CN116060930A - Electric power iron tower bolt-up robot - Google Patents
Electric power iron tower bolt-up robot Download PDFInfo
- Publication number
- CN116060930A CN116060930A CN202211604803.9A CN202211604803A CN116060930A CN 116060930 A CN116060930 A CN 116060930A CN 202211604803 A CN202211604803 A CN 202211604803A CN 116060930 A CN116060930 A CN 116060930A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- mechanical arm
- robot
- bolt
- bolt fastening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a power iron tower bolt fastening robot which comprises a bolt fastening mechanical arm, a traveling guide rail and a crawling robot, wherein the bolt fastening mechanical arm is fixedly connected with a mechanical arm traveling base of the traveling guide rail, and the crawling robot is respectively connected with the traveling guide rail through a sliding screw nut and a guide rail pulley. The invention provides an intelligent bolt fastening robot for electric power iron tower assembly, which replaces the existing manual work of climbing a tower by iron tower assembly workers to fasten bolts, improves the safety of the electric power iron tower assembly process, and is convenient to popularize and use in industry.
Description
Technical Field
The invention relates to the technical field of electric power iron tower construction, in particular to an electric power iron tower bolt fastening robot.
Background
Currently, in the process of electric power iron building assembly and construction, bolt tightening work is mainly performed in a manual tower climbing mode. The method is characterized in that an iron tower assembling worker climbs to a tower section butt joint position, or the iron tower assembling worker stands at a preassembled tower body butt joint position, and the preassembled tower body and the assembling worker are hoisted to the butt joint position together by hoisting equipment and then are manually screwed and fixed. The working mode has great safety risk, and causes great potential safety hazard to the life safety of the tower assembling workers.
Disclosure of Invention
Aiming at the technical problems in the background technology, the invention aims to provide a power iron tower bolt fastening robot.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the invention provides an electric iron tower bolt fastening robot which comprises a bolt fastening mechanical arm, a traveling guide rail and a crawling robot, wherein the bolt fastening mechanical arm is fixedly connected with a mechanical arm traveling base of the traveling guide rail, and the crawling robot is respectively connected with the traveling guide rail through a sliding screw nut and a guide rail pulley.
Further, the bolt-up mechanical arm comprises a multi-joint mechanical arm and a bolt-up device, wherein the bolt-up device is connected with the tail end of the multi-joint mechanical arm through a screw, the bolt-up device comprises a sleeve lifting device and a bolt-up driving device, and the bolt-up driving device is connected with the sleeve lifting device through a screw.
Further, the traveling guide rail comprises a mechanical arm traveling base, a driving motor, a traveling guide rail body, a transmission screw rod and a round steel guide rail, wherein the transmission screw rod is connected with the driving motor through a coupling and then connected with the guide rail body through a screw, the round steel guide rail is connected with the traveling guide rail body through a screw, and the mechanical arm traveling base is connected with the transmission screw rod through a screw nut and then connected to the round steel guide rail through an eccentric pulley.
Further, each crawling robot comprises a crawling device body and a crawling device locking arm, and the crawling device locking arm is connected with the crawling device body through a screw nut and a sliding shaft.
Further, the mechanical arm is fixedly connected with the mechanical arm advancing base of the advancing guide rail through bolts.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an intelligent bolt fastening robot for electric power iron tower assembly, which replaces the existing manual work of climbing a tower by iron tower assembly workers to fasten bolts, improves the safety of the electric power iron tower assembly process, and is convenient to popularize and use in industry.
Drawings
FIG. 1 is a schematic view of the overall structure of an embodiment routine of the present invention;
fig. 2 is a schematic diagram of an overall structure of a pre-tightening state of a mechanical arm according to an embodiment of the present invention;
FIG. 3 is a schematic view of a mechanical arm for fastening bolts according to the present invention;
FIG. 4 is a schematic view of a travel rail assembly according to the present invention;
FIG. 5 is a schematic view of the structure of the crawling robot assembly according to the present invention;
in the figure, a mechanical arm 1 is fastened by bolts, a traveling guide rail 2, a crawling robot 3, a multi-joint mechanical arm 1-1, a bolt fastening device 1-2, a sleeve lifting device 1-2-1, a bolt fastening driving device 1-2-2, a mechanical arm traveling base 2-1, a driving motor 2-2, a traveling guide rail body 2-3, a transmission screw rod 2-4, a round steel guide rail 2-5, a crawling device body 3-1 and a crawling device locking arm 3-2.
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.
Referring to fig. 1-5, an embodiment of the present invention is shown.
The embodiment provides a power iron tower bolt-up robot, including bolt-up arm 1, advance guide rail 2 and crawl robot 3, wherein, bolt-up arm 1 and the arm of advancing guide rail 2 advance base 2-1 through fixed connection, crawl robot 3 is two, respectively through slip nut, guide rail pulley and advance guide rail 2 and be connected. The two crawling robots 3 are respectively a crawling robot 3A and a crawling robot 3B which are matched for use.
The bolt fastening mechanical arm 1 comprises a multi-joint mechanical arm 1-1 and a bolt fastening device 1-2, wherein the bolt fastening device 1-2 is connected with the tail end of the multi-joint mechanical arm 1-1 through a screw, the bolt fastening device 1-2 comprises a sleeve lifting device 1-2-1 and a bolt fastening driving device 1-2-2, and the bolt fastening driving device 1-2-2 is connected with the sleeve lifting device 1-2-1 through a screw.
The mechanical arm traveling base 2-1 is connected with the transmission screw rod 2-4 through a screw nut, and is connected to the round steel guide rail 2-5 through an eccentric pulley.
Each crawling robot comprises a crawling device body 3-1 and a crawling device locking arm 3-2, and the crawling device locking arm 3-2 is connected with the crawling device body 3-1 through a screw nut and a sliding shaft.
The mechanical arm 1 is fixedly connected with the mechanical arm advancing base 2-1 of the advancing guide rail 2 through bolts.
Specifically, the embodiment provides a power iron tower bolt-up robot, and the working procedure is as follows:
step A: the crawling robot 3A and the crawling robot 3B are alternately opened and closed by the crawling locking arm 3-2, and the crawling robots 3A and 3B are driven to move on the travelling guide rail 2 through the driving motor 2-2 of the travelling guide rail 2, so that the bolt-fastening robot is moved to a preset working position.
And (B) step (B): the multi-joint mechanical arm 1-1 drives the bolt fastening device 1-2 to switch from a traveling posture (shown in fig. 1) to a pre-tightening posture (shown in fig. 2), the sleeve lifting device 1-2-1 is closed, the bolt fastening driving device 1-2-2 is started, and the sleeve is driven to complete bolt fastening.
Step C: and B, stopping the bolt fastening driving device 1-2-2, opening the sleeve lifting device 1-2-1, driving the bolt fastening device 1-2 to move to the next pre-tightening position by the multi-joint mechanical arm 1-1, and repeating the step B.
Step D: the multi-joint mechanical arm 1-1 drives the bolt fastening device 1-2 to switch from a pre-tightening posture (shown in fig. 2) to a traveling posture (shown in fig. 1). Step a is repeated to proceed to the next docking position.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an electric power iron tower bolt-up robot which characterized in that: the robot comprises a bolt fastening mechanical arm (1), a traveling guide rail (2) and a crawling robot (3), wherein the bolt fastening mechanical arm (1) is fixedly connected with a mechanical arm traveling base (2-1) of the traveling guide rail (2), and the crawling robot (3) is respectively connected with the traveling guide rail (2) through a sliding screw nut and a guide rail pulley.
2. The power pylon screw fastening robot of claim 1 wherein: the mechanical arm for fastening the bolts (1) comprises a multi-joint mechanical arm (1-1) and a bolt fastening device (1-2), wherein the bolt fastening device (1-2) is connected with the tail end of the multi-joint mechanical arm (1-1) through a bolt, the bolt fastening device (1-2) comprises a sleeve lifting device (1-2-1) and a bolt fastening driving device (1-2-2), and the bolt fastening driving device (1-2-2) is connected with the sleeve lifting device (1-2-1) through a bolt.
3. The power pylon screw fastening robot of claim 1 wherein: the mechanical arm traveling guide rail (2) comprises a mechanical arm traveling base (2-1), a driving motor (2-2), a traveling guide rail body (2-3), a transmission screw rod (2-4) and a round steel guide rail (2-5), wherein the transmission screw rod (2-4) is connected with the guide rail body (2-3) through a screw after being connected with the driving motor (2-2) through a coupling, the round steel guide rail (2-5) is connected with the traveling guide rail body (2-3) through a screw, and the mechanical arm traveling base (2-1) is connected with the transmission screw rod (2-4) through a screw nut and then connected to the round steel guide rail (2-5) through an eccentric pulley.
4. The electric iron tower bolt-up robot according to claim 1, wherein each crawling robot comprises a crawler body (3-1) and a crawler locking arm (3-2), and the crawler locking arms (3-2) are connected with the crawler body (3-1) through nuts and sliding shafts.
5. The power pylon screw fastening robot of claim 1 wherein: the mechanical arm (1) is fixedly connected with the mechanical arm advancing base (2-1) of the advancing guide rail (2) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211604803.9A CN116060930A (en) | 2022-12-14 | 2022-12-14 | Electric power iron tower bolt-up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211604803.9A CN116060930A (en) | 2022-12-14 | 2022-12-14 | Electric power iron tower bolt-up robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116060930A true CN116060930A (en) | 2023-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211604803.9A Pending CN116060930A (en) | 2022-12-14 | 2022-12-14 | Electric power iron tower bolt-up robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116060930A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118123758A (en) * | 2024-04-22 | 2024-06-04 | 中铁建工集团有限公司 | Intelligent fastening device for steel mesh frame bolts |
-
2022
- 2022-12-14 CN CN202211604803.9A patent/CN116060930A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118123758A (en) * | 2024-04-22 | 2024-06-04 | 中铁建工集团有限公司 | Intelligent fastening device for steel mesh frame bolts |
| CN118123758B (en) * | 2024-04-22 | 2024-07-23 | 中铁建工集团有限公司 | Intelligent fastening device for steel mesh frame bolts |
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