CN116460573B - Bolt fastening method based on electromagnetic clutch self-adaptive bolt tightening device - Google Patents
Bolt fastening method based on electromagnetic clutch self-adaptive bolt tightening device Download PDFInfo
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- CN116460573B CN116460573B CN202310288490.9A CN202310288490A CN116460573B CN 116460573 B CN116460573 B CN 116460573B CN 202310288490 A CN202310288490 A CN 202310288490A CN 116460573 B CN116460573 B CN 116460573B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000009471 action Effects 0.000 claims abstract description 21
- 210000000078 claw Anatomy 0.000 claims description 25
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 abstract description 13
- 239000010959 steel Substances 0.000 abstract description 13
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 9
- 239000000306 component Substances 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000009527 percussion Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000008358 core component Substances 0.000 description 2
- 230000003578 releasing effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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)
- Gripping On Spindles (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The invention belongs to the technical field of electric angle steel tower bolt fastening operation, and particularly relates to a bolt fastening method based on an electromagnetic clutch self-adaptive bolt fastening device. The electromagnetic clutch self-adaptive bolt tightening device comprises a self-centering chuck arranged on a frame and a striking power source for driving the self-centering chuck to generate self-rotation action; when the bolt is fastened, the self-centering chuck is utilized to stretch and sleeve the nut end of the bolt to be screwed down, and meanwhile, the electromagnetic clutch is utilized to be matched with the clamping power source and the striking power source, so that the screwing down operation is ensured to be completed. The invention not only can be used for installing bolts of different specifications in a multi-purpose way without on-line sleeve replacement, but also has the advantage of stable and flexible work.
Description
Technical Field
The invention belongs to the technical field of electric angle steel tower bolt fastening operation, and particularly relates to a bolt fastening method based on an electromagnetic clutch self-adaptive bolt fastening device.
Background
The electric angle steel tower is a truss structure formed by welding angle steel through bolts, and is mainly formed by constructing four main angle steel main materials and auxiliary materials for inclined-pull support; the angle steel main material is arranged at a certain inclination angle with the foundation, the angle steel main material is externally coated with angle steel and fixedly connected with bolts, the angle steel main material is directly connected with the angle steel main material by bolts or externally connected with a gusset plate, and a large number of horizontally-extending foot nails are arranged along the height direction of the angle steel tower so as to be used for manual inspection. With the popularization of mechanization, more and more robots for angle steel towers are coming together at present, such as a tower robot and the like, and the working direction comprises but is not limited to realizing daily inspection, line lap joint, even bolt fastening, even re-tightening and the like. For example, a corresponding tower robot dedicated for bolt tightening is described in a patent entitled "a sleeve-assisted replacement cartridge and an inspection robot using the same" with a patent publication number of CN113458744 a; at present, this type of shaft tower robot still inherits the point-to-point installation thinking of "single specification sleeve matching single specification bolt", and because the bolt is numerous and the specification is different on the motor angle steel tower, when the bolt specification produces the change, just need realize sleeve change through supplementary change casket, obviously there is the loaded down with trivial details problem in the operation, also corresponding increase overall structure's complexity and cost. In addition, the traditional fixed sleeve has very high positioning requirements because of the matching of the emphasized caliber, so that not only is the bolt to be operated difficult to accurately sleeve by manpower each time, but also the robot is required to be provided with high-precision visual positioning equipment, and the influence on the machine cost is high, which is a technical problem to be solved in recent years.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a bolt fastening method based on an electromagnetic clutch self-adaptive bolt fastening device, which not only can be used for multiple-purpose bolt installation operation adapting to different specifications without on-line sleeve replacement, but also has the advantage of stable and flexible work.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a bolt fastening method based on an electromagnetic clutch self-adaptive bolt tightening device is characterized by comprising the following steps of: the electromagnetic clutch self-adaptive bolt tightening device comprises a self-centering chuck arranged on a frame and a striking power source for driving the self-centering chuck to generate self-rotation action; wherein:
the self-centering chuck comprises a driven gear, a mounting seat and a sliding seat which are sequentially and coaxially arranged along the axial direction, and a radial sliding groove is arranged at the sliding seat so as to place a sliding claw; the driven gear is provided with a spiral arc-shaped guide groove, a middle guide hole with a hole pattern length direction extending along the radial direction of the mounting seat is arranged at the mounting seat, a sliding pin is axially arranged at the sliding claw in a protruding mode, and the sliding pin penetrates through the middle guide hole and then forms plug-in sliding fit with the arc-shaped guide groove through a hole shaft; the rotation direction of the driven gear when the sliding claw generates clamping action and the rotation direction of the self-centering chuck when the self-centering chuck performs screwing action are opposite to each other; an output shaft of the clamping power source is connected with a driving gear through an electromagnetic clutch, and the driving gear and a driven gear form meshing fit;
the method also comprises the following steps:
s1, opening the self-centering chuck, and sleeving a sleeve formed by encircling more than three sliding claws into a nut end of a bolt to be screwed;
s2, energizing the electromagnetic clutch and entering a closed state, and enabling the clamping power source to rotate positively to drive the driving gear to rotate, wherein the driving gear drives the driven gear to rotate; meanwhile, the striking power source generates reverse braking torque to limit the self-centering chuck to automatically rotate when in opening action until the self-centering chuck completely clamps the bolt to be screwed; then, the electromagnetic clutch is powered off, and the clamping power source stops acting;
s3, the striking power source is electrified to rotate positively, and the electromagnetic clutch enters a low-voltage working mode, namely, is in a small friction adsorption state, so that the sliding claw is limited to generate loosening action; the striking power source continuously rotates, and the bolt to be screwed is screwed on the operation surface;
s4, after the bolt tightening process is completed, the electromagnetic clutch is electrified again and enters a closed state, the clamping power source starts to rotate reversely, and at the moment, the striking power source synchronously carries out low-voltage forward braking, so that the self-centering chuck is prevented from rotating while the self-centering chuck is ensured to be gradually opened;
s5, the electromagnetic clutch is powered off, the striking power source is powered off, the self-centering chuck in the open state is separated from the screwed bolt, and the screwing operation is completed.
Preferably, the striking power source is a striking motor, and the striking power source and the self-centering chuck are coaxially arranged; the striking shaft of the striking power source penetrates through the driven gear and then forms fixed fit with the mounting seat in a rotation-stopping mode.
Preferably, the square hole is coaxially arranged at the mounting seat in a penetrating way, the striking shaft is of a square shaft structure, and the striking shaft is fastened at the square hole by virtue of an axial screw after penetrating into the square hole.
Preferably, each sliding claw is uniformly distributed around Zhou Xiangyi sequences of the self-centering chuck; the top end of each sliding claw is concavely provided with an angle groove-shaped matching opening, and the matching openings of the sliding claws are matched with each other so as to clamp the nut end of the bolt to be screwed.
Preferably, the clamping power source is a clamping motor; the clamping power source is coaxially fixed on the electromagnetic clutch through the coupler.
Preferably, the electromagnetic clutch self-adaptive bolt tightening device further comprises a guide assembly, wherein the guide assembly comprises a lifting frame fixed at the lifting arm, a guide motor is arranged on the lifting frame, and the lifting frame is fixed on a sliding rail at the rack through a sliding block; the rack is also arranged at the rack, the length direction of the rack is parallel to the axis of the self-centering chuck, and the output shaft of the guiding motor is meshed with the rack through a first synchronous gear.
Preferably, the electromagnetic clutch self-adaptive bolt tightening device further comprises an encoder fixed on the lifting frame, and an input shaft of the encoder is meshed with the rack through a second synchronous gear; the first and second synchronizing gears are positioned to avoid each other.
Preferably, the electromagnetic clutch self-adaptive bolt tightening device further comprises a binocular camera for irradiating the bolt to be tightened, and the irradiation direction of the binocular camera is parallel to the axial direction of the self-centering chuck.
The invention has the beneficial effects that:
1) The traditional operation mode of single matching type sleeve needing high altitude replacement is abandoned; according to the invention, through adopting a cooperative action mode of matching the self-centering chuck with the striking power source, the sleeve opening, namely the self-centering chuck, can be opened to a maximum state before the operation of the invention, so that the bolt to be screwed in is conveniently sleeved in, and the requirements on vision and mechanism positioning precision are reduced. In addition, the invention can be used for screwing bolts with different specifications, the sleeve can be clamped in a self-adaptive manner according to the specifications of the bolts, the sleeve does not need to be replaced, the complicated operation of replacing the sleeve by a robot in the high-altitude operation environment of the tower can be omitted, and the use is very flexible and stable.
2) Further, the self-centering chuck adopts a three-layer axial combined structure of a driven gear, a mounting seat and a sliding seat; when the device works, the driven gear can rotate by the action of the clamping power source, so that the sliding claw is driven to generate radial cohesion and opening actions, and the device is flexible and reliable to use. Meanwhile, the rotation direction of the driven gear is required to be opposite to the rotation direction of the self-centering chuck when the sliding claw generates clamping action, namely, when the self-centering chuck is driven by the striking power source to do the tightening action, the sliding claw is clamped more and more tightly due to the reverse design, so that the working stability and reliability of the device are greatly improved, and the effect is remarkable.
3) An electromagnetic clutch is one of the core components of the present invention. The electromagnetic clutch has three working modes, one is electrified and fully absorbed, and is used for clamping a motor to realize an active driving function so as to realize the clamping and releasing actions of the self-centering chuck; one is to turn off the power to ensure independent working function of the striking motor without interference; yet another is a low friction attraction to provide some working resistance when the striking motor is in operation, ensuring proper clamping operation of the self-centering chuck. Meanwhile, for the striking motor, five working states are available, namely, positive rotation, reverse rotation, stop and certain torque generated by positive low voltage and certain torque generated by negative low voltage, so that the corresponding working purpose is realized, and the striking motor is very flexible to use.
4) Furthermore, the invention is additionally provided with a guide component, and aims to realize the axial action function of the invention relative to each bolt to be screwed down under the constant height; particularly for automatic robots like tower robots, the actions of other additional components are reduced as much as possible during working, which has a beneficial effect on improving the working stability, the working accuracy and even the coordination and power loss of the whole machine. So far, the invention can completely meet the bolt tightening operation requirement only by the action of a single tightening operation area, and has the advantages of simple structure and perfect functions.
5) When the invention is designed, the installation or action directions of the striking power source, the clamping power source and even the guide assembly are all designed axially, and the binocular camera with axial irradiation is matched at the moment, so that the arrangement compactness of each component is further ensured, the interference-free working effect of the binocular camera is ensured, and the visual positioning structure is simplified, thereby achieving multiple purposes.
Drawings
FIG. 1 is a schematic view of an electromagnetic clutch adaptive bolt tightening device according to the present invention in an operating state;
FIG. 2 is an assembly schematic of the electromagnetic clutch adaptive bolt tightening device of the present invention;
FIGS. 3 and 4 are flowcharts of the motion state of the frame as it moves along the guide assembly;
FIG. 5 is a cross-sectional view of FIG. 4;
FIG. 6 is a perspective view of the mating state of the striking power source and the clamping power source;
FIG. 7 is a cross-sectional view of FIG. 6;
FIGS. 8 and 9 are flowcharts of the operational state of the self-centering chuck;
fig. 10 is an exploded view of the structure of the self-centering chuck.
The actual correspondence between each label and the component name of the invention is as follows:
a-a bolt to be screwed;
10-a frame;
20-self-centering chuck; 21-a driven gear; 21 a-an arc-shaped guide slot; 22-mounting seats; 22 a-an intermediate pilot hole; 23-a slide; 24-radial sliding grooves; 25-sliding jaws; 25 a-slide pin;
31-clamping a power source; a 32 electromagnetic clutch; 33-a drive gear;
41-a striking power source; 42-bearing;
50-lifting arms;
61-lifting frames; 62-guiding the motor; 63-a slider; 64-slide rails; 65-rack; 66-an encoder;
70-binocular camera.
Detailed Description
For ease of understanding, the specific structure and operation of the present invention will be further described herein below with reference to fig. 1-10 by way of example of a power tower bolt tightening operation of a tower robot:
in the power tower bolt tightening operation, the invention can be used as an operation assembly to be installed at the tail end of an operation mechanical arm, namely a lifting arm 50 of a tower robot, as shown in fig. 1-2, so as to realize remote automatic operation requirements.
Further, as shown in fig. 1-4, the main structure of the present invention comprises three major parts of a guiding assembly, an adaptive bolting assembly and a binocular camera 70, wherein:
1. guide assembly
The guiding component is used for driving the self-adaptive bolt screwing component to lift, and the self-adaptive bolt screwing component downwards moves to cover the bolt a to be screwed when in operation, and upwards moves to be separated from the bolt a to be screwed after the operation.
As shown in fig. 1-5, the guide assembly includes a rack 65 disposed on the frame 10 and includes a guide motor 62 with a first synchronizing gear, an encoder 66 with a second synchronizing gear, and corresponding slide rails 64 and slides 63, etc. The slides 63 are two sets and are fixed to the lift 61 so as to rail-fit the lift 61 at the slide rails 64 of the frame 10. The first and second synchronizing gears are mounted on the output shaft of the guide motor 62 and on the input shaft of the encoder 66, and both the first and second synchronizing gears are engaged with the rack 65 so as to drive the entire adaptive bolt tightening assembly up and down as shown in fig. 3-5. The encoder 66 is used to synchronously detect the elevation position of the adaptive bolt tightening assembly.
2. Self-adaptive bolt screwing assembly and binocular camera
The self-adaptive bolt screwing assembly is used for screwing corresponding bolts; the binocular camera 70 is fixed to the frame 10 for positioning the bolt a to be screwed.
As shown in fig. 4, the adaptive bolt tightening assembly is composed of a frame 10, and a striking system, a clamping system, etc. which are positioned on the frame 10. Wherein, a striking motor as a striking power source 41 is coaxially arranged on the frame 10 through a bearing 42, and a striking shaft of the striking motor is matched with the bearing 42 and then extends into and is positioned at the self-centering chuck 20; a self-centering chuck 20 is mounted at the bottom end of the striking shaft. The clamping motor constituting the clamping power source 31 is mounted on the frame 10 in parallel with the striking motor in axis with each other, and the electromagnetic clutch 32 is coupled to the output shaft of the clamping motor through a coupling. A driving gear 33 is mounted on the electromagnetic clutch 32, and the driving gear 33 and the driven gear 21 on the self-centering chuck 20 are engaged with each other as shown in fig. 6 to 7.
As shown in fig. 8 to 10, the self-centering chuck 20 includes a driven gear 21, a mount 22, a slide 23, and a slide jaw 25 with a slide pin 25a, which are sequentially arranged in the axial direction. When assembled, the driven gear 21 is coaxially matched with the mounting seat 22 and can mutually rotate; the slide 23 is mounted on the mounting seat 22, and three sliding claws 25 are circumferentially and uniformly distributed in a radial chute 24 preset at the slide 23. Each sliding claw 25 is provided with a sliding pin 25a, and each sliding pin 25a passes through the middle guide hole 22a of the mounting seat 22 to form sliding fit with the corresponding arc-shaped guide groove 21a on the driven gear 21. When the driven gear 21 rotates relative to the mounting seat 22, three sliding pawls 25 can be driven to open and close synchronously.
The electromagnetic clutch 32 is one of the core components of the present invention. The electromagnetic clutch 32 has three working modes, one is electrified and fully absorbed, and is used for clamping a motor to realize an active driving function so as to realize the clamping and releasing actions of the self-centering chuck 20; one is to turn off the power to ensure independent working function of the striking motor without interference; yet another is a low friction attraction to provide some working resistance when the striking motor is in operation, ensuring proper clamping operation of the self-centering chuck 20, which can be accomplished by on-site adjustment. Meanwhile, for the striking motor, there are also various working states, namely, positive rotation, reverse rotation, stop, positive low voltage generates certain torque and negative low voltage generates certain torque, so as to realize the following working purposes:
the first using method is as follows: the sleeve formed by the three sliding jaws 25 is sleeved with the bolt a to be screwed down, and the sleeve is rotated to screw down the bolt a to be screwed down, from the centering chuck 20 to the maximum opening shown in fig. 8. Reference is made to figure 1. More specifically, the method comprises the following steps:
the guide assembly drives the adaptive bolt tightening assembly downward as viewed in fig. 3, telescoping into the bolt a to be tightened, and then energizing the electromagnetic clutch 32 and bringing it into a closed state. Then, referring to fig. 6-7, the clamping power source 31 rotates forward to drive the driving gear 33 to rotate, and the driving gear 33 drives the driven gear 21 to rotate; at this time, since the self-centering chuck 20 rotates together due to the mutual friction between the internal structural members thereof, the driven gear 21 does not rotate relative to the mounting seat 22 when rotating together, and the slide pawls 25 cannot be closed; therefore, when the slide claw 25 is opened, the striking power source 41 is required to generate a reverse braking torque; when the striking power source 41 generates a certain torque due to the counter low voltage, the torque can prevent the self-centering chuck 20 from rotating under the drive of the striking power source 41 when the self-centering chuck 20 is opened. When the striking motor is in the above-described low-voltage reverse braking state, the self-centering chuck 20 gradually and completely clamps the bolt to be screwed down while the electromagnetic clutch 32 is deenergized, and the clamping power source 31 is stopped. Then, the striking power source 41 is electrified to rotate forward, and simultaneously, a lower voltage is electrified to the electromagnetic clutch 32, so that the electromagnetic clutch 32 generates certain friction force and is not completely closed, namely, is in a small friction force adsorption state, and the electromagnetic clutch can be completely realized through on-site adjustment; otherwise, during the striking and tightening, the sliding jaws 25 are loosened due to the relative rotation of the internal structural members of the self-centering chuck 20 due to the large vibrations generated.
Of course, in order to avoid the above-mentioned functions, the present invention also requires a certain requirement for the installation mode of the device, and when the three sliding claws 25 are closed, the rotation direction of the driven gear 21 is opposite to the forward rotation direction of the striking power source 41, that is, the rotation direction of the driven gear 21 when the sliding claws 25 generate the clamping action and the rotation direction when the self-centering chuck 20 performs the screwing action are opposite to each other; thus, during tightening, a certain frictional resistance is given to the driven gear 21, which causes a relative rotational tendency in the opposite direction to the striking power source 41, so that the self-centering chuck 20 is tightened more and more during tightening.
When the above-mentioned process is completed, the bolt a to be screwed is thoroughly screwed on the corresponding operation surface as shown in fig. 1, then the electromagnetic clutch 32 is electrified and enters the closed state, the clamping power source 31 is reversed, the striking power source 41 is braked forward at low voltage, the self-centering chuck 20 is opened, the electromagnetic clutch 32 and the corresponding motor are all powered off, the guiding assembly drives the self-adaptive bolt screwing assembly to move upwards as shown in fig. 4-5, the screwed bolt is separated, and the screwing operation is completed.
Of course, the electromagnetic clutch adaptive bolt tightening device of the present invention is also provided with another operation method based on the core operation method, namely:
the second application method is as follows: according to the invention, three sliding claws 25 are all opened to the maximum opening, a bolt a to be screwed is sleeved, the percussion motor rotates positively, and the bolt a to be screwed is clamped while rotating. More specifically, the method comprises the following steps:
the guiding assembly drives the self-adaptive bolt screwing assembly to move downwards, the self-adaptive bolt screwing assembly is sleeved into the bolt a to be screwed, then the striking power source 41 is electrified to rotate positively, and meanwhile, a lower voltage is electrified to the electromagnetic clutch 32, so that the electromagnetic clutch 32 generates certain friction force and is not completely closed. Then, the self-centering chuck 20 gradually clamps the bolt a to be screwed while the percussion motor rotates forward until the self-centering chuck 20 clamps the self-centering chuck 20 in place while the self-adaptive bolt screwing assembly moves down in place, and the percussion motor continues to rotate forward until the screwing is completed.
After the tightening operation is finished, the electromagnetic clutch 32 is electrified and enters a closed state, the clamping power source 31 is reversed, the striking power source 41 is braked forward at low voltage, the self-centering chuck 20 is opened, the electromagnetic clutch 32 and the corresponding motor are all powered off, the guiding assembly drives the self-adaptive bolt tightening assembly to move upwards, the self-adaptive bolt tightening assembly is separated from the tightened bolt, and the tightening operation is finished.
It will be understood by those skilled in the art that the present invention is not limited to the details of the foregoing exemplary embodiments, but includes other specific forms of the same or similar structures that may be embodied without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (8)
1. A bolt fastening method based on an electromagnetic clutch self-adaptive bolt tightening device is characterized by comprising the following steps of: the electromagnetic clutch self-adaptive bolt tightening device comprises a self-centering chuck (20) arranged on a frame (10) and a striking power source (41) for driving the self-centering chuck (20) to generate self-rotation action; wherein:
the self-centering chuck (20) comprises a driven gear (21), a mounting seat (22) and a sliding seat (23) which are coaxially arranged in sequence along the axial direction, wherein a radial sliding groove (24) is arranged at the sliding seat (23) so as to accommodate a sliding claw (25); a spiral arc-shaped guide groove (21 a) is formed in the driven gear (21), a middle guide hole (22 a) extending along the radial direction of the mounting seat (22) in the hole type length direction is formed in the mounting seat (22), a sliding pin (25 a) is axially and convexly arranged at the sliding claw (25), and the sliding pin (25 a) penetrates through the middle guide hole (22 a) and then forms hole shaft plug-in sliding fit with the arc-shaped guide groove (21 a); the rotation direction of the driven gear (21) when the sliding claw (25) generates clamping action and the rotation direction of the self-centering chuck (20) when the self-centering chuck performs screwing action are opposite to each other; an output shaft of the clamping power source (31) is connected with a driving gear (33) through an electromagnetic clutch (32), and the driving gear (33) is meshed with the driven gear (21);
the method also comprises the following steps:
s1, the self-centering chuck (20) is opened, and a sleeve formed by surrounding more than three sliding claws (25) is sleeved at the nut end of a bolt to be screwed;
s2, the electromagnetic clutch (32) is electrified and enters a closed state, the clamping power source (31) rotates positively to drive the driving gear (33) to rotate, and the driving gear (33) drives the driven gear (21) to rotate; meanwhile, the striking power source (41) generates reverse braking torque to limit autorotation generated during the clamping action of the self-centering chuck (20) until the self-centering chuck (20) completely clamps the bolt to be screwed; then, the electromagnetic clutch (32) is powered off, and the clamping power source (31) stops acting;
s3, electrifying the striking power source (41) to rotate positively, and simultaneously enabling the electromagnetic clutch (32) to enter a low-voltage working mode, namely, in a small friction adsorption state, so as to limit the sliding claw (25) to generate loosening action; the striking power source (41) continuously rotates, and the bolt to be screwed is screwed on the operation surface;
s4, after the screw tightening process is finished, the electromagnetic clutch (32) is electrified again and enters a closed state, the clamping power source (31) starts to rotate reversely, and at the moment, the striking power source (41) synchronously performs low-voltage forward braking, so that the self-centering chuck (20) is ensured to be gradually opened and the self-centering chuck (20) is limited to rotate;
s5, the electromagnetic clutch (32) is powered off, the striking power source (41) is powered off, the self-centering chuck (20) in the open state is separated from the screwed bolt, and the screwing operation is completed.
2. The bolt fastening method based on the electromagnetic clutch self-adaptive bolt tightening device according to claim 1, characterized in that: the striking power source (41) is a striking motor, and the striking power source (41) and the self-centering chuck (20) are coaxially arranged; the striking shaft of the striking power source (41) penetrates through the driven gear (21) and then forms fixed fit with the mounting seat (22).
3. The bolt fastening method based on the electromagnetic clutch self-adaptive bolt tightening device according to claim 2, characterized in that: the square hole is coaxially and penetratingly arranged at the mounting seat (22), the striking shaft is of a square shaft structure, and the striking shaft is fastened at the square hole by means of an axial screw after penetrating into the square hole.
4. A bolt tightening method based on an electromagnetic clutch adaptive bolt tightening device according to claim 1 or 2 or 3, characterized in that: each sliding claw (25) is uniformly distributed around Zhou Xiangyi sequences of the self-centering chuck (20); the top end of each sliding claw (25) is concavely provided with an angle groove-shaped matching opening, and the matching openings of the sliding claws (25) are matched with each other so as to clamp the nut end of the bolt to be screwed.
5. A bolt tightening method based on an electromagnetic clutch adaptive bolt tightening device according to claim 1 or 2 or 3, characterized in that: the clamping power source (31) is a clamping motor; the clamping power source (31) is coaxially fixed on the electromagnetic clutch (32) through a coupler.
6. A bolt tightening method based on an electromagnetic clutch adaptive bolt tightening device according to claim 1 or 2 or 3, characterized in that: the electromagnetic clutch self-adaptive bolt tightening device further comprises a guide assembly, wherein the guide assembly comprises a lifting frame (61) fixed at the lifting arm (50), a guide motor (62) is arranged on the lifting frame (61), and the lifting frame (61) is fixed on a sliding rail (64) at the rack (10) through a sliding block (63); a rack (65) with the length direction parallel to the axis of the self-centering chuck (20) is further arranged at the frame (10), and an output shaft of the guide motor (62) is meshed with the rack (65) through a first synchronous gear.
7. The bolt fastening method based on the electromagnetic clutch self-adaptive bolt tightening device according to claim 6, wherein: the electromagnetic clutch self-adaptive bolt tightening device further comprises an encoder (66) fixed on the lifting frame (61), and an input shaft of the encoder (66) is meshed with the rack (65) through a second synchronous gear; the first and second synchronizing gears are positioned to avoid each other.
8. A bolt tightening method based on an electromagnetic clutch adaptive bolt tightening device according to claim 1 or 2 or 3, characterized in that: the electromagnetic clutch self-adaptive bolt tightening device further comprises a binocular camera (70) for irradiating the bolt to be tightened, and the irradiation direction of the binocular camera (70) is parallel to the axial direction of the self-centering chuck (20).
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| CN202310288490.9A CN116460573B (en) | 2023-03-21 | 2023-03-21 | Bolt fastening method based on electromagnetic clutch self-adaptive bolt tightening device |
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| CN202310288490.9A CN116460573B (en) | 2023-03-21 | 2023-03-21 | Bolt fastening method based on electromagnetic clutch self-adaptive bolt tightening device |
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| CN116460573B true CN116460573B (en) | 2023-11-07 |
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| FR2475674A1 (en) * | 1980-02-09 | 1981-08-14 | Kloeckner Becorit Gmbh | Remotely controlled pressure vessel cap locking screw - uses rotation control motor connected to fluid lift cylinder to provide turning of piston in cylinder body |
| SU1516291A1 (en) * | 1988-02-12 | 1989-10-23 | Научно-производственное объединение по механизации, роботизации труда и совершенствованию ремонтного обеспечения на предприятиях черной металлургии "Черметмеханизация" | Device for removing press-fitted bolts |
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|---|---|
| CN116460573A (en) | 2023-07-21 |
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