 60. After the axis of the screw (or the nut) is completely coincided with the axis of the nut fixing seat 10, the first mounting seat 1 and the second mounting seat 2 are driven by the movement of the second feeding mechanism 6 to move towards the direction far away from the third mounting seat 5, meanwhile, the nut fixing seat 10 is driven by the first driving mechanism 11 to rotate so as to approach towards the direction of the nut, in the approaching process, the force information of the nut fixing seat 10 and the nut in the direction of the second feeding mechanism 6 is collected by the pressure sensor 16 and forms a closed loop system together with the expected force, the second feeding mechanism 6 is accelerated to move by controlling the constant force output of the second feeding mechanism 6 in the moving direction before the nut fixing seat 10 contacts the nut, after the nut fixing seat 10 contacts the nut, because the outer hexagon of the nut is difficult to be accurately matched with the inner hexagon of the nut fixing seat 10, therefore, the constant force is output in the moving direction of the second feeding mechanism 6, the first driving mechanism 11 is ensured to drive the nut fixing seat 10 to normally rotate. When the outer hexagon of the nut and the inner hexagon of the nut holder 10 are exactly aligned, the nut can be completely embedded into the nut holder 10 under the action of positive pressure.
Referring to fig. 4, the first driving mechanism 11 is a hollow driving motor, an outer ring of the hollow driving motor is fixed to the second supporting seat 14, and an inner ring of the hollow driving motor is fixedly connected to the nut fixing seat 10, so that the nut fixing seat 10 rotates around an axis thereof.
Optionally, a bearing 17 is fixed in the first supporting seat 13, the outer periphery of the nut fixing seat 10 is fixed to an inner ring of the bearing 17, the bearing 17 is used for supporting the nut fixing seat 10, the inner ring and the nut fixing seat 10 rotate together, the outer ring is fixed to the first supporting seat 13, and the bearing 17 is axially fixed through an end cover 18.
As shown in fig. 5, the drive mechanism 42 includes: the driving motor 420, two driven bevel gears 422 and two sets of synchronous conveying members 424, the driving motor 420 is fixed on the second mounting base 2, the output shaft of the driving motor 420 is fixedly connected with a driving bevel gear 421, the two driven bevel gears 422 are vertically meshed with two sides of the driving bevel gear 421 through rotating shafts 423 respectively, the two sets of synchronous conveying members 424 are correspondingly connected with the two driven bevel gears 422 one by one respectively, the synchronous conveying members 424 are respectively connected with a driving shaft 425 so as to enable the driving shaft 425 and the corresponding driven bevel gears 422 to synchronously rotate, the first locking clamp 40 and the second locking clamp 41 are correspondingly fixedly connected with the two driving shafts 425 one by one so as to enable the first locking clamp 40 and the second locking clamp 41 to rotate towards the direction of mutually holding or mutually releasing, in the embodiment, the synchronous conveying members 424 are belt-driven.
The driving motor 420 is controlled to rotate, the driving bevel gear 421 rotates, the driving bevel gear 421 drives the two driven bevel gears 422 which are meshed with the driving bevel gears 422 to rotate, the rotating directions of the two driven bevel gears 422 are just opposite, and then the two rotating shafts 423 on the left side and the right side rotate in opposite directions, the rotating force of the two rotating shafts 423 is respectively transmitted to the two driving shafts 425 through the synchronous transmission piece 424, so that the two driving shafts 425 rotate in opposite directions, and finally the closing movement of the first locking clamp 40 and the second locking clamp 41 is realized. In the closing movement process, the screw can contact with the first locking clamp 40 and the second locking clamp 41, so that the action of force is generated, the tail end gesture of the robot is adjusted through the flexible movement of the mechanical arm, and finally the axis of the screw is coincided with the axis of the nut fixing seat 10, so that the problem of pose deviation is solved.
Optionally, the first feeding mechanism 3 comprises: the nut fixing seat comprises a first motor 30 and a first screw rod 31, the first motor 30 is fixed on the second mounting seat 2, an output shaft of the first motor 30 is parallel to the axis of the nut fixing seat 10, one end of the first screw rod 31 is fixedly connected with the output shaft of the first motor 30, a first screw hole is formed in the first mounting seat 1, and the first screw rod 31 is in threaded fit with the first screw hole.
Because the screw length differs, drive first lead screw 31 through first motor 30 and rotate to make first mount pad 1 of spiro union on it to the direction removal of being close to or keeping away from mount pad 2, thereby the interval between adjustment mount pad 1 and fixture 4 reaches the purpose of the screw of matching different length.
Optionally, the second feeding mechanism 6 comprises: the second motor 60 is fixed on the third mounting seat 5, an output shaft of the second motor 60 is parallel to an output shaft of the first motor 30, one end of the second lead screw 61 is fixedly connected with the output shaft of the second motor 60, a second screw hole is formed in the second mounting seat 2, and the second lead screw 61 is in threaded fit with the second screw hole.
The use method and the working principle are as follows:
fixing a third mounting seat 5 at the tail end of a mechanical arm through a mounting hole, selecting a proper nut fixing seat 10 (an inner hexagonal sleeve) to be matched with the outer size of a nut to be loosened, inserting a screw in the nut fixing seat 10 through a single-shaft hole assembly technology, penetrating through the middle positions of a first locking clamp 40 and a second locking clamp 41, controlling a first motor 30 to rotate, driving a first screw rod 31 to rotate, so that a connecting plate 15 moves leftwards or rightwards, further changing the relative distance between a clamping mechanism 4 and the nut fixing seat 10 to match screws with different lengths, then controlling a driving motor 420 to rotate, driving a driving bevel gear 421 to rotate, driving two driven bevel gears 422 meshed with the driving bevel gears 421 to rotate, wherein the rotation directions of the two driven bevel gears 422 are just opposite, and further realizing reverse rotation of two rotating shafts 423 on the left side and the right side, the rotating forces of the two rotating shafts 423 are transmitted to the two driving shafts 425 by the synchronous transmission member 424, respectively, so that the two driving shafts 425 are rotated in opposite directions, and finally the closing movement of the first locking clamp 40 and the second locking clamp 41 is achieved. In the closing motion process, the screw can contact with first locking clamp 40 and second locking clamp 41, and then produce the effect of power, through arm flexible motion, adjust the terminal gesture of robot, finally make the coincidence of screw axis and nut fixing base 10's axis. At this time, the first locking clamp 40 and the second locking clamp 41 can be reopened, and the end pose is fixed by the robot arm joint. After the axis of the screw (or the nut) is completely overlapped with the axis of the nut fixing seat 10, the second motor 60 rotates to drive the second screw rod 61 to rotate, meanwhile, the first driving mechanism 11 drives the nut fixing seat 10 to rotate, further, the movement towards the nut direction with rotation is realized, in the approaching process, the force information of the fixed base plate 12 and the connecting plate 15 in the moving direction of the second screw rod 61 is collected through the pressure sensor 16, a closed loop system is formed together with expected force, and the constant force output of the second screw rod 61 in the moving direction is realized by controlling the rotating speed of the second motor 60. Before the nut fixing seat 10 contacts the nut, the second screw rod 61 moves in an accelerated manner, and after the nut fixing seat 10 contacts the nut, because the inner hexagonal of the nut and the nut fixing seat 10 is difficult to accurately match, the normal rotation of the nut fixing seat 10 driven by the first driving mechanism 11 is ensured through the constant force output of the second screw rod 61 in the moving direction. When the inner hexagons of the nut and the nut holder 10 are exactly aligned, the nut can be completely embedded in the nut holder 10 under the action of positive pressure. After the nut is completely embedded into the nut fixing seat 10, the first driving mechanism 11 is controlled to rotate, the nut is further driven to rotate, the second motor 60 is controlled to rotate, the second lead screw 61 drives the first mounting seat 1 and the second mounting seat 2 to move towards the direction close to the third fixing seat 5, the nut is matched with the nut to move away from the screw, and finally nut loosening operation is achieved.
The process can realize one nut loosening operation, and all nut loosening operations can be automatically completed by the aid of the robot by repeating the process until the bus clamp 8 is separated from the drainage clamp 7.
The device disclosed by the invention is combined with the mechanical arm of a robot, the flexible adjustment of the pose of the nut fixing seat 10 can be realized by using the clamping mechanism, the axis of the screw is coincided with the axis of the nut fixing seat, so that the pose deviation problem is solved, the distance between the first mounting seat and the second mounting seat can be adjusted by using the first feeding mechanism so as to adjust the distance between the clamping mechanism and the nut fixing seat, the nut loosening operation of screws with different lengths can be adapted, the nut loosening operation of screws with different diameters can be solved by replacing the matched nut fixing seat, and the automatic drainage wire breaking operation can be realized by combining the robot. The invention can enhance the adaptability to field operation and has wide application prospect.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (9)
1. The utility model provides a nut device is loosened to robot towards disconnected drainage line operation which characterized in that includes:
the nut fixing device comprises a first mounting seat (1), a nut fixing seat (10) is connected onto the first mounting seat (1), a first driving mechanism (11) is fixed onto the first mounting seat (1), and the first driving mechanism (11) is connected with the nut fixing seat (10) to drive the nut fixing seat (10) to rotate around the axis of the nut fixing seat;
the second mounting seat (2) is connected with the first mounting seat (1) through a first feeding mechanism (3) so that the first mounting seat (1) moves towards or away from the second mounting seat (2);
fixture (4), be fixed in on second mount pad (2), fixture (4) including first locking clamp (40), second locking clamp (41) and respectively with actuating mechanism (42) that first locking clamp (40), second locking clamp (41) are connected, so that first locking clamp (40) and second locking clamp (41) are closed each other or are opened, the axis after first locking clamp (40) and second locking clamp (41) are closed with the axis coincidence of nut fixing base (10).
2. The nut loosening device for the robot for the drainage wire breaking operation of claim 1, further comprising:
the third installation seat (5) is arranged opposite to the first installation seat (1) and the second installation seat (2), and the third installation seat (5) is connected with the second installation seat (2) through a second feeding mechanism (6) so that the first installation seat (1) and the second installation seat (2) move towards the direction close to or away from the third installation seat (5) simultaneously.
3. The nut loosening device for a robot for a drainage wire breaking operation as claimed in claim 1, wherein the first mounting seat (1) comprises:
the fixed base plate (12) is fixedly connected with a first supporting seat (13), and the nut fixing seat (10) is embedded in the first supporting seat (13);
and the second supporting seat (14) is fixed on the fixed bottom plate (12), and the first driving mechanism (11) is fixed on the first mounting seat (1) through the second supporting seat (14).
4. The nut loosening device for a robot for a drainage wire breaking operation as claimed in claim 3, wherein the first mounting seat (1) further comprises:
and one end face of the connecting plate (15) is adjacent to the end face of the fixed bottom plate (12), and a pressure sensor (16) is fixedly connected between the connecting plate (15) and the fixed bottom plate (12).
5. The robot nut loosening device for the drainage wire breaking operation as claimed in claim 2, wherein the first driving mechanism (11) is a hollow driving motor, the outer ring of the hollow driving motor is fixed with the second supporting seat (14), and the inner ring of the hollow driving motor is fixedly connected with the nut fixing seat (10) so as to enable the nut fixing seat (10) to make a rotating motion around the axis of the nut fixing seat.
6. The robot nut loosening device facing the drainage wire breaking operation is characterized in that a bearing (17) is fixed in the first supporting seat (13), and the outer periphery of the nut fixing seat (10) is fixed with the inner ring of the bearing (17).
7. The nut loosening device for the robot for the drainage wire breaking operation of claim 1, wherein the driving mechanism (42) comprises:
the driving motor (420) is fixed on the second mounting seat (2), and an output shaft of the driving motor (420) is fixedly connected with a driving bevel gear (421);
two slave bevel gears (422) vertically engaged with both sides of the drive bevel gear (421) through rotating shafts (423), respectively;
two groups of synchronous conveying members (424) are respectively connected with the two driven bevel gears (422) in a one-to-one correspondence mode, each synchronous conveying member (424) is connected with a driving shaft (425) so that the driving shafts (425) and the corresponding driven bevel gears (422) can synchronously rotate, and the first locking clamp (40) and the second locking clamp (41) are fixedly connected with the two driving shafts (425) in a one-to-one correspondence mode so that the first locking clamp (40) and the second locking clamp (41) can rotate in the direction of mutually holding or mutually releasing.
8. The nut loosening device for a robot for a drainage wire breaking operation as claimed in claim 1, wherein the first feeding mechanism (3) comprises:
the first motor (30) is fixed on the second mounting seat (2), and an output shaft of the first motor (30) is parallel to the axis of the nut fixing seat (10);
one end of the first screw rod (31) is fixedly connected with an output shaft of the first motor (30), a first screw hole is formed in the first mounting seat (1), and the first screw rod (31) is in threaded fit with the first screw hole.
9. The nut loosening device for the robot for the drainage wire breaking operation as claimed in claim 1, wherein the second feeding mechanism (6) comprises:
the second motor (60) is fixed on the third mounting seat (5), and an output shaft of the second motor (60) is parallel to an output shaft of the first motor (30);
one end of the second screw rod (61) is fixedly connected with an output shaft of the second motor (60), a second screw hole is formed in the second mounting seat (2), and the second screw rod (61) is in threaded fit with the second screw hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110851666.8A CN113500612B (en) | 2021-07-27 | 2021-07-27 | Robot nut loosening device for drainage wire breaking operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110851666.8A CN113500612B (en) | 2021-07-27 | 2021-07-27 | Robot nut loosening device for drainage wire breaking operation |
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| Publication Number | Publication Date |
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| CN113500612A true CN113500612A (en) | 2021-10-15 |
| CN113500612B CN113500612B (en) | 2022-11-11 |
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| CN212192034U (en) * | 2020-04-30 | 2020-12-22 | 无锡丹尼克尔自动化科技有限公司 | Long rod screw tightening device |
| CN112952671A (en) * | 2021-03-25 | 2021-06-11 | 武汉新奋进电力技术有限公司 | Disconnected operation combination type robot that draws |
-
2021
- 2021-07-27 CN CN202110851666.8A patent/CN113500612B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104907819A (en) * | 2015-06-29 | 2015-09-16 | 国家电网公司 | Overhead high tension transmission line tensile wire clamp drainage crab bolt fastener |
| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN105835052A (en) * | 2016-05-18 | 2016-08-10 | 河北工业大学 | Double-acting manipulator |
| CN107433432A (en) * | 2017-07-28 | 2017-12-05 | 武汉理工大学 | The complete automatic assembling apparatus of bolt and nut |
| CN108971953A (en) * | 2018-07-12 | 2018-12-11 | 南京埃斯顿机器人工程有限公司 | It can lock or unscrew simultaneously the mechanism of screw and nut |
| CN110449871A (en) * | 2019-07-17 | 2019-11-15 | 中国地质大学（武汉） | It is a kind of suitable for high-voltage tube bus fitting it is automatic lock unload screw device |
| CN111113010A (en) * | 2020-01-14 | 2020-05-08 | 新昌县新明实业有限公司 | Flexible tail end fastening device of bolt fastening robot for power transmission line |
| CN111168367A (en) * | 2020-01-14 | 2020-05-19 | 新昌县新明实业有限公司 | Bolt centering control method for bolt fastening robot of power transmission line |
| CN111390793A (en) * | 2020-04-21 | 2020-07-10 | 国家电网有限公司 | Be used for high-tension line drainage fastener bolt preloading device |
| CN212192034U (en) * | 2020-04-30 | 2020-12-22 | 无锡丹尼克尔自动化科技有限公司 | Long rod screw tightening device |
| CN112952671A (en) * | 2021-03-25 | 2021-06-11 | 武汉新奋进电力技术有限公司 | Disconnected operation combination type robot that draws |
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| CN113500612B (en) | 2022-11-11 |
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