CN114473469A - Overhead transmission line drainage plate bolt fastening device, robot and method - Google Patents
Overhead transmission line drainage plate bolt fastening device, robot and method Download PDFInfo
- Publication number
- CN114473469A CN114473469A CN202210229593.3A CN202210229593A CN114473469A CN 114473469 A CN114473469 A CN 114473469A CN 202210229593 A CN202210229593 A CN 202210229593A CN 114473469 A CN114473469 A CN 114473469A
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- drainage plate
- nut
- bolt
- transmission line
- fastening
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of power transmission line robots, and provides a bolt fastening device, a robot and a method for a drainage plate of an overhead power transmission line. Wherein the device comprises a feeding portion, a flexible sleeve portion and a nut fastening portion; the flexible sleeve part is positioned on the bolt side of the drainage plate, the nut fastening part is positioned on the nut side of the drainage plate, and the flexible sleeve part and the nut fastening part are oppositely arranged on two sides of the feeding part; the feeding part is used for driving the flexible sleeve part and the nut fastening part to move towards the middle simultaneously and respectively approach to the head part and the nut of the drainage plate bolt to be fastened so as to achieve the purpose of fastening the drainage plate bolt.
Description
Technical Field
The invention belongs to the technical field of power transmission line robots, and particularly relates to a bolt fastening device, a robot and a method for a drainage plate of an overhead power transmission line.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The overhead transmission line is used as an important component of a power system, the safe operation of the overhead transmission line is directly related to the safety of the overall operation of a power grid, the overhead transmission line is exposed to the external environment for a long time, particularly, the severe weather such as strong wind and the like causes the vibration and the galloping of a lead, so that bolts of a drainage plate are loosened, the drainage plate of a strain clamp of the transmission line is overheated, a large amount of electric energy is consumed, the drainage plate is possibly burnt, the wire breakage accident is caused, the safe operation of the power grid is directly threatened, and the serious economic loss is caused.
The traditional method for eliminating the heating defect of the drainage plate in an electrified way is generally used for equipotential elimination by using a flat ladder method or a flexible ladder method, and has the disadvantages of complex flow, low operation efficiency and low safety of high-altitude operation. Along with the continuous progress of science and technology, the wide application that high-voltage line operation robot obtained, and the drainage plate fastening's that the degree of automation that is applicable to circuit live working robot is higher instrument less. The inventor finds that the existing drainage plate fastening operation tool is carried at the tail end of the multi-degree-of-freedom mechanical arm to perform complex operations such as bolt alignment, fastening, separation and the like, and has high requirements on the mechanical structure, remote control and bolt fastening of the mechanical arm and high difficulty in practical application due to low automation degree, poor adaptability and unreasonable overall structure layout of the operation tool.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a bolt fastening device, a robot and a method for a drainage plate of an overhead transmission line, which can realize full-automatic operation of fastening the drainage plate of the overhead transmission line and reduce the control requirement of a mechanical arm.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a bolt fastening device for a drainage plate of an overhead transmission line, which comprises a flexible sleeve part, a nut fastening part and a feeding part, wherein the flexible sleeve part is fixedly connected with the bolt fastening part;
the flexible sleeve part is positioned on the bolt side of the drainage plate, the nut fastening part is positioned on the nut side of the drainage plate, and the flexible sleeve part and the nut fastening part are oppositely arranged on two sides of the feeding part;
the feeding part is used for driving the flexible sleeve part and the nut fastening part to move towards the middle simultaneously and respectively approach to the head part and the nut of the drainage plate bolt to be fastened so as to achieve the purpose of fastening the drainage plate bolt.
As an embodiment, the flexible sleeve part comprises a multifunctional sleeve, a bracket, a spring and a guide rail, wherein the top end of the bracket is provided with a guide groove matched with the guide rail, and the guide rail is arranged in the guide groove; the multifunctional sleeve is fixed at the top end of the guide rail; the spring is arranged between the bracket and the multifunctional sleeve, and the guide rail penetrates through the spring.
In one embodiment, the guide rail has a protrusion at an end thereof for preventing the guide rail from being separated from the guide groove.
In one embodiment, the guide rail and spring are compressed by an amount greater than the remaining length of the plate bolt.
In one embodiment, the nut fastening portion includes an electric wrench and a fastening sleeve installed to face the flexible sleeve portion to sandwich the bolt and the nut of the drainage plate.
In one embodiment, the fastening sleeve has a length greater than the unused length of the drainage plate bolt.
As an embodiment, the feeding part comprises a base, a lead screw, a guide mechanism, a first nut, a second nut, a first bearing seat, a second bearing seat and a driving mechanism;
the first bearing seat and the second bearing seat are fixed at two ends of the base; the screw rod is a positive and negative screw rod which can rotate in two directions and is arranged between the first bearing block and the second bearing block; the first nut and the second nut are respectively positioned at two ends of the screw rod and are used for respectively fixing the flexible sleeve part and the nut fastening part; the lead screw linearly feeds along the guide mechanism; the driving mechanism is connected with the lead screw and can drive the lead screw to rotate.
As an embodiment, the driving mechanism is a motor, and the motor is connected with the lead screw through a coupler.
A second aspect of the invention provides a robot, which comprises the overhead transmission line drainage plate bolt fastening device.
The third aspect of the invention provides a bolt fastening method for a drainage plate of an overhead transmission line, which comprises the following steps:
adjusting the pose of the bolt fastening device for the drainage plate of the overhead transmission line, and enabling the flexible sleeve part to be positioned on the bolt side of the drainage plate, and the nut fastening part to be positioned on the nut side of the drainage plate and to be gradually close to the drainage plate;
the feeding part drives the flexible sleeve part and the nut fastening part to move towards the middle simultaneously and respectively approach to the head of the bolt to be fastened and the nut, so that the purpose of fastening the bolt is achieved.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention innovatively designs an adaptive flexible bolt fastening technology for the drainage plate of the overhead transmission line, develops a fastening device for the drainage plate of the overhead transmission line, and after the hexagonal head of the bolt is fastened, the flexible sleeve part and the fastening part can simultaneously move towards the middle under the action of the positive and negative screws and the action of the guide groove and the slide rail, so that the function of clamping a nut is realized, the problems of untimely fastening and complex control of a mechanical arm due to the adoption of a manually operated drainage plate are solved, and the full-automatic operation effect of fastening the drainage plate of the overhead transmission line is realized.
(2) The invention innovatively designs a fastening method of an overhead transmission line drainage plate, which utilizes a flexible body formed by a guide groove, a slide rail and a spring, when one side of the flexible body is close to the drainage plate, the fastening part continuously runs towards the middle under the driving of a feeding part so as to clamp bolts and nuts of the drainage plate, solves the problems of high requirements on control and alignment of a mechanical arm and difficulty in practical application, realizes the effect of bolt fastening, and improves the fastening efficiency of the drainage plate.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is an operation schematic diagram of an overhead transmission line drainage plate fastening device mounted at the tail end of a mechanical arm according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of an overhead transmission line drainage plate fastening device according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a feeding portion according to an embodiment of the present invention;
FIG. 4 is a schematic view of a flexible sleeve portion according to an embodiment of the present invention;
the multifunctional drainage plate comprises a drainage plate 1, a drainage plate bolt 2, a drainage plate fastening device 3, an operation arm 4, a feeding part 5, a flexible sleeve part 6, a nut fastening part 7, a base 8, a sliding rail 9, a lead screw 10, a lead screw 11, a first nut 12, a second nut 13, a first bearing seat 14, a second bearing seat 15, a coupler 16, a motor 17, a motor flange 18, a multifunctional sleeve 18, a support 19, a spring 20, a guide rail 21, an electric wrench 22 and a fastening sleeve 23.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
As shown in fig. 2, the present embodiment provides an overhead transmission line drainage plate bolt fastening device, which includes a flexible sleeve portion 6, a nut fastening portion 7 and a feeding portion 5.
The flexible sleeve part 6 is positioned on the bolt side of the drainage plate 1, the nut fastening part 7 is positioned on the nut side of the drainage plate 1, and the flexible sleeve part 6 and the nut fastening part 5 are oppositely arranged on two sides of the feeding part 5.
The feeding part 5 is used for driving the flexible sleeve part 6 and the nut fastening part 7 to move towards the middle simultaneously and respectively approach to the head part and the nut of the drainage plate bolt 2 to be fastened so as to achieve the purpose of fastening the drainage plate bolt 2.
As shown in fig. 4, the flexible sleeve portion 6 comprises a multifunctional sleeve 18, a bracket 19, a spring 20 and a guide rail 21, wherein the top end of the bracket 19 is provided with a guide groove matched with the guide rail 21, and the guide rail 21 is arranged in the guide groove; the multifunctional sleeve 18 is fixed at the top end of the guide rail 21; the spring 20 is arranged between the bracket 19 and the multifunctional sleeve 18, and the guide rail 21 passes through the spring 20.
In one or more embodiments, the guide rail 21 has a protrusion at an end thereof for preventing the guide rail 21 from being separated from the guide groove.
Wherein the compression amount of the guide rail 21 and the spring 20 is larger than the residual length of the drainage plate bolt.
In a specific implementation, the nut fastening portion 7 includes an electric wrench 22 and a fastening sleeve 23, and the fastening sleeve 23 is installed opposite to the flexible sleeve portion 6 to clamp the bolt and the nut of the drainage plate 1 therebetween.
Wherein the length of the fastening sleeve 23 is greater than the unused length of the flow guide plate bolt 2.
As shown in fig. 3, the feeding portion 5 includes a base 8, a lead screw 10, a guide mechanism, a first nut 11, a second nut 12, a first bearing seat 13, a second bearing seat 14, and a driving mechanism;
the first bearing seat 13 and the second bearing seat 14 are fixed at two ends of the base 8; the screw rod 10 is a positive and negative screw rod which can rotate in two directions and is arranged between a first bearing seat 13 and a second bearing seat 14; the first nut 11 and the second nut 12 are respectively positioned at two ends of the screw rod 10 and are used for respectively fixing the flexible sleeve part 6 and the nut fastening part 7; the lead screw 10 is linearly fed along a guide mechanism; the driving mechanism is connected with the lead screw 10 and can drive the lead screw 10 to rotate.
For example: the driving mechanism is a motor 16, and the motor 16 is connected with the screw rod 10 through a coupler 15. The motor 16 is fixed on the base 8 through a motor flange 17.
It should be noted here that the driving mechanism may also adopt other existing driving structures, such as a hydraulic mechanism, etc., and those skilled in the art can specifically set up the driving mechanism according to the actual situation, and will not be described in detail here.
In the present embodiment, the guiding mechanism is implemented by using a sliding rail 9, wherein the sliding rail 9 is laid at a middle position on the upper surface of the base 8, and the first nut 11, the second nut 12, the sliding rail 9 and the lead screw 10 together form a sliding table with a linear feeding function.
It is understood that in other embodiments, the guiding mechanism may be implemented by other structures with guiding function, and will not be described in detail herein.
The principle of the bolt fastening of the drainage plate of the overhead transmission line of the embodiment is as follows:
adjusting the pose of the bolt fastening device for the drainage plate of the overhead transmission line, and enabling the flexible sleeve part 6 to be positioned on the bolt side of the drainage plate 1 and the nut fastening part 7 to be positioned on the nut side of the drainage plate 1 and to be gradually close to the drainage plate 1;
the feeding part 5 drives the flexible sleeve part 6 and the nut fastening part 7 to move towards the middle simultaneously and respectively approach to the head of the bolt to be fastened and the nut, so that the aim of fastening the bolt is fulfilled.
Specifically, taking the fastening device for the drainage plate bolt of the overhead transmission line shown in fig. 2 to 4 as an example, the fastening process for the drainage plate bolt of the overhead transmission line is as follows:
the pose of the drainage plate fastening device 3 is adjusted to be gradually close to the bolts 2 on the drainage plate 1, so that the flexible sleeve part 6 is positioned on the hexagon bolt side of the drainage plate 1, and the nut fastening part 7 is positioned on the nut side of the drainage plate 2.
The motor 16 of the feeding part 5 drives the positive and negative lead screws 10 to rotate, and the flexible sleeve part 6 and the nut fastening part 7 move towards the middle simultaneously under the driving of the first nut 11 and the first nut 12 respectively and are close to the bolt head and the nut of the bolt 2 to be fastened.
When the flexible sleeve part 6 blocks the head of the bolt 2 and clings to the outer side surface of the drainage plate 1, because the length of the bolt 2 on the inner side surface of the drainage plate 1 is far greater than the thickness of the bolt head on the outer side surface, at the moment, the nut fastening part 7 is not in contact with the nut, the motor 16 continues to operate, the flexible sleeve part 6 extrudes the spring 20, the nut fastening part 7 can continue to move towards the middle to be close to the nut on the bolt 2, and meanwhile, the remote control electric wrench 22 slowly rotates to finally block the nut, so that the nut is fastened.
Example two
The embodiment provides a robot, which comprises the bolt fastening device for the drainage plate of the overhead transmission line.
Referring to fig. 1, a bolt fastening device 3 for an overhead transmission line drainage plate according to the first embodiment is mounted on the end of a working arm 4 of the robot according to this embodiment. In the actual operation process of fastening the drainage plate bolt of the overhead transmission line, the pose of the fastening device 3 is adjusted to be gradually close to the bolt 2 on the drainage plate 1, so that the flexible sleeve part 6 is positioned on the hexagon bolt side of the drainage plate 1, and the nut fastening part 7 is positioned on the nut side of the drainage plate 2.
Here, the robot in this embodiment can be realized by using a conventional structure except for the mounted bolt fastening device for the drainage plate of the overhead power transmission line, and the description thereof will not be repeated.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A bolt fastening device for a drainage plate of an overhead transmission line is characterized by comprising a flexible sleeve part, a nut fastening part and a feeding part;
the flexible sleeve part is positioned on the bolt side of the drainage plate, the nut fastening part is positioned on the nut side of the drainage plate, and the flexible sleeve part and the nut fastening part are oppositely arranged on two sides of the feeding part;
the feeding part is used for driving the flexible sleeve part and the nut fastening part to move towards the middle simultaneously and respectively approach to the head part and the nut of the drainage plate bolt to be fastened so as to fasten the drainage plate bolt.
2. The overhead transmission line drainage plate bolt fastening device of claim 1, wherein the flexible sleeve part comprises a multifunctional sleeve, a bracket, a spring and a guide rail, a guide groove matched with the guide rail is formed in the top end of the bracket, and the guide rail is arranged in the guide groove; the multifunctional sleeve is fixed at the top end of the guide rail; the spring is arranged between the bracket and the multifunctional sleeve, and the guide rail penetrates through the spring.
3. The overhead transmission line drainage plate bolt fastening device of claim 2, wherein the tail end of the guide rail is provided with a protrusion for preventing the guide rail from being separated from the guide groove.
4. The overhead transmission line drainage plate bolt fastening device of claim 2, wherein the compression of the guide rail and the spring is greater than the remaining length of the drainage plate bolt.
5. The overhead transmission line drainage plate bolt fastening device of claim 1, wherein the nut fastening part comprises an electric wrench and a fastening sleeve, and the fastening sleeve is installed opposite to the flexible sleeve part and clamps the bolt and the nut of the drainage plate.
6. The overhead transmission line drainage plate bolt fastening device of claim 5, wherein the length of the fastening sleeve is greater than the unused length of the drainage plate bolt.
7. The overhead transmission line drainage plate bolt fastening device of claim 1, wherein the feeding part comprises a base, a lead screw, a guide mechanism, a first nut, a second nut, a first bearing seat, a second bearing seat and a driving mechanism;
the first bearing seat and the second bearing seat are fixed at two ends of the base; the screw rod is a positive and negative screw rod which can rotate in two directions and is arranged between the first bearing seat and the second bearing seat; the first nut and the second nut are respectively positioned at two ends of the screw rod and are used for respectively fixing the flexible sleeve part and the nut fastening part; the lead screw linearly feeds along the guide mechanism; the driving mechanism is connected with the lead screw and can drive the lead screw to rotate.
8. The overhead transmission line drainage plate bolt fastening device of claim 7, wherein the driving mechanism is a motor, and the motor is connected with a lead screw through a coupler.
9. A robot, characterized by comprising the overhead transmission line drainage plate bolt fastening device of any one of claims 1 to 8.
10. The bolt fastening method for the drainage plate of the overhead transmission line is characterized by comprising the following steps of:
adjusting the position and posture of the bolt fastening device for the drainage plate of the overhead transmission line according to any one of claims 1 to 8, wherein the flexible sleeve part is arranged on the bolt side of the drainage plate, and the nut fastening part is arranged on the nut side of the drainage plate and gradually approaches to the drainage plate;
the feeding part drives the flexible sleeve part and the nut fastening part to move towards the middle simultaneously, and the feeding part is respectively close to the head of the bolt to be fastened and the nut to fasten the bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210229593.3A CN114473469A (en) | 2022-03-09 | 2022-03-09 | Overhead transmission line drainage plate bolt fastening device, robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210229593.3A CN114473469A (en) | 2022-03-09 | 2022-03-09 | Overhead transmission line drainage plate bolt fastening device, robot and method |
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| CN114473469A true CN114473469A (en) | 2022-05-13 |
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| CN202210229593.3A Pending CN114473469A (en) | 2022-03-09 | 2022-03-09 | Overhead transmission line drainage plate bolt fastening device, robot and method |
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Effective date of registration: 20220908 Address after: 250101 power intelligent robot production project 101 south of Feiyue Avenue and east of No.26 Road (in ICT Industrial Park) in Suncun District of Gaoxin, Jinan City, Shandong Province Applicant after: National Network Intelligent Technology Co.,Ltd. Applicant after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Address before: 250104 electric intelligent robot production project in the south of Feiyue Avenue and the east of No. 26 Road (in ICT Industrial Park) in Suncun District, Gaoxin District, Jinan City, Shandong Province 101 Applicant before: National Network Intelligent Technology Co.,Ltd. |
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