CN117324943B - Accurate fastening system to narrow and small space of air pipe - Google Patents
Accurate fastening system to narrow and small space of air pipe Download PDFInfo
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- CN117324943B CN117324943B CN202311622729.8A CN202311622729A CN117324943B CN 117324943 B CN117324943 B CN 117324943B CN 202311622729 A CN202311622729 A CN 202311622729A CN 117324943 B CN117324943 B CN 117324943B
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- 238000000034 method Methods 0.000 claims abstract description 7
- 238000009423 ventilation Methods 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 abstract description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
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- 238000004378 air conditioning Methods 0.000 description 1
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- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- 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
- B23P19/001—Article feeders for assembling machines
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Abstract
The utility model discloses an accurate fastening system for a narrow space of a ventilating duct, which comprises a travelling mechanism, a bolt positioning mechanism, a nut positioning mechanism, an axial connecting mechanism, a fastening mechanism and a controller, wherein the travelling mechanism is arranged below the bolt positioning mechanism and the nut positioning mechanism, the bolt positioning mechanism and the nut positioning mechanism are arranged on two sides of a flange at the top of an air duct, the travelling direction of the travelling mechanism is parallel to the flange at the top of the air duct, the axial connecting mechanism spans the flange and movably connects the bolt positioning mechanism and the nut positioning mechanism, the axial connecting mechanism controls the position of the nut positioning mechanism and the position of the axial connecting mechanism along the vertical direction and the parallel direction of the flange, the fastening mechanism is arranged at the feeding end of the bolt positioning mechanism, and the controller is in signal connection with the bolt positioning mechanism, the nut positioning mechanism, the travelling mechanism, the fastening mechanism and the axial connecting mechanism. According to the utility model, the device continuously searches for a reasonable installation axis position through a flexible positioning method, so that the bolt passes through the installation hole under the condition of relatively no resistance, the fastening state is closer to an ideal state, and the installation is more reasonable.
Description
Technical Field
The utility model relates to the field of fastening, in particular to an accurate fastening system for a narrow space of a ventilating duct.
Background
The ventilation duct is a metallic or non-metallic duct for ventilation and air conditioning engineering of industrial and civil buildings suspended from the top of the space in the building. The ventilation duct is a structure for circulating air. The structure is formed by splicing a plurality of cylindrical sections, and the connection positions are connected by fastening two flange structures through fasteners.
However, when the space position for installing the fastening piece at the top position is determined, the equipment is inevitably installed to fasten the ventilating duct in the narrow space at the top after lifting, which results in very narrow space for installing the top after lifting, so that conventional constructors are difficult to fasten the bolts with high precision in the space, and meanwhile, due to the self weight of the air duct, the installation holes on the flange structures of the two air ducts to be spliced after lifting are difficult to be practically aligned, so that the difficulty of installing the fastening piece in the high-altitude operation is further increased. More complex operating environments and procedures may lead to higher risks due to their overhead nature.
The present patent of publication number CN211841745U discloses a large-scale tuber pipe flange double-screw bolt fast fastening instrument in narrow and small space, including the iron sheet tuber pipe, one side of iron sheet tuber pipe bottom is provided with the tuber pipe flange, and the inside of tuber pipe flange is provided with the double-screw bolt, one side of double-screw bolt is connected with the nut through the screw thread rotation, and one side of double-screw bolt has cup jointed first conical gear, one side of first conical gear is provided with the conversion axle, and the bottom of conversion axle is provided with second conical gear, the bottom of second conical gear is provided with the installation head, and the bottom of installation head is fixed with electric tool chuck. According to the utility model, the first conical gear is matched with the second conical gear, and under the action of the conversion shaft, the second conical gear drives the first conical gear to rotate, and the screw groove at one side of the second conical gear is matched with the stud, so that the fastening of the stud is completed.
It can be seen that the prior art does not help to solve the problem caused by the coaxiality of the mounting holes between the fastened devices in the narrow space, and based on the operation logic, the prior art only transfers the mounted operation space, and the problem of difficult high-precision fastening operation caused by the narrow actual working space is not solved yet. Which only meets the fastening use requirements.
Therefore, a precise fastening system for a narrow space of a ventilation pipeline is needed to solve the problems.
Disclosure of Invention
The utility model aims to solve the problems that when the spatial position of the air pipe installation determines the installation of a fastener at the top position in the prior art, the installation of equipment inevitably requires fastening a ventilation pipeline in a small space at the top after lifting, so that the space for installing the top after lifting is very small, a conventional constructor is difficult to carry out high-precision fastening operation on a bolt in the space, and meanwhile, due to the self weight of the air pipe, the installation holes on the flange structures of two air pipes to be spliced are difficult to be practically aligned after lifting, so that the installation difficulty of the fastener in the high-altitude operation is further increased. Because of the high-altitude operation attribute, the higher dangerous problem can be caused by more complicated operation environment and flow, the precise fastening system for the narrow space of the ventilating duct is provided, and the problem is solved by adopting a flexible axis calibration mode.
The utility model provides an accurate fastening system for a narrow space of a ventilation pipeline, which comprises a travelling mechanism, a bolt positioning mechanism, a nut positioning mechanism, an axial connecting mechanism, a fastening mechanism and a controller, wherein the travelling mechanism is arranged below the bolt positioning mechanism and the nut positioning mechanism, the bolt positioning mechanism and the nut positioning mechanism are arranged on two sides of a flange at the top of an air pipe, the travelling direction of the travelling mechanism is parallel to the flange at the top of the air pipe, the axial connecting mechanism spans the flange and movably connects the bolt positioning mechanism and the nut positioning mechanism, the axial connecting mechanism controls the position of the nut positioning mechanism and the position of the axial connecting mechanism along the vertical direction and the parallel direction of the flange, the fastening mechanism is arranged at the feeding end of the bolt positioning mechanism, and the controller is in signal connection with the bolt positioning mechanism, the nut positioning mechanism, the travelling mechanism, the fastening mechanism and the axial connecting mechanism.
The bolt positioning mechanism is used for positioning a bolt to be fastened, the bolt positioning mechanism is provided with a flexible adjusting mechanism, the axis of the bolt is adjustable in the fastening process, the nut positioning mechanism is used for positioning a nut to be fastened, the axial connecting mechanism is used for controlling the bolt positioning mechanism and the nut positioning mechanism to be aligned with the fastening holes of the flange, the traveling mechanism is used for enabling the accurate fastening system to travel on the top of the air pipe along the direction of the flange, the fastening mechanism is used for rotationally fastening the bolt, the controller is used for controlling the traveling mechanism to enable the bolt positioning mechanism and the nut positioning mechanism to be aligned with the corresponding flange fastening holes of two air pipes to be connected respectively, the position relation of the flange fastening holes of the two air pipes is obtained according to the relative positions of the axial connecting mechanism and the bolt positioning mechanism and the nut positioning mechanism, the fastening direction axis is fitted according to the position relation of the flange fastening holes of the two air pipes, and after the bolt positioning mechanism and the nut positioning mechanism are controlled to enable the axis of the bolt and the nut to be collinear with the fastening direction axis, the fastening mechanism is controlled to feed the bolt.
The utility model discloses an accurate fastening system for a narrow space of a ventilating duct, which is characterized in that an axial connecting mechanism comprises an axial sliding rail, a first sliding rail block, a second sliding rail block, two tightening springs, a length calibrator and two length receivers, wherein the axial sliding rail is a transversely arranged linear sliding rail, the length calibrator is arranged in the middle of the axial sliding rail, the first sliding rail block and the second sliding rail block are of sliding block structures with sliding rails, the first sliding rail block and the second sliding rail block slide on the axial sliding rail, the sliding rail of the first sliding rail block is arranged on the bottom surface of the first sliding rail block, the sliding rail of the second sliding rail block is arranged on the bottom surface of the second sliding rail block, the sliding rail of the first sliding rail block and the sliding rail of the second sliding rail block are horizontally arranged and perpendicular to the axial sliding rail direction, the tops of a bolt positioning mechanism are movably connected with the sliding rail of the first sliding rail block, the tops of a nut positioning mechanism are movably connected with the sliding rail of the second sliding rail, the two length receivers are respectively arranged on the first sliding rail block and the second sliding rail block, and the two tightening springs are respectively connected with the inner side surfaces of the first sliding rail block and the middle part, the second sliding rail and the middle part.
The utility model relates to a precise fastening system for a narrow space of a ventilating duct, which is characterized in that a bolt positioning mechanism comprises a first outer shell, a first ball seat, a first vertical rotating motor, a first swinging reciprocating motor, a first swinging block, a first connecting rod, a first position sensor, a first swinging seat, a flexible regulator, a rolling actuator, a flexible roller, a feeding pipeline, a first inner shell and a feeding cavity, wherein the first outer shell is a transversely-arranged cylindrical shell with an opening at one end, a spherical groove is arranged in the middle part of the first outer shell, the diameter of the spherical groove is larger than the inner diameter of the first outer shell, the first ball seat is a radius ball-lack seat body, the first ball seat is embedded in the spherical groove of the first outer shell, the spherical groove is arranged in the middle part of the first ball seat, the first swinging seat is a sphere with a vertical spherical convex shaft with an inner cavity, the convex shaft is vertical to the axis of the first inner shell, the convex shaft of the first swinging seat is connected with a first vertical rotating motor, the vertical rotating motor is arranged on a first ball seat, the output end of the first vertical rotating motor rotates on a vertical surface, the first swinging seat is arranged on a groove of a ball gap of the first ball seat, the inner cavity of the first swinging seat is communicated with the outer surface of the first swinging seat through two coaxial through holes, the axes of the two coaxial through holes are vertical to the convex shaft of the first swinging seat, the first inner shell passes through the two through holes and is arranged on the first swinging seat, the rolling actuator is a rotating motor, the rolling actuator is arranged in the inner cavity of the first swinging seat, the output end of the rolling actuator is connected with a flexible roller, the flexible roller is arranged along the periphery of the first inner shell, the first inner shell is provided with a grid parallel to the axis of the first inner shell in the inner cavity of the first swinging seat, the flexible adjuster is of a flexible ox horn ring surface axial skeleton structure, the flexible adjuster is arranged at one end inside the first inner shell, the end of the first inner shell provided with one end of the flexible regulator is provided with an axial through hole, the flexible regulator contacts the flexible roller through a grid, the axis of the flexible roller is perpendicular to the axis of the flexible regulator, the feeding pipeline is of a pipe structure with one end provided with a chamfer, the feeding pipeline is arranged in the through hole of the flexible regulator, the chamfer end of the feeding pipeline penetrates through the end face of the first inner shell to be arranged between the first inner shell and the first outer shell, the diameter of the inner hole of the first outer shell is larger than that of the inner hole of the feeding pipeline and smaller than that of the feeding pipeline, the diameter of the end hole of the first inner shell is larger than that of the outer diameter of the feeding pipeline, the feeding cavity is arranged in the middle of the first inner shell, the diameter of the feeding cavity is smaller than the largest diameter of the flexible regulator, the top opening of the feeding cavity is used for feeding, the first oscillating reciprocating motor is arranged at the inner side wall of the first outer shell, the first oscillating reciprocating motor is horizontally arranged and is perpendicular to the axis of the first outer shell in the reciprocating direction, the first oscillating block is arranged at the output end of the first oscillating reciprocating motor, the first oscillating block and the inner side of the first inner shell is connected through a first connecting rod, the first position sensor is arranged at the periphery of the hole of the first outer shell for the annular structure, the diameter of the working area is larger than or equal to the diameter of the motor of the first position sensor is larger than the largest than the diameter of the flexible regulator, and the first position sensor can be adjusted along the vertical direction along the axis of the axis.
The utility model relates to a precise fastening system for a narrow space of a ventilating duct, and the flexible regulator is of a flowing ring structure in an optimal mode.
The utility model relates to a precise fastening system for a narrow space of a ventilating duct, which is characterized in that a nut positioning mechanism comprises a second shell, a second ball seat, a second vertical rotating motor, a second swinging reciprocating motor, a second swinging block, a second connecting rod, a second position sensor, a second swinging seat and a clamp, wherein the second shell is a horizontal cylindrical shell of which one end is provided with an opening, a spherical groove is arranged in the middle part of the second shell, the diameter of the spherical groove is larger than that of the second shell, the second ball seat is a radius spherical groove seat body, the second ball seat is embedded in the spherical groove of the second shell, the middle part of the second ball seat is provided with a spherical groove, the second swinging seat is an open-top hollow spherical groove with a horizontal vertical spherical convex shaft passing radius, the front end of the second swinging seat is provided with a through hole communicated with the outer surface, the convex shaft of the second swinging seat is connected with a second vertical rotating motor, the second vertical rotating motor is arranged on a second ball seat, the output end of the second vertical rotating motor rotates on a vertical surface, the second swinging seat is arranged on a groove of a ball gap of the second ball seat, a clamp is arranged in an inner cavity of the second swinging seat and is used for clamping a nut, the convex shaft is vertical to a second housing axis, a second swinging reciprocating motor is arranged at the position of the inner side wall of the second housing, the second swinging reciprocating motor is horizontally arranged and the reciprocating direction is vertical to the second housing axis, a second swinging block is arranged at the output end of the second swinging reciprocating motor, the second swinging block is connected with the inner side surface of the second swinging seat through a second connecting rod, a second position sensor is of an annular structure and is arranged at the periphery of a second housing hole, the diameter of a working area of the second position sensor is larger than or equal to the diameter of a flange hole of an air pipe, the position of the second swinging reciprocating motor is adjustable along the vertical direction, the diameter of the second shell through hole is larger than the maximum diameter of the nut.
The utility model relates to a precise fastening system for a narrow space of a ventilating duct, which is characterized by further comprising a feeding mechanism, wherein the feeding mechanism is arranged at a feeding end of a bolt positioning mechanism and a nut positioning mechanism, the feeding mechanism is in signal connection with a controller, the feeding mechanism is of an automatic feeding bin structure, and the feeding mechanism is used for automatically feeding the bolt fastening mechanism and the nut fastening mechanism.
According to the precise fastening system for the narrow space of the ventilating duct, as an optimized mode, the fastening mechanism is arranged in the first inner shell and comprises the screw driver rotary rod and the rotating machine, the screw driver rotary rod axially rotates and reciprocates along the first inner shell, the working end position is from the inside of the feeding cavity to the inside of the feeding duct, and the rotating machine controls the rotation and reciprocation of the screw driver rotary rod.
The use method of the system comprises the steps of lifting two air pipes to a designated position, and arranging the system at the top end of the air pipe to be fastened. The top end of one side air pipe is provided with a bolt positioning mechanism carrying a bolt, the top end of the other side air pipe is provided with a nut positioning mechanism carrying a nut, the whole device walks at the top through a travelling mechanism, and after an infrared position sensor finds a hole to be installed, the travelling mechanism controls the bolt and the shell hole of the nut positioning mechanism to be coaxially aligned with the installation hole. The practical axis direction of installation can be obtained through the length of the sliding blocks on the sliding rail on the axial connecting mechanism, the bolt positioning mechanism, the nut positioning mechanism and the position relation of the two sliding blocks. That is, one mounting hole translates to the other mounting hole along the hole wall to form the axis of the cylinder, and the cylinder is mostly a non-right cylinder during actual mounting, so the axis is mostly an oblique line. At the moment, the swinging reciprocating motor and the vertical rotating motor of the two positioning mechanisms control the internal structure to adjust the gesture, so that the axes of the carried nuts and bolts are collinear with the mounting axis. At this time, the flexible roller rotates to enable the axis of the bolt to shake slightly. Because of adopting the ox horn ring surface structure, the feeding pipeline in the middle of the ring belt in the axial direction of each ox horn ring surface moves, the axis of the framework structure moves along the axial direction, and the whole framework simultaneously moves along the circumferential direction, so that the feeding channel is in a continuous motion state. Under the action of tension, the structural loss of the ox horn ring surface is smaller, meanwhile, the internal hollowness of the ox horn ring surface is smaller, so that the feeding pipeline penetrating through the center can be grasped, and the feeding pipeline continuously changes the axial position in a small range due to certain shaking generated by the material characteristics, thereby realizing fastening at a position relatively easy to connect. At the moment, the fastening mechanism is ejected forward to rotate, and the two flanges are fastened.
The utility model has the following beneficial effects:
(1) Through a flexible positioning method, the device continuously searches for a reasonable installation axis position, a bolt passes through the installation hole under the condition of relatively no resistance, the fastening state is closer to an ideal state, and the installation is more reasonable;
(2) The complex operation of high-altitude personnel is avoided, the installation automation is realized, and the danger of high-altitude operation is reduced;
(3) Install based on the installation axis, effectively solved the problem that the mounting hole on the flange structure of two after-the-counter-splice tuber pipes that the tuber pipe self weight brought is difficult to the practical alignment.
Drawings
FIG. 1 is a schematic diagram of a precision fastening system for a small space of a ventilation duct;
FIG. 2 is a schematic side view of an axial connection mechanism of the precision fastening system for a small space of a ventilation duct;
FIG. 3 is a schematic cross-sectional view of a precise fastening system bolt positioning mechanism in a depression of a ventilation duct;
fig. 4 is a schematic view of a nut positioning mechanism of a precise fastening system for a small space of a ventilation pipeline.
Reference numerals:
1. a walking mechanism; 2. a bolt positioning mechanism; 21. a first housing; 22. a first tee; 23. a first vertical rotary electric machine; 24. a first oscillating reciprocating motor; 25. a first swing block; 26. a first link; 27. a first position sensor; 28. a first swing seat; 29. a flexible regulator; 20. a rolling actuator; 2a, a flexible roller; 2b, a feed pipeline; 2c, a first inner shell; 2d, a feeding cavity; 3. a nut positioning mechanism; 31. a second housing; 32. a second tee; 33. a second vertical rotary electric machine; 34. a second oscillating reciprocating motor; 35. a second swing block; 36. a second link; 37. a second position sensor; 38. a second swing seat; 39. a clamp; 4. an axial connection mechanism; 41. an axial slide rail; 42. a first slide rail block; 43. the second sliding rail block; 44. tightening the spring; 45. a length calibrator; 46. a length receiver; 5. a fastening mechanism; 6. and a controller.
Detailed Description
The following description of the embodiments of the present utility model 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 utility model, but not all embodiments.
Example 1
As shown in FIG. 1, an accurate fastening system for a narrow space of a ventilation pipeline comprises a traveling mechanism 1, a bolt positioning mechanism 2, a nut positioning mechanism 3, an axial connecting mechanism 4, a fastening mechanism 5 and a controller 6, wherein the traveling mechanism 1 is arranged below the bolt positioning mechanism 2 and the nut positioning mechanism 3, the bolt positioning mechanism 2 and the nut positioning mechanism 3 are arranged on two sides of a flange at the top of an air pipe, the traveling direction of the traveling mechanism 1 is parallel to the flange at the top of the air pipe, the axial connecting mechanism 4 spans the flange and movably connects the bolt positioning mechanism 2 and the nut positioning mechanism 3, the axial connecting mechanism 4 controls the position of the nut positioning mechanism 3 and the position of the axial connecting mechanism 4 along the vertical direction and the parallel direction of the flange, the fastening mechanism 5 is arranged at the feeding end of the bolt positioning mechanism 2, and the controller 6 is in signal connection with the bolt positioning mechanism 2, the nut positioning mechanism 3, the traveling mechanism 1, the fastening mechanism 5 and the axial connecting mechanism 4.
The bolt positioning mechanism 2 is used for positioning a bolt to be fastened, the bolt positioning mechanism 2 is provided with a flexible adjusting mechanism, the bolt axis is adjustable in the fastening process, the nut positioning mechanism 3 is used for positioning a nut to be fastened, the axial connecting mechanism 4 is used for controlling the bolt positioning mechanism 2 and the nut positioning mechanism 3 to be aligned with fastening holes of a flange, the traveling mechanism 1 is used for enabling an accurate fastening system to travel on the top of an air duct along the flange direction, the fastening mechanism 5 is used for rotationally fastening the bolt, the controller 6 is used for controlling the traveling mechanism 1 to enable the bolt positioning mechanism 2 and the nut positioning mechanism 3 to be aligned with corresponding flange fastening holes of two air ducts to be connected respectively, two air duct flange fastening hole position relations are obtained according to the relative positions of the axial connecting mechanism 4 and the bolt positioning mechanism 2 and the nut positioning mechanism 3, and after the bolt positioning mechanism 2 and the nut positioning mechanism 3 are controlled to enable the bolt axis and the nut axis to be collinear with the fastening direction axis, the fastening mechanism 5 is controlled to feed the bolt.
As shown in fig. 2, the axial connection mechanism 4 includes an axial sliding rail 41, a first sliding rail block 42, a second sliding rail block 43, two tightening springs 44, a length calibrator 45 and two length receivers 46, the axial sliding rail 41 is a horizontally arranged linear sliding rail, the length calibrator 45 is arranged in the middle of the axial sliding rail 41, the first sliding rail block 42 and the second sliding rail block 43 are both slide block structures with slide rails, the first sliding rail block 42 and the second sliding rail block 43 slide on the axial sliding rail 41, the slide rail of the first sliding rail block 42 is arranged on the bottom surface of the first sliding rail block 42, the slide rail of the second sliding rail block 43 is arranged on the bottom surface of the second sliding rail block 43, the slide rail of the first sliding rail block 42 and the slide rail of the second sliding rail block 43 are both horizontally arranged and perpendicular to the direction of the axial sliding rail 41, the top of the bolt positioning mechanism 2 is movably connected with the slide rail of the first sliding rail block 42, the top of the nut positioning mechanism 3 is movably connected with the slide rail of the second sliding rail block 43, the two length receivers 46 are respectively arranged on the first sliding rail block 42 and the second sliding rail block 43, and the two tightening springs 44 are respectively connected with the inner side surface of the first sliding rail block 42 and the bottom surface of the middle of the axial sliding rail 41 and the middle surface of the second sliding rail 41.
As shown in fig. 3, the bolt positioning mechanism 2 includes a first outer shell 21, a first ball seat 22, a first vertical rotating motor 23, a first oscillating reciprocating motor 24, a first oscillating block 25, a first connecting rod 26, a first position sensor 27, a first oscillating seat 28, a flexible regulator 29, a rolling actuator 20, a flexible roller 2a, a feed pipe 2b, a first inner shell 2c and a feed chamber 2d, the first outer shell 21 is a transversely-arranged cylindrical shell with an opening at one end, a spherical groove is arranged in the middle part in the first outer shell 21, the diameter of the spherical groove is larger than the inner diameter of the first outer shell 21, the first ball seat 22 is a radius spherical-segment seat body, the first ball seat 22 is embedded in the spherical groove in the first outer shell 21, the middle part of the first ball seat 22 is provided with a spherical-segment groove, the first oscillating seat 28 is a sphere with an inner cavity and provided with a vertical spherical convex shaft, the convex shaft is vertical to the axis of the first inner shell 2c, the convex shaft of the first oscillating seat 28 is connected with the first vertical rotating motor, the vertical rotating motor is arranged on the first ball seat 22, the output end of the first vertical rotating motor rotates on a vertical surface, the first swinging seat 28 is arranged on a notch groove of the first ball seat 22, the inner cavity of the first swinging seat 28 is communicated with the outer surface of the first swinging seat 28 through two coaxial through holes, the axes of the two coaxial through holes are perpendicular to the convex shafts of the first swinging seat 28, the first inner shell 2c passes through the two through holes and is arranged on the first swinging seat 28, the rolling actuator 20 is a rotating motor, the rolling actuator 20 is arranged in the inner cavity of the first swinging seat 28, the output end of the rolling actuator 20 is connected with the flexible roller 2a, the flexible roller 2a is arranged along the periphery of the first inner shell 2c, the first inner shell 2c is provided with a grid parallel to the axis of the first inner shell 2c in the inner cavity of the first swinging seat 28, the flexible adjuster 29 is a flexible ox horn annular surface axial skeleton structure, the flexible adjuster 29 is arranged at one end inside the first inner shell 2c, the end of a first inner shell 2c provided with one end of a flexible regulator 29 is provided with an axial through hole, the flexible regulator 29 contacts with a flexible roller 2a through a grid, the axis of the flexible roller 2a is vertical to the axis of the flexible regulator 29, a feeding pipeline 2b is of a pipe structure with a chamfer at one end, the feeding pipeline 2b is arranged in the through hole of the flexible regulator 29, the chamfer end of the feeding pipeline 2b penetrates through the end face of the first inner shell 2c and is arranged between the first inner shell 2c and the first outer shell 21, the diameter of the inner hole of the first outer shell 21 through hole is larger than that of the feeding pipeline 2b and smaller than that of the outer diameter of the feeding pipeline 2b, a feeding cavity 2d is arranged in the middle of the first inner shell 2c, the diameter of the feeding cavity 2d is smaller than that of the flexible regulator 29, the top opening of the feeding cavity 2d is used for feeding, a first oscillating motor 24 is arranged at the inner side wall position of the first outer shell 21, a first oscillating motor 24 is horizontally arranged and vertically arranged in the first outer shell 21 in the reciprocating direction, a first oscillating block 25 is arranged at the output end of the first oscillating motor 24, the diameter of the first inner shell 25 is larger than that of the first oscillating motor 24 is equal to that of the first oscillating motor 24 b, the diameter of the first inner shell 25 is equal to that of the first air pipe sensor 2b is arranged at the outer end of the first air pipe structure, and the sensor 27 is arranged along the first end of the sensor 2c, and the sensor 2 is located along the diameter of the first end of the first flange 27.
In this embodiment, the flexible regulator 29 is a flow ring structure. Alternatively, the flexible regulator 29 may be made of a plurality of separate flexible rings, preferably of a resin material or a resilient metal material.
As shown in fig. 4, the nut positioning mechanism 3 includes a second housing 31, a second ball seat 32, a second vertical rotating motor 33, a second oscillating reciprocating motor 34, a second oscillating block 35, a second connecting rod 36, a second position sensor 37, a second oscillating seat 38 and a clamp 39, the second housing 31 is a horizontally arranged cylindrical housing with an opening at one end, a spherical groove is arranged in the middle of the inside of the second housing 31, the diameter of the spherical groove is larger than the inner diameter of the second housing 31, the second ball seat 32 is a radius spherical-gap seat body, the second ball seat 32 is embedded in the spherical groove of the second housing 31, the middle of the second ball seat 32 is provided with a spherical-gap groove, the second oscillating seat 38 is a hollow spherical gap with a horizontally arranged vertical spherical surface and a radius-passing convex shaft at the top, the front end of the second oscillating seat 38 is provided with a through hole communicated with the outer surface, the convex shaft of the second oscillating seat 38 is connected with the second vertical rotating motor 33, the second vertical rotating motor 33 is arranged on the second ball seat 32, the output end of the second vertical rotating motor 33 rotates on a vertical surface, the second swinging seat 38 is arranged on a notch groove of the second ball seat 32, a clamp 39 is arranged in an inner cavity of the second swinging seat 38, the clamp 39 is used for clamping a nut, a convex shaft is vertical to the axis of the second housing 31, the second swinging reciprocating motor 34 is arranged at the inner side wall position of the second housing 31, the second swinging reciprocating motor 34 is horizontally arranged and the reciprocating direction is vertical to the axis of the second housing 31, a second swinging block 35 is arranged at the output end of the second swinging reciprocating motor 34, the second swinging block 35 is connected with the inner side surface of the second swinging seat 38 through a second connecting rod 36, a second position sensor 37 is of an annular structure and is arranged at the periphery of a hole of the second housing 31, the diameter of a working area of the second position sensor 37 is larger than or equal to the diameter of a flange hole of an air pipe, the second swinging motor 34 is adjustable in position along the vertical direction, the diameter of the through hole of the second housing 31 is larger than the maximum diameter of the nut.
Example 2
On embodiment 1's basis, be different from installing manual feed at every turn, still include feeding mechanism to the accurate fastening system in the narrow and small space of air pipe, feeding mechanism sets up in the feed end of bolt positioning mechanism 2 and nut positioning mechanism 3, feeding mechanism and controller 6 signal connection, feeding mechanism is automatic feed storehouse structure, and feeding mechanism is used for carrying out automatic feeding to bolt fastening mechanism 5 and nut fastening mechanism 5.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (5)
1. Accurate fastening system to air pipe narrow and small space, its characterized in that: comprises a traveling mechanism (1), a bolt positioning mechanism (2), a nut positioning mechanism (3), an axial connecting mechanism (4), a fastening mechanism (5) and a controller (6), wherein the traveling mechanism (1) is arranged below the bolt positioning mechanism (2) and the nut positioning mechanism (3), the bolt positioning mechanism (2) and the nut positioning mechanism (3) are arranged on two sides of a flange at the top of an air pipe, the traveling direction of the traveling mechanism (1) is parallel to the flange at the top of the air pipe, the axial connecting mechanism (4) spans the flange and is movably connected with the bolt positioning mechanism (2) and the nut positioning mechanism (3), the axial connecting mechanism (4) controls the position of the nut positioning mechanism (3) and the position of the axial connecting mechanism (4) along the vertical direction and the parallel direction of the flange, the fastening mechanism (5) is arranged at the feeding end of the bolt positioning mechanism (2), the controller (6) is connected with the bolt positioning mechanism (2), the nut positioning mechanism (3), the fastening mechanism (5) and the axial connecting mechanism (4) through signals,
the bolt positioning mechanism (2) is used for positioning a bolt to be fastened, the bolt positioning mechanism (2) is provided with a flexible adjusting mechanism to enable the axis of the bolt to be adjustable in the fastening process, the nut positioning mechanism (3) is used for positioning nuts to be fastened, the axial connecting mechanism (4) is used for controlling the bolt positioning mechanism (2) and the nut positioning mechanism (3) to align with fastening holes of flanges, the travelling mechanism (1) is used for enabling an accurate fastening system to travel on the top of an air duct along the flange direction, the fastening mechanism (5) is used for rotationally fastening the bolt, the controller (6) is used for controlling the travelling mechanism (1) to enable the bolt positioning mechanism (2) and the nut positioning mechanism (3) to align with corresponding flange fastening holes of two air ducts to be connected respectively, obtaining the position relation of the flanges of the two air ducts according to the relative positions of the axial connecting mechanism (4) and the bolt positioning mechanism (2) and the nut positioning mechanism (3), fitting the fastening direction axis of the two air duct flange fastening holes according to the position relation of the two air duct flange fastening holes, and controlling the travelling mechanism (2) and the bolt positioning mechanism (3) to align the bolt positioning mechanism (2) with the axis to the fastening direction;
the bolt positioning mechanism (2) comprises a first outer shell (21), a first ball seat (22), a first vertical rotating motor (23), a first swinging reciprocating motor (24), a first swinging block (25), a first connecting rod (26), a first position sensor (27), a first swinging seat (28), a flexible regulator (29), a rolling actuator (20), a flexible roller (2 a), a feeding pipeline (2 b), a first inner shell (2 c) and a feeding cavity (2 d), wherein one end of the first outer shell (21) is a shell-drawing horizontal cylindrical shell with an opening, a spherical groove is formed in the middle part in the first outer shell (21), the diameter of the spherical groove is larger than the inner diameter of the first outer shell (21), the first ball seat (22) is a radial spherical groove seat body, the spherical groove is formed in the middle part of the first ball seat (22), the first swinging seat (28) is a convex motor with an inner cavity and a vertical spherical surface, the first ball seat (28) is arranged on the vertical rotating shaft of the first outer shell (21), the first ball seat (28) is vertically rotated on the first inner shell (28), the inner cavity of the first swinging seat (28) is communicated with the outer surface of the first swinging seat (28) through two coaxial through holes, the axes of the two coaxial through holes are perpendicular to the protruding shafts of the first swinging seat (28), the first inner shell (2 c) penetrates through two grids which are arranged on the first swinging seat (28), the rolling actuator (20) is a rotating motor, the rolling actuator (20) is arranged in the inner cavity of the first swinging seat (28), the output end of the rolling actuator (20) is connected with the flexible roller (2 a), the flexible roller (2 a) is arranged along the periphery of the first inner shell (2 c), the first inner shell (2 c) is provided with a grid which is parallel to the axis of the first inner shell (2 c) in the inner cavity of the first swinging seat (28), the flexible adjuster (29) is of a flexible ox-horn annular axial skeleton structure, one end of the rolling actuator (20) is arranged in the inner part of the first inner shell (2 c), the end part of the first inner shell (2 c) provided with the flexible adjuster (29) is provided with a flexible feed tube (2 b), the end part of the flexible adjuster (29) is arranged in the flexible feed tube (2 b) is provided with a flexible feed tube, the flexible adjuster (29) is arranged in the flexible feed tube (2 b) and is perpendicular to the axis of the flexible feed tube (2 b), the feed pipeline (2 b) chamfer end passes first inner shell (2 c) terminal surface setting is in between first inner shell (2 c) and the first shell (21), first shell (21) through-hole be greater than feed pipeline (2 b) hole diameter is less than feed pipeline (2 b) external diameter, first inner shell (2 c) end hole diameter is greater than feed pipeline (2 b) external diameter, feed chamber (2 d) set up in first inner shell (2 c) middle part, feed chamber (2 d) diameter is less than flexible regulator (29) biggest footpath, feed chamber (2 d) top opening is used for the feed, first oscillating motor (24) set up in first shell (21) inside wall position, first oscillating motor (24) level sets up and the direction of reciprocation is perpendicular first shell (21) axis, first oscillating piece (25) set up in first oscillating motor (24) output piece (24), first oscillating piece (25) diameter is less than flexible regulator (29) biggest footpath, feed chamber (2 d) open top is used for the feed, first oscillating motor (24) side diameter is equal to one end (27) the first rotary transducer (27) the diameter is in the position of one side of first air duct (27) the sensor.
2. The precise fastening system for a small space of a ventilation duct according to claim 1, wherein:
the axial connecting mechanism (4) comprises an axial sliding rail (41), a first sliding rail block (42), a second sliding rail block (43), two tightening springs (44), a length calibrator (45) and two length receivers (46), wherein the axial sliding rail (41) is a horizontally arranged linear sliding rail, the length calibrator (45) is arranged in the middle of the axial sliding rail (41), the first sliding rail block (42) and the second sliding rail block (43) are of a sliding block structure with sliding rails, the first sliding rail block (42) and the second sliding rail block (43) slide on the axial sliding rail (41), the sliding rails of the first sliding rail block (42) are arranged on the bottom surface of the first sliding rail block (42), the sliding rails of the second sliding rail block (43) are arranged on the bottom surface of the second sliding rail block (43), the sliding rails of the first sliding rail block (42) and the sliding rails of the second sliding rail block (43) are horizontally arranged and perpendicular to the direction of the axial sliding rail (41), the top positioning mechanism (2) is movably connected with the first sliding rail block (42) and the second sliding rail (43) and the top part of the second sliding rail (43) are respectively connected with the sliding rail nut (43), the two tightening springs (44) are respectively connected with the inner side surface of the first sliding rail block (42) and the bottom surface of the middle part of the axial sliding rail (41), the inner side surface of the second sliding rail block (43) and the middle part of the axial sliding rail (41).
3. The precise fastening system for a small space of a ventilation duct according to claim 1, wherein: the flexible regulator (29) is of a flow ring structure.
4. The precise fastening system for a small space of a ventilation duct according to claim 1, wherein:
the nut positioning mechanism (3) comprises a second shell (31), a second ball seat (32), a second vertical rotating motor (33), a second swinging reciprocating motor (34), a second swinging block (35), a second connecting rod (36), a second position sensor (37), a second swinging seat (38) and a clamp (39), wherein the second shell (31) is a transversely arranged cylindrical shell with an opening at one end, a spherical groove is formed in the middle part in the second shell (31), the diameter of the spherical groove is larger than the inner diameter of the second shell (31), the second ball seat (32) is a spherical groove body with a radius, the second ball seat (32) is embedded in the spherical groove of the second shell (31), the middle part of the second ball seat (32) is provided with a spherical groove, the second swinging seat (38) is a hollow sphere with a horizontally arranged convex shaft passing radius, the front end of the second swinging seat (38) is provided with a through hole communicated with the outer surface, the second swinging motor (38) is connected with the second ball seat (33) and the second ball seat (33) is vertically arranged on the second ball seat (33) which is vertically arranged on the second ball seat (32), the fixture (39) is arranged in an inner cavity of the second swinging seat (38), the fixture (39) is used for clamping nuts, the protruding shaft is perpendicular to the axis of the second housing (31), the second swinging reciprocating motor (34) is arranged at the inner side wall of the second housing (31), the second swinging reciprocating motor (34) is horizontally arranged and the reciprocating direction is perpendicular to the axis of the second housing (31), the second swinging block (35) is arranged at the output end of the second swinging reciprocating motor (34), the inner side surface of the second swinging block (35) is connected with the inner side surface of the second swinging seat (38) through a second connecting rod (36), the second position sensor (37) is in an annular structure, the diameter of a working area of the second position sensor (37) is larger than or equal to the diameter of a flange hole of an air pipe, the position of the second swinging reciprocating motor (34) is adjustable along the vertical direction, and the diameter of a through hole of the second housing (31) is larger than the maximum diameter of the nuts.
5. The precise fastening system for a small space of a ventilation duct according to claim 1, wherein:
the accurate fastening system to the narrow and small space of air pipe still includes feeding mechanism, feeding mechanism set up in bolt positioning mechanism (2) with the feed end of nut positioning mechanism (3), feeding mechanism with controller (6) signal connection, feeding mechanism is automatic feeding storehouse structure, feeding mechanism is used for carrying out automatic feeding to bolt tightening mechanism (5) and nut tightening mechanism (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311622729.8A CN117324943B (en) | 2023-11-30 | 2023-11-30 | Accurate fastening system to narrow and small space of air pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311622729.8A CN117324943B (en) | 2023-11-30 | 2023-11-30 | Accurate fastening system to narrow and small space of air pipe |
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| Publication Number | Publication Date |
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| CN117324943A CN117324943A (en) | 2024-01-02 |
| CN117324943B true CN117324943B (en) | 2024-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311622729.8A Active CN117324943B (en) | 2023-11-30 | 2023-11-30 | Accurate fastening system to narrow and small space of air pipe |
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| CN (1) | CN117324943B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2263826A1 (en) * | 2009-06-15 | 2010-12-22 | Shinjo Manufacturing Co. Ltd. | Nut Supply Apparatus to Bonding Machine |
| JP2013231459A (en) * | 2012-04-27 | 2013-11-14 | Jtekt Corp | Double nut fastening structure and power generater |
| CN211841745U (en) * | 2019-12-13 | 2020-11-03 | 中冶天工集团有限公司 | Large-scale tuber pipe flange double-screw bolt fastening tool fast in narrow and small space |
| CN216421560U (en) * | 2021-08-26 | 2022-05-03 | 上海宏达文教用品有限公司 | Needle feeding device for compasses |
| CN217345272U (en) * | 2022-04-14 | 2022-09-02 | 广州大学城投资经营管理有限公司 | Flange air pipe bolt fastening device for narrow space |
| CN116652574A (en) * | 2023-08-02 | 2023-08-29 | 广东科凯达智能机器人有限公司 | Fastening method for flange bolts of wind power tower barrel |
| CN117047452A (en) * | 2023-08-03 | 2023-11-14 | 中国建筑第四工程局有限公司 | Far-end slit vertical air duct bolt fastening tool |
-
2023
- 2023-11-30 CN CN202311622729.8A patent/CN117324943B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2263826A1 (en) * | 2009-06-15 | 2010-12-22 | Shinjo Manufacturing Co. Ltd. | Nut Supply Apparatus to Bonding Machine |
| JP2013231459A (en) * | 2012-04-27 | 2013-11-14 | Jtekt Corp | Double nut fastening structure and power generater |
| CN211841745U (en) * | 2019-12-13 | 2020-11-03 | 中冶天工集团有限公司 | Large-scale tuber pipe flange double-screw bolt fastening tool fast in narrow and small space |
| CN216421560U (en) * | 2021-08-26 | 2022-05-03 | 上海宏达文教用品有限公司 | Needle feeding device for compasses |
| CN217345272U (en) * | 2022-04-14 | 2022-09-02 | 广州大学城投资经营管理有限公司 | Flange air pipe bolt fastening device for narrow space |
| CN116652574A (en) * | 2023-08-02 | 2023-08-29 | 广东科凯达智能机器人有限公司 | Fastening method for flange bolts of wind power tower barrel |
| CN117047452A (en) * | 2023-08-03 | 2023-11-14 | 中国建筑第四工程局有限公司 | Far-end slit vertical air duct bolt fastening tool |
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| Publication number | Publication date |
|---|---|
| CN117324943A (en) | 2024-01-02 |
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