CN116460568A - Electric power fitting dismounting robot and dismounting method - Google Patents
Electric power fitting dismounting robot and dismounting method Download PDFInfo
- Publication number
- CN116460568A CN116460568A CN202310311630.XA CN202310311630A CN116460568A CN 116460568 A CN116460568 A CN 116460568A CN 202310311630 A CN202310311630 A CN 202310311630A CN 116460568 A CN116460568 A CN 116460568A
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- nut
- power fitting
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- electric power
- bolt
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 206010063385 Intellectualisation Diseases 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]
Abstract
The embodiment of the application provides an electric power fitting dismounting robot and a dismounting method, wherein the robot comprises a camera mechanism, a nut clamping mechanism, a bolt rotating mechanism and a controller; the nut clamping mechanism comprises a clamping wrench and a first movement mechanism; the bolt rotating mechanism comprises a nut sleeve, a driver and a second moving mechanism, and the driver is connected with the nut sleeve; the controller performs image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut, controls the first moving mechanism to move according to the position of the target nut, enables the clamping wrench to clamp the target nut, controls the second moving mechanism to move according to the position of the target bolt, enables the nut sleeve to cover the nut of the target bolt, and enables the driver to drive the nut sleeve to rotate; the automation and the intellectualization of the installation and the disassembly of the electric power fitting are realized, and the labor cost is reduced; the potential safety hazard caused by the operation of workers in a high-voltage electrified environment is avoided, and the safety is improved.
Description
Technical Field
Embodiments of the present application relate to, but are not limited to, the field of automated robots, and in particular, to a power fitting disassembly robot and a disassembly method.
Background
The electric power fitting is indispensable in an electric power transmission link, is widely applied to high-voltage overhead electric power lines and substations, and plays a role in shunting the electric power lines to various towns. Because the electric power fitting is exposed outdoors all the year round, the electric power fitting is extremely easy to be influenced by weather and environment, for example, the electric power line can vibrate due to the action of wind power, so that electric sparks are generated when bolts on the electric power fitting are loosened, and the power line disconnection accident is caused; the bolts are easy to corrode in a humid environment, and once the bolts are bonded with the electric power fittings, the bonded parts are easy to overheat and fire to cause accidents. When the electric power fitting is abnormal, manual disassembly is usually adopted for the fitting. When workers work in environments with high voltage, strong magnetic fields and strong electric fields, thick and heavy electromagnetic shielding clothing is needed to be worn; not only has high working strength and low working efficiency, but also is extremely easy to cause safety accidents.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The technical problems existing in the related art are solved at least to a certain extent, and the embodiment of the application provides a power fitting dismounting robot and a dismounting method, so that automation and intellectualization of dismounting the power fitting are realized.
An embodiment of a first aspect of the present application, an electric power fitting disassembly robot, comprising:
the camera mechanism is used for shooting images of the electric power fitting;
the nut clamping mechanism is used for clamping a nut and comprises a clamping spanner and a first moving mechanism, and the first moving mechanism is connected with the clamping spanner;
the bolt rotating mechanism is used for rotating the bolt and comprises a nut sleeve, a driver and a second moving mechanism, wherein the driver is connected with the nut sleeve, and the second moving mechanism is connected with the driver;
the controller is connected with the camera mechanism, the nut clamping mechanism and the bolt rotating mechanism, and is used for carrying out image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut, controlling the first moving mechanism to move according to the position of the target nut so as to enable the clamping wrench to clamp the target nut, controlling the second moving mechanism to move according to the position of the target bolt so as to enable the nut sleeve to sleeve the nut of the target bolt, and enabling the driver to drive the nut sleeve to rotate.
According to certain embodiments of the first aspect of the application, the electric power fitting dismounting robot further comprises a mechanical arm, the mechanical arm is provided with a bearing platform, the nut clamping mechanism and the bolt rotating mechanism are arranged on the bearing platform, and the bearing platform is provided with a notch for the electric power fitting to pass through.
In certain embodiments of the first aspect of the present application, the first movement mechanism comprises a screw, and the clamping wrench is movably connected to the screw.
In certain embodiments of the first aspect of the present application, the second movement mechanism comprises a sliding table and a connecting frame, the connecting frame is movably connected to the sliding table, a support leg is arranged on one side, close to the sliding table, of the connecting frame, and a pulley is arranged at the tail end of the support leg.
In certain embodiments of the first aspect of the present application, the output end of the driver is connected with a universal joint, and the universal joint is connected with the nut sleeve.
According to certain embodiments of the first aspect of the application, the connecting frame is provided with a guide block, the guide block is provided with a bearing opening, rollers are arranged on two sides of the bearing opening, and the nut sleeve is arranged on the bearing opening.
In certain embodiments of the first aspect of the present application, the nut sleeve comprises a barrel and a plurality of telescoping rods, the barrel is provided with a socket inner bore, and the telescoping rods are arranged side by side in the socket inner bore and extend along the axial direction.
In certain embodiments of the first aspect of the present application, a positioning piece is disposed in the sleeve-joint inner hole, the positioning piece is provided with a plurality of positioning holes, and the telescopic rods are inserted in the positioning holes in a one-to-one correspondence manner; and a return spring is sleeved on the telescopic rod.
In certain embodiments of the first aspect of the present application, the power fitting disassembly robot is further provided with a wind force detector, and the wind force detector is connected with the controller; the controller is used for controlling the working state of the electric power fitting dismantling robot according to the wind intensity obtained by the wind power detector.
An embodiment of the second aspect of the present application, a power fitting disassembly method, applying the power fitting disassembly robot as described above; the electric power fitting dismounting method comprises the following steps:
shooting an image of the electric power fitting through a camera mechanism;
performing image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut;
controlling the first movement mechanism to move according to the position of the target nut so as to enable the clamping spanner to clamp the target nut;
and controlling the second movement mechanism to move according to the position of the target bolt, so that the nut sleeve is sleeved on the nut of the target bolt, and the driver drives the nut sleeve to rotate.
The scheme has at least the following beneficial effects: the method comprises the steps that an image of the electric power fitting is shot through a camera mechanism, the camera mechanism sends the image of the electric power fitting to a controller, after the controller receives the image of the electric power fitting, image recognition is carried out according to the image of the electric power fitting by using an image recognition algorithm based on a neural network, a plurality of bolts and a plurality of nuts on the electric power fitting are recognized, one of the bolts is selected as a target bolt, coordinate position information of the target bolt is obtained through calculation, one of the nuts is selected as a target nut, and coordinate position information of the target nut is obtained through calculation. The controller controls the first moving mechanism to move according to the position of the target bolt, so that the first moving mechanism drives the clamping spanner to move to the position corresponding to the target bolt, and controls the clamping spanner to clamp the target nut; the controller controls the second movement mechanism to move according to the position of the target nut, the second movement mechanism drives the nut sleeve and the driver to move, so that the nut sleeve moves to the position corresponding to the target nut, the nut sleeve is sleeved with the nut of the target bolt, the driver drives the nut sleeve to rotate, so that the bolt and the nut are screwed or unscrewed, and further the installation or the disassembly of the bolt is completed; the electric power fitting dismounting robot realizes automation and intellectualization of mounting and dismounting of the electric power fitting, and reduces labor cost; the potential safety hazard caused by the operation of workers in a high-voltage electrified environment is avoided, and the safety is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the technical aspects of the present application, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present application and together with the examples of the present application, and not constitute a limitation of the technical aspects of the present application.
Fig. 1 is a structural view of a power fitting disassembly robot provided in an embodiment of the present application;
fig. 2 is an exploded view of the nut sleeve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. The terms first, second and the like in the description, in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
Embodiments of the present application are further described below with reference to the accompanying drawings.
The embodiment of the application provides an electric power fitting disassembly robot.
Referring to fig. 1, the power fitting disassembly robot includes: a camera mechanism, a nut clamping mechanism 200, a bolt rotation mechanism 300, and a controller.
The camera mechanism is used for shooting images of the electric power fitting; the nut clamping mechanism 200 is used for clamping nuts, the nut clamping mechanism 200 comprises a clamping wrench 220 and a first moving mechanism 210, and the first moving mechanism 210 is connected with the clamping wrench 220; the bolt rotating mechanism 300 is used for rotating a bolt, the bolt rotating mechanism 300 comprises a nut sleeve 330, a driver 320 and a second moving mechanism 310, the driver 320 is connected with the nut sleeve 330, and the second moving mechanism 310 is connected with the driver 320; the controller is connected with the camera mechanism, the nut clamping mechanism 200 and the bolt rotating mechanism 300, and is used for performing image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut, controlling the first moving mechanism 210 to move according to the position of the target nut, enabling the clamping wrench 220 to clamp the target nut, controlling the second moving mechanism 310 to move according to the position of the target bolt, enabling the nut sleeve 330 to sleeve the nut of the target bolt, and enabling the driver 320 to drive the nut sleeve 330 to rotate.
In the embodiment, firstly, an image of the electric power fitting is shot through a camera mechanism, the camera mechanism sends the image of the electric power fitting to a controller, after the controller receives the image of the electric power fitting, image recognition is carried out according to the image of the electric power fitting by utilizing an image recognition algorithm based on a neural network, a plurality of bolts and a plurality of nuts on the electric power fitting are recognized, one of the bolts is selected as a target bolt, coordinate position information of the target bolt is obtained through calculation, one of the nuts is selected as a target nut, and coordinate position information of the target nut is obtained through calculation. The controller controls the first moving mechanism 210 to move according to the position of the target bolt, so that the first moving mechanism 210 drives the clamping spanner 220 to move to the position corresponding to the target bolt, and controls the clamping spanner 220 to clamp the target nut; the controller controls the second movement mechanism 310 to move according to the position of the target nut, the second movement mechanism 310 drives the nut sleeve 330 and the driver 320 to move, so that the nut sleeve 330 moves to the position corresponding to the target nut, the nut sleeve 330 sleeves the nut of the target bolt, and the driver 320 drives the nut sleeve 330 to rotate so as to screw or unscrew the bolt and the nut, and then the installation or the disassembly of the bolt is completed.
The electric power fitting dismounting robot realizes automation and intellectualization of mounting and dismounting of the electric power fitting, and reduces labor cost; the potential safety hazard caused by the operation of workers in a high-voltage electrified environment is avoided, and the safety is improved.
Further, the electric power fitting dismounting robot further comprises a mechanical arm, the mechanical arm is provided with a bearing platform 110, the nut clamping mechanism 200 and the bolt rotating mechanism 300 are arranged on the bearing platform 110, and the bearing platform 110 is provided with a notch 111 for the electric power fitting to pass through.
Specifically, the mechanical arm is a six-axis mechanical arm; of course, in other embodiments, other types of multi-axis robots may be used for the robot arm to increase flexibility.
The load-bearing platform 110 can carry the nut clamping mechanism 200 and the bolt rotating mechanism 300 such that the nut clamping mechanism 200 and the bolt rotating mechanism 300 are stably connected with the robot arm. By providing the notch 111 in the load-bearing platform 110, the power fitting can pass through the notch 111 to enter the operating ranges of the nut clamping mechanism 200 and the bolt rotating mechanism 300, so that the nut clamping mechanism 200 and the bolt rotating mechanism 300 can be operated.
In addition, the electric power fitting dismantling robot is also provided with a wind power detector which is connected with the controller; the controller is used for controlling the working state of the electric power fitting dismounting robot according to the wind intensity obtained by the wind power detector.
Specifically, before the electric power fitting dismantling robot starts dismantling the electric power fitting, detecting the current wind power strength through the wind power detector, and if the current wind power strength exceeds a preset wind power strength threshold value, controlling the electric power fitting dismantling robot not to dismantle the electric power fitting; and if the current wind intensity is lower than the preset wind intensity threshold value, controlling the electric power fitting disassembly robot to begin to disassemble the electric power fitting. In this embodiment, the preset wind intensity threshold is six levels of wind intensity; of course, in other embodiments, the wind intensity threshold may be other wind intensity values, such as five levels, etc. This is because the power fitting is at a high place, the power fitting dismounting robot needs to be lifted to the high place through the lifting table to operate the power fitting, and the high place has strong wind power, so that the operation precision of the power fitting dismounting robot can be greatly influenced.
In addition, when the electric power fitting dismantling robot is in the operation process of dismantling the electric power fitting, the wind power detector detects that the current wind power strength exceeds a preset wind power strength threshold value, and then the electric power fitting dismantling robot is controlled to stop dismantling operation; and controlling the electric power fitting dismounting robot to continue dismounting operation until the current wind power strength is lower than a preset wind power strength threshold value.
Further, the nut clamping mechanism 200 is provided with a camera of a camera mechanism, which is focused on tracking the position of the target nut, so that the first moving mechanism 210 can accurately move the clamping wrench 220 to the position corresponding to the target nut, and so that the clamping wrench 220 can accurately clamp the target nut.
The first movement mechanism 210 includes a screw, and the clamping wrench 220 is movably connected to the screw. The screw is provided with a motor, and the motor drives the screw to rotate, so that the clamping wrench 220 moves back and forth through the screw. The screw is a structure that converts a rotary motion into a linear motion.
The clamping wrench 220 is provided with a motor and a clamp, and the clamp is opened or closed by the motor to clamp the nut or unclamp the nut.
Further, another camera of the camera mechanism is provided on the bolt rotating mechanism 300, and the camera is focused on tracking the position of the target bolt so that the nut sleeve 330 can accurately cover the nut of the bolt.
The second movement mechanism 310 comprises a sliding table 311 and a connecting frame 312, the connecting frame 312 is movably connected to the sliding table 311, a supporting foot 315 is arranged on one side, close to the sliding table 311, of the connecting frame 312, and a pulley 316 is arranged at the tail end of the supporting foot 315.
The connecting frame 312 and the driver 320 and the nut sleeve 330 on the connecting frame 312 are driven to move through the sliding table 311, the nut sleeve 330 is moved to the position corresponding to the target bolt through the sliding table 311, and the nut sleeve 330 is sleeved with the nut of the bolt.
A support leg 315 is arranged on one side of the connecting frame 312 close to the sliding table 311, and a pulley 316 is arranged at the tail end of the support leg 315, so that the connecting frame 312 can move more smoothly.
Further, an output shaft of the driver 320 is connected to a universal joint 340, and the universal joint 340 is connected to the nut sleeve 330. The universal joint 340 enables the nut sleeve 330 to move more flexibly, so that the nut sleeve 330 can be aligned with the nut of the bolt more accurately, and the nut sleeve 330 can be sleeved with the nut of the bolt more accurately. When the bolt axis is not coaxial with the output shaft of the driver 320, the driver 320 drives the nut sleeve 330 to rotate, which generates a large bending torque, and the bending torque problem caused by the different axes can be solved by the universal joint 340.
The connecting frame 312 is provided with a guide block 313, the guide block 313 is provided with a V-shaped bearing opening, two sides of the bearing opening are provided with rollers 314, and the nut sleeve 330 is arranged on the bearing opening. Since the universal joint 340 is connected between the output shaft of the driver 320 and the nut sleeve 330, this may make the nut sleeve 330 easily unstable; the bearing opening and the roller wheel of the V shape are used for bearing the nut sleeve 330, so that the nut sleeve 330 is ensured to generate axial force to be unstable when being inserted. After inserting the nut sleeve 330, the guide block 313 may be moved away from the nut sleeve 330 by the lifting structure without supporting the nut sleeve 330.
Referring to fig. 2, specifically, the nut sleeve 330 includes a cylinder 331 and a plurality of telescopic rods 335, the cylinder 331 being provided with a socket inner hole 332, the plurality of telescopic rods 335 being disposed side by side in the socket inner hole 332 and extending in an axial direction. The sleeve joint inner hole 332 is internally provided with a positioning sheet 333, the positioning sheet 333 is provided with a plurality of positioning holes 334, and the telescopic rods 335 are inserted into the positioning holes 334 in a one-to-one correspondence manner; a return spring 336 is sleeved on the telescopic rod 335.
The bore diameter of the socket bore 332 is hexagonal for the removal of the hexagonal nut bolts.
When in use, the nut sleeve 330 is moved to the corresponding position of the bolt through the second movement mechanism 310 according to the position information of the bolt, the sleeve joint inner hole 332 is sleeved on the nut of the bolt, and the nut sleeve 330 is abutted towards the direction of the bolt. If the nut is smaller than the hole diameter of the socket inner hole 332, the nut presses the plurality of telescopic rods 335 abutted with the nut, the pressed telescopic rods 335 shrink towards the inner direction of the socket inner hole 332 along the axial direction, and the rest of the plurality of telescopic rods 335 which are not pressed are enclosed on the outer side of the nut, so that a groove similar to a regular hexagon is formed in the plurality of telescopic rods 335 which are arranged side by side in a pressing mode, and the groove can also play a role of sleeving the nut of the bolt. Torque can be transmitted to the screw cap through the groove, so that the screw bolt can be disassembled and assembled.
The positioning holes 334 of the positioning sheets 333 act to prevent the telescopic rod 335 from being deviated in the telescopic process, thereby ensuring the accuracy of the nut sleeve 330.
The telescopic rod 335 can be reset to the original position before retraction after extrusion retraction by the reset spring 336, so that the subsequent continuous use is facilitated.
It will be appreciated that by minimizing the cross-sectional size of the telescoping rod 335 to provide enough telescoping rods 335 in the socket bore 332, the extrusion groove can be assured to fit with nuts of different sizes and types. Through this nut sleeve 330 can adapt to the nut of equidimension, type, the phenomenon of skidding appears in the time of avoiding the dismouting nut.
The embodiment of the application provides an electric power fitting dismounting method and an electric power fitting dismounting robot.
The electric power fitting disassembling method comprises the following steps:
detecting the current wind intensity through a wind detector;
if the current wind intensity is smaller than a preset wind intensity threshold value, controlling the lifting platform to lift the electric power fitting dismounting robot to the height of the electric power fitting;
shooting an image of the electric power fitting through a camera mechanism of the electric power fitting dismounting robot;
performing image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut;
controlling the first movement mechanism 210 to move according to the position of the target nut, so that the clamping wrench 220 clamps the target nut;
the second moving mechanism 310 is controlled to move according to the position of the target bolt, so that the nut sleeve 330 is sleeved on the nut of the target bolt, and the driver 320 drives the nut sleeve 330 to rotate.
The electric power fitting dismounting method of the electric power fitting dismounting robot is used for realizing automation and intellectualization of mounting and dismounting of the electric power fitting, and reducing labor cost; the potential safety hazard caused by the operation of workers in a high-voltage electrified environment is avoided, and the safety is improved.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present application have been described in detail, the present application is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (10)
1. An electric power fitting disassembly robot, comprising:
the camera mechanism is used for shooting images of the electric power fitting;
the nut clamping mechanism is used for clamping a nut and comprises a clamping spanner and a first moving mechanism, and the first moving mechanism is connected with the clamping spanner;
the bolt rotating mechanism is used for rotating the bolt and comprises a nut sleeve, a driver and a second moving mechanism, wherein the driver is connected with the nut sleeve, and the second moving mechanism is connected with the driver;
the controller is connected with the camera mechanism, the nut clamping mechanism and the bolt rotating mechanism, and is used for carrying out image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut, controlling the first moving mechanism to move according to the position of the target nut so as to enable the clamping wrench to clamp the target nut, controlling the second moving mechanism to move according to the position of the target bolt so as to enable the nut sleeve to sleeve the nut of the target bolt, and enabling the driver to drive the nut sleeve to rotate.
2. The power fitting disassembly robot of claim 1, further comprising a mechanical arm, wherein the mechanical arm is provided with a bearing platform, wherein the nut clamping mechanism and the bolt rotating mechanism are arranged on the bearing platform, and wherein the bearing platform is provided with a notch for the power fitting to pass through.
3. The power fitting removal robot of claim 1, wherein the first movement mechanism comprises a screw, and the clamping wrench is movably connected to the screw.
4. The power fitting disassembly robot of claim 1, wherein the second movement mechanism comprises a sliding table and a connecting frame, the connecting frame is movably connected with the sliding table, a supporting leg is arranged on one side, close to the sliding table, of the connecting frame, and a pulley is arranged at the tail end of the supporting leg.
5. The power fitting removal robot of claim 4, wherein the output end of the driver is connected with a universal joint, the universal joint being connected with the nut sleeve.
6. The power fitting disassembly robot of claim 5, wherein the connecting frame is provided with a guide block, the guide block is provided with a bearing port, rollers are arranged on two sides of the bearing port, and the nut sleeve is arranged on the bearing port.
7. The power fitting disassembly robot of claim 1, wherein said nut sleeve comprises a barrel and a plurality of telescoping rods, said barrel having a socket bore, said plurality of telescoping rods being disposed side-by-side in said socket bore and extending axially.
8. The power fitting disassembly robot according to claim 7, wherein positioning sheets are arranged in the sleeve joint inner holes, the positioning sheets are provided with a plurality of positioning holes, and the telescopic rods are inserted in the positioning holes in a one-to-one correspondence manner; and a return spring is sleeved on the telescopic rod.
9. The power fitting removal robot of claim 1, further comprising a wind detector, wherein the wind detector is connected to the controller; the controller is used for controlling the working state of the electric power fitting dismantling robot according to the wind intensity obtained by the wind power detector.
10. A power fitting dismounting method characterized by applying the power fitting dismounting robot according to any one of claims 1 to 9; the electric power fitting dismounting method comprises the following steps:
shooting an image of the electric power fitting through a camera mechanism;
performing image recognition according to the image of the electric power fitting to obtain the position of the target bolt and the position of the target nut;
controlling the first movement mechanism to move according to the position of the target nut so as to enable the clamping spanner to clamp the target nut;
and controlling the second movement mechanism to move according to the position of the target bolt, so that the nut sleeve is sleeved on the nut of the target bolt, and the driver drives the nut sleeve to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310311630.XA CN116460568A (en) | 2023-03-27 | 2023-03-27 | Electric power fitting dismounting robot and dismounting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310311630.XA CN116460568A (en) | 2023-03-27 | 2023-03-27 | Electric power fitting dismounting robot and dismounting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116460568A true CN116460568A (en) | 2023-07-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310311630.XA Pending CN116460568A (en) | 2023-03-27 | 2023-03-27 | Electric power fitting dismounting robot and dismounting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116460568A (en) |
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2023
- 2023-03-27 CN CN202310311630.XA patent/CN116460568A/en active Pending
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