CN212330281U - Quick-connection self-correcting bolt screwing mechanism - Google Patents
Quick-connection self-correcting bolt screwing mechanism Download PDFInfo
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- CN212330281U CN212330281U CN202021001899.6U CN202021001899U CN212330281U CN 212330281 U CN212330281 U CN 212330281U CN 202021001899 U CN202021001899 U CN 202021001899U CN 212330281 U CN212330281 U CN 212330281U
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Abstract
The utility model provides a quick connection self-calibration bolt revolves technical field, technical scheme that belongs to nuclear power reactor pressure vessel bolt: the upper end plate is installed above the precise guide pillar, the supporting plate can be installed on the precise guide pillar through a linear bearing in a reciprocating mode, a verticality correction executing device is arranged on the supporting plate, a screwing driving servo motor is connected with the verticality correction executing device, a weight compensation cylinder is installed on the upper end plate, the supporting plate is arranged in a torque sensor, the supporting plate is arranged in a verticality detection device, a bolt connection device is connected below the supporting plate, a cylinder brake is installed on the precise guide pillar, a chuck control device and a positioning device are installed below an annular base, a torque detection device is installed on the supporting plate, and a bolt adapter is connected with the. Has the advantages that: because the utility model discloses a quick-connect self-correcting bolt revolves twisting machine and constructs, can guarantee that equipment is connected to fixing bolt quick, accurate not damaged, improves work efficiency, saves time.
Description
Technical Field
The utility model belongs to the technical field of revolve wrong the twisting of nuclear power reactor pressure vessel bolt, especially, relate to a mechanism is revolved soon to quick connect self-correcting bolt.
Background
At present, a manual bolt-screwing mechanism and an automatic bolt-screwing mechanism are used in the aspect of bolt-screwing of the nuclear power reactor pressure vessel. However, the current bolt screwing mechanism for the nuclear power reactor pressure vessel has the following problems:
when the manual bolt screwing mechanism is used, the bolts need to be lifted and screwed one by one independently, so that a long time is consumed, manpower and material resources are wasted, and the uniform stress and accurate positions of all the bolts during screwing cannot be ensured;
automatic bolt revolves screw mechanism and revolves robot of stretching mechanism for whole full-synchronization bolt, and present robot uses pneumatic jack catch with being connected of bolt when revolving the screw bolt, and unable convenient and fast connects, still need connect the air supply simultaneously, and when the robot revolves the screw bolt after having connected, need pass through electronic or pneumatic initiative correction straightness that hangs down, can't guarantee its accuracy, damages the screw easily, wastes time and energy moreover.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems existing in the prior art, the utility model provides a quick-connect self-correcting bolt screwing mechanism, which adopts the quick-connect self-correcting bolt screwing mechanism, can ensure that equipment is connected to a fixing bolt quickly, accurately and not damaged, improves the working efficiency and saves time.
The technical scheme is as follows:
a quick connect self aligning bolt torquing mechanism comprising: the device comprises a control cabinet, a screwing driving servo motor, a weight compensation cylinder, an upper end plate, a verticality correction executing device, a linear bearing, a torque sensor, a verticality detection device, a bolt connection device, a cylinder brake, a precise guide pillar, a support pillar, a walking device, a chuck control device, a positioning device, a support plate, an annular base, a torque detection device and a bolt adapter, wherein the walking device is installed below the annular base, the support pillar is installed above the annular base, the control cabinet is installed above the support pillar, the precise guide pillar is installed above the annular base, the upper end plate is installed above the precise guide pillar, the support plate is installed on the precise guide pillar in a manner of being capable of moving up and down through the linear bearing, the verticality correction executing device is arranged on the support plate, and the screwing driving servo motor is connected with the verticality, the weight compensation cylinder is installed on the upper end plate, the torque sensor is arranged in the support plate, the perpendicularity detection device is arranged in the support plate, the bolt connection device is installed on the perpendicularity correction execution device, the cylinder brake is installed on the precise guide pillar, the chuck control device and the positioning device are installed below the annular base, the torque detection device is installed on the perpendicularity correction execution device, and the bolt adapter is connected with the bolt connection device.
Further, the perpendicularity correction execution device includes: the spring-type linear guide rail fixing device comprises an upper fixing plate, a linear slide rail A, a middle fixing plate, a lower fixing plate, springs and a linear guide rail B, wherein the springs are arranged below the lower fixing plate, and the linear guide rail B, the middle fixing plate, the linear slide rail A and the upper fixing plate are sequentially arranged above the lower fixing plate.
Further, the bolt coupling apparatus includes: motor coupling stiff end, compression spring, telescopic link top external tooth, fixed end cap internal tooth, screw thread section A, transmission shaft couple, establish in the motor coupling stiff end screw thread section A, be equipped with on the screw thread section A fixed end cap internal tooth, set up on the transmission shaft couple telescopic link top external tooth, the transmission shaft couple with the motor coupling stiff end embedding is connected, the transmission shaft couple with set up between the motor coupling stiff end compression spring.
Furthermore, a transmission shaft hook inlet is formed in the bolt adapter, a threaded section B and a main bolt adapter through hole are sequentially formed above the transmission shaft hook inlet, and two ends of a rotating stop pin of the transmission shaft hook are respectively connected with the threaded section B and the main bolt adapter through hole.
Further, the moment detection device comprises a distance measurement sensor and a load cell.
Further, still include cable device, cable device installs on annular base.
The utility model has the advantages that:
quick-connect self-correcting bolt revolve twist mechanism and current nuclear reactor pressure vessel bolt revolve twist mechanism and compare, the utility model discloses following beneficial effect has:
1. because the utility model discloses a quick-connect self-correcting bolt revolves twisting machine and constructs, can guarantee that equipment is connected to fixing bolt quick, accurate not damaged, improves work efficiency, saves time.
2. Because the utility model discloses a quick-connect self-correcting bolt revolves wrong mechanism, can guarantee the realization to the minimum resistance moment of bolt straightness control of hanging down, moment of torsion, especially when the screw hole is twisted to the bolt, can reach very accurate vertical precision to reducible damage to bolt and reactor vessel hole.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention;
fig. 2 is a schematic connection diagram of the screwing driving servo motor and the verticality correction executing device of the present invention;
FIG. 3 is a schematic view of the perpendicularity correction actuator of the present invention;
FIG. 4 is a schematic view of the bolt adaptor of the present invention;
FIG. 5 is a schematic view of the connection between the bolt connecting device and the bolt adaptor according to the present invention;
FIG. 6 is a schematic view of the bolt connecting device of the present invention;
figure 7 is a cross-sectional view of the bolt adaptor of the present invention;
the reference numbers in the figures are as follows: 1-a control cabinet, 2-a screwing driving servo motor, 3-a weight compensation cylinder, 4-an upper end plate, 5-a distance measuring sensor, 6-a force measuring sensor, 7-a verticality correction executing device, 8-a linear bearing, 9-a torque sensor, 10-a verticality detecting device, 11-a bolt connecting device, 12-a cylinder brake, 13-a precise guide post, 14-a support post, 15-a cable device, 16-a walking device, 17-a chuck control device, 18-a positioning device, 19-an upper fixing plate, 20-a linear slide rail A, 21-a middle fixing plate, 22-a lower fixing plate, 23-a spring, 24-a motor coupler fixing end, 25-a compression spring, 26-an external tooth at the top end of a telescopic rod, and, 27-fixed plug internal teeth, 28-thread section A, 29-transmission shaft hook, 30-transmission shaft hook rotating stop pin, 31-transmission shaft hook inlet, 32-main bolt adapter through hole, 33-thread section B, 34-support plate, 35-annular base and 36-linear guide rail B.
Detailed Description
The quick connect self aligning bolt turn mechanism is further described with reference to FIGS. 1-7.
Example 1
A quick connect self aligning bolt torquing mechanism comprising: the device comprises a control cabinet 1, a screwing driving servo motor 2, a weight compensation cylinder 3, an upper end plate 4, a verticality correction executing device 7, a linear bearing 8, a torque sensor 9, a verticality detection device 10, a bolt connection device 11, a cylinder brake 12, a precise guide pillar 13, a support pillar 14, a walking device 16, a chuck control device 17, a positioning device 18, a support plate 34, an annular base 35, a torque detection device and a bolt adapter, wherein the walking device 16 is installed below the annular base 35, the support pillar 14 is installed above the annular base 35, the control cabinet 1 is installed above the support pillar 14, the precise guide pillar 13 is installed above the annular base 35, the upper end plate 4 is installed above the precise guide pillar 13, and the support plate 34 is installed on the precise guide pillar 13 in a vertically movable manner through the linear bearing 8, the perpendicularity correction executing device 7 is arranged on the supporting plate 34, the screwing driving servo motor 2 is connected with the perpendicularity correction executing device 7, the weight compensation cylinder 3 is installed on the upper end plate 4, the torque sensor 9 is arranged in the supporting plate 34, the perpendicularity detecting device 10 is arranged in the supporting plate 34, the bolt connecting device 11 is installed on the perpendicularity correction executing device 7, the cylinder brake 12 is installed on the precision guide pillar 13, the chuck control device 17 and the positioning device 18 are installed below the annular base 35, the torque detecting device is installed on the perpendicularity correction executing device 7, and the bolt adapter is connected with the bolt connecting device 11.
Further, the perpendicularity correction execution device 7 includes: the spring-type linear guide rail fixing device comprises an upper fixing plate 19, a linear slide rail A20, a middle fixing plate 21, a lower fixing plate 22, a spring 23 and a linear guide rail B36, wherein the spring 23 is arranged below the lower fixing plate 22, and the linear guide rail B36, the middle fixing plate 21, the linear slide rail A20 and the upper fixing plate 19 are sequentially arranged above the lower fixing plate 22.
Further, the bolt coupling device 11 includes: motor coupling stiff end 24, compression spring 25, telescopic link top external tooth 26, fixed end cap internal tooth 27, screw thread section A28, transmission shaft couple 29, establish in motor coupling stiff end 24 screw thread section A28, be equipped with on screw thread section A28 fixed end cap internal tooth 27, set up on the transmission shaft couple 29 telescopic link top external tooth 26, transmission shaft couple 29 with motor coupling stiff end 24 embedding is connected, transmission shaft couple 29 with set up between the motor coupling stiff end 24 compression spring 25.
Further, a transmission shaft hook inlet 31 is formed in the bolt adapter, a threaded section B33 and a main bolt adapter through hole 32 are sequentially arranged above the transmission shaft hook inlet 31, and two ends of a transmission shaft hook rotating stop pin 30 are respectively connected with the threaded section B33 and the main bolt adapter through hole 32.
Further, the moment detection device comprises a distance measurement sensor 5 and a load cell 6.
Further, the cable device 15 is further included, and the cable device 15 is installed on the annular base 35.
The cable device 15 comprises a cable connector and a cable winding and unwinding device, the walking device 16 comprises a walking wheel and a driving device thereof, and the verticality detection device 10 is a verticality detection sensor.
The utility model discloses an use flow as follows:
1. installing the bottom bracket and the main bolt equipped with the main bolt adapter to the corresponding position of the end cover flange of the nuclear power reactor pressure vessel, and placing the quick-connection self-correcting bolt screwing mechanism of the utility model to the walking track of the bottom bracket;
2. the bolt screwing mechanism is correctly connected with the power and communication cable of the control cabinet 1 and started;
3. the bolt screwing mechanism automatically travels to the corresponding bolt position through the travelling wheel, the driving device of the travelling wheel and the positioning device 18, and the positioning device 18 fixes the bolt screwing mechanism;
4. the bolt screwing mechanism lowers the perpendicularity correction executing device 7 provided with the screwing driving servo motor 2, the bolt connecting device 11 and the sensor through the weight compensation cylinder 3 until the bolt connecting device 11 contacts the upper end of the bolt adapter;
5. after the bolt connecting device 11 contacts the upper end of the bolt adapter when being lowered, the transmission shaft hook 29 of the bolt connecting device 11 enables the compression spring 25 to keep a compression state, at the moment, the servo motor 2 is driven to control the bolt connecting device 11 to rotate through screwing, when the transmission shaft hook inlet 31 of the bolt adapter is aligned, the compression spring 25 bounces to enable the telescopic rod and the hook to enter the bolt adapter, at the moment, the bolt connecting device 11 is rotated again to the position of the transmission shaft hook rotating stop pin 30, the bolt connecting device 11 is connected with the bolt adapter, and the bolt is driven to rotate continuously;
6. opening the chucks of the bottom bracket by the chuck control means 17;
7. the weight compensation air cylinder is automatically controlled to be lowered through the feedback of the force measuring sensor 6, and meanwhile, the torque output of the screwing driving servo motor 2 is automatically controlled through the feedback of the torque sensor 9, so that the screwing-in and screwing-out of the bolt are controlled;
8. in the process of screwing in and screwing out the bolt, the verticality correcting device automatically corrects the position, the process is gravity control, and system control and adjustment are not needed, so that the bolt is ensured to be kept vertical all the time when being screwed in and screwed out.
Example 2
A quick-connection self-correcting bolt screwing mechanism comprises an annular base 35, a travelling wheel and a driving device thereof, a supporting column 14, a precision guide column 13, an upper end plate 4, a positioning device 18, a weight compensation cylinder 3, a control cabinet 1, a cable joint and cable winding and unwinding device, a supporting plate 34, a linear bearing 8, a cylinder brake 12, a chuck control device 17, a screwing driving servo motor 2, a bolt connecting device 11, a verticality detection device 10, a verticality correction execution device 7, a torque detection device and a bolt adapter.
A annular bases 35 are used for fixedly supporting the whole bolt screwing mechanism;
the walking wheel and the driving device thereof are provided with a set B, are fixed at the corresponding position of the annular base 35 and are used for controlling the bolt screwing mechanism to move along the walking track of the bottom bracket;
the number of the supporting columns 14 is B, and the supporting columns are used for supporting the control cabinet 1 and fixing the control cabinet on the annular base 35;
the number of the precise guide columns 13 is C, and the precise guide columns are used for supporting and fixing the upper end plate 4 and providing motion guidance for a weight compensation system of the mechanism;
d upper end plates 4 are used for fixing the weight compensation cylinders 3 and part of sensors;
the E positioning devices 18 are used for fixing the bolt screwing mechanism when the corresponding bolt holes are detected, and are anti-torque devices of the whole mechanism after being fixed;
a weight compensation cylinders 3 are provided, monitoring values are fed back in real time through the force measuring sensors 6, and the control system keeps the minimum weight of the bolt when the bolt is screwed or loosened in the threaded hole through the weight compensation cylinders 3, namely the weight compensation of the bolt; weight compensation is also a very important factor for reducing the resisting moment, and the control system of the bolt screwing device can self-adjust and correct the weight of the compensating bolt in different stages of screwing or unscrewing, particularly before the bolt enters a threaded hole or when the resisting moment of the bolt changes;
the control cabinet 1 is provided with D control cabinets for installing a driver and a controller for controlling the robot;
the cable joint and the cable winding and unwinding device are provided with a sleeve D, a cable is connected to the cable winding and unwinding device connecting joint of the robot control electric cabinet from the console, and the cable winding and unwinding device can enable the cable to be fixed on the bracket to wind and unwind the cable along with the walking of the robot, so that the cable is prevented from being disordered;
b support plates are used for fixing and screwing the driving servo motor 2, the bolt connecting device 11, the verticality detection device 10, the verticality correction execution device 7 and the moment detection device, and are guided to move up and down along the precision guide pillar 13 through the weight compensation mechanism cylinder through 4 linear bearings 8;
the number of the linear bearings 8 is C, and the linear bearings are used for connecting the support plate 34 and the precision guide columns 13;
b air cylinder brakes 12 are arranged, and under the condition of air source pressure loss, the air cylinder brakes 12 automatically lock the positions of the bolt supports;
the chuck control device 17 is provided with a set A and is used for automatically controlling the chuck device 17 of the bottom bracket to clasp or loosen the main bolt;
the screwing driving servo motor 2 is provided with a set A, a controller arranged on the control cabinet 1 controls the speed and the torque of the screwing driving servo motor 2 through a driver of the robot control cabinet and directly drives the bolt to rotate, and the screwing driving servo motor 2 is arranged on the verticality correction executing device 7;
the bolt connecting device 11 is provided with a set A and is used for quickly connecting a screwing mechanism of a robot to a bolt;
the perpendicularity detection device 10 is provided with a set A and is used for detecting the perpendicularity of the device and feeding the perpendicularity of the device back to the control cabinet 1;
the perpendicularity correction executing device 7 is provided with the A set, so that the screwing device can automatically correct the position, the bolt is ensured to be kept perpendicular all the time when being screwed or loosened, the perpendicularity of the bolt is very important in the primary stage of screwing the bolt, because the number of threaded connections is too small under the condition that only a small part of bolt threads are screwed into threaded holes of a reactor, even if the threads are all screwed, the bolt and the threaded holes cannot be completely consistent with the bolt screwing device, if the threaded connections are not controlled, burrs or metal chips can be generated at the inclined positions of the threaded connections, and the resistance moment is greatly improved. Further damage to the threads can occur if the bolt continues to be tightened while the torque is increased. A device capable of self-correcting verticality can reduce damage to the bolt and the reactor vessel hole;
the torque detection device is provided with a set A and is used for detecting the torque of the screwing bolt and feeding the torque back to the control cabinet 1 to assist in controlling the screwing to drive the servo motor 2;
the bolt adapter is provided with a sleeve A which is screwed to the top of the bolt and is used for being quickly connected with the bolt connecting device and screwing the bolt connecting device, compared with the prior screw thread or pneumatic connection mode, the bolt adapter and the bolt connecting device of the utility model do not need to be additionally connected with an air source or screwed with screw threads, and can ensure the quick, accurate and nondestructive connection of equipment;
further, A is 2.
Further, B is 4.
Further, C is 8.
Further, D is 1.
Further, E is 3.
The above description is only the specific implementation manner of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the design of the present invention within the technical scope of the present invention.
Claims (6)
1. A quick connect self aligning bolt turn-on mechanism comprising: the device comprises a control cabinet (1), a screwing driving servo motor (2), a weight compensation cylinder (3), an upper end plate (4), a verticality correction executing device (7), a linear bearing (8), a torque sensor (9), a verticality detection device (10), a bolt connection device (11), a cylinder brake (12), a precise guide pillar (13), a support pillar (14), a walking device (16), a chuck control device (17), a positioning device (18), a support plate (34), an annular base (35), a moment detection device and a bolt adapter, wherein the walking device (16) is installed below the annular base (35), the support pillar (14) is installed above the annular base (35), the control cabinet (1) is installed above the support pillar (14), the precise guide pillar (13) is installed above the annular base (35), the upper end plate (4) is installed above the precise guide pillar (13), the supporting plate (34) is installed on the precise guide post (13) through the linear bearing (8) in a vertically movable manner, the perpendicularity correction executing device (7) is arranged on the supporting plate (34), the screwing driving servo motor (2) is connected with the perpendicularity correction executing device (7), the weight compensation cylinder (3) is installed on the upper end plate (4), the torque sensor (9) is arranged in the supporting plate (34), the perpendicularity detecting device (10) is arranged in the supporting plate (34), the bolt connecting device (11) is installed on the perpendicularity correction executing device (7), the cylinder brake (12) is installed on the precise guide post (13), the chuck control device (17) and the positioning device (18) are installed below the annular base (35), and the torque detecting device is installed on the perpendicularity correction executing device (7), the screw adapter is connected to the screw connection device (11).
2. The quick-connect self-correcting bolt-screwing mechanism according to claim 1, characterized in that said perpendicularity correction actuating means (7) comprises: the spring fixing device comprises an upper fixing plate (19), a linear sliding rail A (20), a middle fixing plate (21), a lower fixing plate (22), a spring (23) and a linear guide rail B (36), wherein the spring (23) is arranged below the lower fixing plate (22), and the linear guide rail B (36), the middle fixing plate (21), the linear sliding rail A (20) and the upper fixing plate (19) are sequentially arranged above the lower fixing plate (22).
3. The quick connect self aligning bolt-on mechanism of claim 1 wherein said bolt connection means (11) comprises: motor coupling stiff end (24), compression spring (25), telescopic link top external tooth (26), fixed end cap internal tooth (27), screw thread section A (28), transmission shaft couple (29), establish in motor coupling stiff end (24) screw thread section A (28), be equipped with on screw thread section A (28) fixed end cap internal tooth (27), set up on transmission shaft couple (29) telescopic link top external tooth (26), transmission shaft couple (29) with motor coupling stiff end (24) embedding is connected, transmission shaft couple (29) with set up between motor coupling stiff end (24) compression spring (25).
4. The quick connect self aligning bolt turning mechanism of claim 1 wherein a drive shaft hook entrance (31) is provided in said bolt adapter, a threaded section B (33) and a main bolt adapter through hole (32) are provided in sequence above said drive shaft hook entrance (31), and two ends of a drive shaft hook rotation stop pin (30) are connected to said threaded section B (33) and main bolt adapter through hole (32) respectively.
5. The quick connect self aligning bolting mechanism according to claim 1 wherein said torque sensing means comprises a distance measuring sensor (5) and a load cell (6).
6. The quick connect self aligning bolt-screwing mechanism of claim 1 further comprising a cable assembly (15), said cable assembly (15) being mounted on said annular base (35).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021001899.6U CN212330281U (en) | 2020-06-04 | 2020-06-04 | Quick-connection self-correcting bolt screwing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021001899.6U CN212330281U (en) | 2020-06-04 | 2020-06-04 | Quick-connection self-correcting bolt screwing mechanism |
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| CN212330281U true CN212330281U (en) | 2021-01-12 |
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| CN202021001899.6U Active CN212330281U (en) | 2020-06-04 | 2020-06-04 | Quick-connection self-correcting bolt screwing mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571194A (en) * | 2020-06-04 | 2020-08-25 | 大连泰凯工业有限公司 | Quick-connection self-correcting bolt screwing mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571194A (en) * | 2020-06-04 | 2020-08-25 | 大连泰凯工业有限公司 | Quick-connection self-correcting bolt screwing mechanism |
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