CN109834638A - A kind of space fastening high torch bolt device - Google Patents
A kind of space fastening high torch bolt device Download PDFInfo
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- CN109834638A CN109834638A CN201711202113.XA CN201711202113A CN109834638A CN 109834638 A CN109834638 A CN 109834638A CN 201711202113 A CN201711202113 A CN 201711202113A CN 109834638 A CN109834638 A CN 109834638A
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Abstract
The present invention relates to airspace engines to assemble fastening field, specifically a kind of space fastening high torch bolt device, including fixed pedestal, six degree of freedom joint arm component, spanner connection component and Electric torque wrench, six degree of freedom joint arm component includes a sequentially connected axis, two axis, three axis, four axis, five axis and six axis, wherein an axis and the fixed pedestal are rotatablely connected, six axis are connected by the spanner connection component with the Electric torque wrench, and spanner connection component one end is slidably mounted on six shaft end, the other end and the Electric torque wrench are hinged, each shaft connection place of six degree of freedom joint arm component is equipped with axis brake disc and axis lockable mechanism, and each axis brake disc passes through the axis lockable mechanism locking of the shaft connection place where the axis brake disc respectively.The present invention can rapidly and accurately fasten rocket engine space large torque bolt, reduce the labor intensity of operator, while can feedback record bolt torque values.
Description
Technical field
The present invention relates to airspace engines to assemble fastening field, specifically a kind of space fastening high torch bolt dress
It sets.
Background technique
Rocket is the important delivery vehicle of satellite, MISSILE LAUNCHING and space exploration, is held in national defense safety and national economy
Important role is carried on a shoulder pole, rocket manufacture and its lift-off technology are as an important mark for measuring national a national defence and scientific and technological strength
Standard is only grasped by a few countries in the world at present.Due to the manufacturing expenses of the Space Equipments such as rocket and its entrained satellite
With high, this requires rocket launching higher success rate, as the construction of national defense safety and space station is to rocket launching
The increasingly increase of the frequency, requirement of the country to the performance and assembling quality of rocket are also higher and higher.
An important factor for performance and assembling quality of rocket engine are decision rocket carrying capacity and launching success rate, and
Bolt fastening is mainly used for firing in rocket engine as the major way connected between rocket engine components in assembly
Flange fastening between each spare part such as air pipe, turbine pump, therefore bolted fastening quality and moment of torsion control are to guarantee
Play a significant role in the sealing performance and rocket launching safety of pipeline.The fastening of rocket motor machine bolt is more in the prior art
It is manually tightened using torque wrench by certain regulation, and manually recorded torque value, operating process is cumbersome, due to rocket engine spiral shell
Bolt type is more, quantity is big, and the later period can accumulate a large amount of record file, it is easy to mistake occur, simultaneously because the torsion of flange bolt
Square can generate biggish counter-force mostly in 100NM or so when manually tightening, need to extend operating stick, considerably increase fastening
Labor intensity.Further, since rocket motor machine bolt rundown process is complicated, large labor intensity, torque recording process is cumbersome, entirely
The tightening process for a bolt of engine occupies the assembly time of substantially rocket engine, causes great wave to resource and time
Take.In addition, all directions due to rocket motor machine bolt in space, are difficult the counter-force mechanism pair by regular stationary
Torque wrench applies counter-force.Therefore how space large torque bolt is fastened, and providing effective counterforce device is one
Technical problem urgently to be resolved.In addition, how fast and accurately feedback record bolt torque values and rocket motor machine bolt are tight
Gu problem to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of space fastening high torch bolt devices, can rapidly and accurately send out rocket
Motivation space large torque bolt is fastened, and reduces the labor intensity of operator, while being capable of automatic feedback record bolt torque
Value, it is convenient that digital management and quality tracing are carried out to assembling process.
The purpose of the present invention is achieved through the following technical solutions:
A kind of space fastening high torch bolt device, including fixed pedestal, six degree of freedom joint arm component, spanner connection group
Part and Electric torque wrench, six degree of freedom joint arm component include a sequentially connected axis, two axis, three axis, four axis, five axis
With six axis, wherein an axis and the fixed pedestal are rotatablely connected, spanner connection component one end is slidably mounted on described
Six shaft ends, the other end and the Electric torque wrench are hinged, and each shaft connection place of six degree of freedom joint arm component is all provided with
There are axis brake disc and axis lockable mechanism, and each axis brake disc passes through the axis locking of the shaft connection place where the axis brake disc respectively
Mechanism locking.
One axis and fixed pedestal are rotatablely connected, hinged by the first pin shaft between two axis and an axis, three axis and two axis
Between it is hinged by the second pin shaft, four axis and three axis are rotatablely connected, hinged by third pin shaft between five axis and four axis, six axis and
Five axis rotation connection a, wherein axis, four axis, six axis are axially rotated around itself.
One axis and fixed pedestal junction are equipped with an axis brake disc and an axis lockable mechanism, and the axis brake disc is set to
One shaft end portion, the axis lockable mechanism are set on the fixed pedestal.
Two axis and a shaft connection place are equipped with two axis brake discs and two axis lockable mechanisms, and three axis and two shaft connection places are equipped with three axis
Brake disc and three axis lockable mechanisms, and two axis brake discs and two axis lockable mechanisms are set to two axis side, three axis brake discs and
Three axis lockable mechanisms are set to two axis other side.
The two axis brake disc is set to first end part of pin shaft, and the two axis lockable mechanism is installed on bearing described the
On the axis pin base of one pin shaft；The three axis brake disc is set to second end part of pin shaft, and the three axis lockable mechanism is mounted on
On the axis pin base for supporting second pin shaft.
Four axis and three axis connecting places are equipped with four axis lock plates and four axis lockable mechanisms, and the four axis lock plate is set to institute
Four shaft end portions are stated, the four axis lockable mechanism is set to three shaft end portion；Five axis and four shaft connection places are equipped with five axis lock plates
With five axis lockable mechanisms, and the five axis lock plate is set to third pin shaft one end, and the five axis lockable mechanism is mounted on
On the axis pin base for supporting the third pin shaft；Six axis and five shaft connection places are equipped with six axis lock plates and six axis lockable mechanisms,
And the six axis lock plate is set to six shaft end portion, six axis lockable mechanisms are set to five shaft end portions.
Two axis lockable mechanisms and three axis lockable mechanism structures are identical, include locking driving cylinder, locking support frame, hinged
Head, hinged fixing seat, hinge bar and compression locking head, the locking driving cylinder is mounted on the locking support frame, in institute
The cylinder rod end for stating locking driving cylinder is equipped with articulated joint, and the articulated joint and described hinge bar one end are hinged, the hinge bar
Middle part is articulated on the inside of the locking support frame by hinged fixing seat, and the hinge bar other end, which is equipped with, compresses locking head.
Four axis lockable mechanisms, five axis lockable mechanisms and six axis lockable mechanism structures are identical, include lock-up cylinder, support
Frame, locking guide bearing and brake latch, lock-up cylinder is mounted on support frame as described above, at the cylinder rod end of the lock-up cylinder
Portion be equipped with brake latch, four axis lock plates, five axis lock plates, six axis lock plates outer circle wall on be equipped with lock groove,
The brake latch is driven to engage with corresponding lock groove by the lock-up cylinder and be compressed, in the cylinder rod of the lock-up cylinder
Two sides are respectively equipped with locking guide bearing and are connected with the brake latch.
The spanner connection component includes connecting rod, hinged seat and anchor ear, wherein the connecting rod is slidably mounted on
On six axis, described hinged seat one end is connected with the connecting rod, and the hinged seat other end and the anchor ear are hinged, described
Electric torque wrench is clamped by the anchor ear.
Five axis is equipped with cylinder locking start-stop button, the end of the Electric torque wrench be equipped with can changing-over power
Sleeve.
Advantages of the present invention and good effect are as follows:
1, the present invention presses setting torque in conjunction with Electric torque wrench using six degree of freedom joint arm component as counter-force mechanism
Size fastens rocket engine space large torque bolt, and by the sensor in Electric torque wrench to final spiral shell
Bolt tightening torque value is fed back, and measurement result is automatically stored, and is easy to quality tracing.
2, for the present invention using six degree of freedom joint arm component as counter-force mechanism, Electric torque wrench is fixed on six degree of freedom
On counter-force mechanism terminal shaft, and when space large torque bolt is tightened, six degree of freedom joint each shaft connection place of arm component passes through axis
Brake assemblies are locked, provide effective counter-force to Electric torque wrench.
3, in present invention design, Electric torque wrench is fixed on six degree of freedom joint arm component by spanner connection component
On six axis, and the spanner connection component is connected that can be parallel to screw-driving direction mobile for one end with six axis, in screw-driving
Electric torque wrench is set to can adapt to the height change of screw, making counter-force mechanism, operation is simple and reliable.
4, final torque value feedback is sent to control system by the sensor being arranged in Electric torque wrench by the present invention,
To realize automatically recording and digitization management for torque.
5, Electric torque wrench end of the invention is connected with power sleeve by quick change construction, and power sleeve is according to fastening
Multiple groups are arranged in the size of screw 17, to adapt to the fastening requirements of different size screw, it can be achieved that space large torque range
The high quality of screw fastens, and structure design meets ergonomics, greatly reduces the labor intensity of operator.
Detailed description of the invention
Fig. 1 is working state schematic representation of the invention,
Fig. 2 is structural schematic diagram of the invention,
Fig. 3 is the structural schematic diagram of four axis clamping lockable mechanisms in Fig. 1,
Fig. 4 is the structural schematic diagram of five axis and six axis clamping lockable mechanisms in Fig. 1,
Fig. 5 is the structural schematic diagram that torque wrench tightens guiding mechanism in Fig. 1.
Wherein, 1 is fixed pedestal；2 be an axis；201 be an axis brake disc；3 be two axis；301 be two axis brake discs；4 are
Three axis；401 be three axis brake discs；5 be four axis；501 be four axis brake discs；6 be five axis；601 be five axis brake discs, and 602 be gas
Cylinder locking start-stop button；7 be six axis；701 be six axis lock plates；702 be guide key groove；8 be an axis lockable mechanism；9 be two axis
Lockable mechanism；10 be three axis lockable mechanisms；11 be four axis lockable mechanisms；12 be five axis lockable mechanisms；13 be six axis lockable mechanisms；
14 be spanner connection component；141 be connecting rod；142 be feather key；143 be limit pin；144 be hinged seat；145 be locking
Screw；146 be hinged pin；147 be articulated joint；148 be fixed anchor ear part；149 be locking anchor ear part；15 pull for electric torque
Hand；151 be sleeve；16 be fuel gas pipeline；17 be fastening screw；18 be turbine pump flange；19 drive cylinder for locking；20 be lock
Only support frame；21 be articulated joint；22 be hinged fixing seat；23 be hinge bar；24 be compression locking head；25 be lock-up cylinder；26
For support frame；27 be locking guide bearing；28 be brake latch.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Fig. 1~5, the present invention includes fixed pedestal 1, six degree of freedom joint arm component, 14 and of spanner connection component
Electric torque wrench 15, the fixed pedestal 1 are packed in setting station by screw, the six degree of freedom joint arm group
Part includes sequentially connected six axis, wherein the axis 2 for being located at starting point is rotatablely connected with the fixed pedestal 1, is located at output
Six axis 7 at end are connected by the spanner connection component 14 with the Electric torque wrench 15, and the spanner connection component 14
One end is slidably mounted on six axis, 7 end, and the other end and the Electric torque wrench 15 are hinged, and the six degree of freedom closes
Each shaft connection place of joint arm component is equipped with axis brake disc and axis lockable mechanism, total to have six groups of axis lockable mechanism difference lockings each
Axis freedom degree, and six groups of axis lockable mechanisms use various structures according to present position and born reaction torque are of different sizes
Form.
As shown in Fig. 1~2, in six axis of six degree of freedom joint arm component, an axis 2 is rotatablely connected with fixed pedestal 1,
It is hinged by the first pin shaft between two axis 3 and an axis 2, hinged by the second pin shaft between three axis 4 and two axis 3, four axis 5 and three axis
4 rotation connections, hinged by third pin shaft between five axis 6 and four axis 5, six axis 7 and five axis 6 are rotatablely connected, wherein an axis
2, four axis 5, six axis 7 are axially rotated around itself.
As shown in Fig. 1~2, an axis 2 is equipped with an axis brake disc 201 and an axis locking machine with 1 junction of fixed pedestal
Structure 8, the axis brake disc 201 are set to 2 end of an axis, and the axis lockable mechanism 8 is set on the fixed pedestal 1,
The one axis brake disc 201 is locked by the axis lockable mechanism 8, thus an axis 2DOF described in locking.The present embodiment
In, the axis lockable mechanism 8 is the cylinder with clamping jaw, can clamp the locking one axis brake disc 201.
As shown in Fig. 1~2, two axis 3 and 2 junction of an axis are equipped with two axis brake discs 301 and two axis lockable mechanisms 9, three axis 4
Three axis brake discs 401 and three axis lockable mechanisms 10, and two axis brake discs 301 and two axis lockable mechanisms 9 are equipped with two axis, 3 junction
Set on two axis, 3 side, three axis brake discs 401 and three axis lockable mechanisms 10 are set to two axis, 3 other side.
As shown in Fig. 1~2, the two axis brake disc 301 is set to first end part of pin shaft, the two axis lockable mechanism
9 are installed on the axis pin base for supporting first pin shaft, and the two axis brake disc 301 is locked by the two axis lockable mechanism 9,
To limit the two axis 3DOF.
As shown in figure 3, the three axis brake disc 401 is set to second end part of pin shaft, the three axis lockable mechanism 10
It is mounted on the axis pin base for supporting second pin shaft, the three axis brake disc 401 is locked by the three axis lockable mechanism 10
Limit three axis 4DOFs.
The two axis lockable mechanism 9 is identical with three axis lockable mechanisms, 10 structure, as shown in figure 3, the two axis lockable mechanism 9
It include locking driving cylinder 19 with three axis lockable mechanisms 10, locking support frame 20, articulated joint 21, hinged fixing seat 22, hinged
Bar 23 and compression locking head 24, the locking support frame 20 are packed in the fulcrum bearing of the first pin shaft or the second pin shaft, the lock
Only driving cylinder 19 is mounted on the locking support frame 20, is equipped with articulated joint in the cylinder rod end of locking driving cylinder 19
21, the articulated joint 21 and described 23 one end of hinge bar are hinged, the approximate swallow-tail form of the hinge bar 23 and intermediate jag passes through
Hinged fixing seat 22 is articulated with 20 inside of locking support frame, and 23 other end of hinge bar is equipped with compression locking head 24 and pushes down
Two axis brake discs 301 or three axis brake discs 401 described in locking.The hinge bar 23 drives the defeated of cylinder 19 similar to lever, locking
It contributes after the force-increasing mechanism amplification that the articulated joint 21 and hinge bar 23 form, so that the compression locking head 24 and brake
Pressing friction power between disk is multiplied, so as to bear biggish reaction torque.
As shown in Figures 1 to 3, four axis lock plates 501 and four axis lockable mechanisms are equipped in four axis 5 and three axis, 4 connecting place
11, wherein the four axis lock plate 501 is set to four axis, 5 end, the four axis lockable mechanism 11 is set to three axis 4
End, the four axis lock plate 501 is locked by the four axis lockable mechanism 11, thus four axis 5DOF described in locking.
As shown in Fig. 1~2 and Fig. 4, five axis lock plates 601 and five axis lockings are equipped in five axis 6 and four axis, 5 junction
Mechanism 12, hinged by third pin shaft between five axis 6 and four axis 5, the five axis lock plate 601 is set to the third pin
Axis one end, the five axis lockable mechanism 12 are mounted on the axis pin base for supporting the third pin shaft, and the five axis lock plate 601 is logical
It crosses the five axis lockable mechanism 12 to lock, thus five axis 6DOF described in locking.
As shown in figure 4, six axis lock plates 701 and six axis lockable mechanisms 13 are equipped in six axis 7 and five axis, 6 junction,
Wherein the six axis lock plate 701 is set to six axis, 7 end, and six axis lockable mechanisms 13 are set to five axis, 6 end, and described six
Axis lock plate 701 is locked by the six axis lockable mechanism 13, thus six axis, 7 freedom degree described in locking.
The four axis lockable mechanism 11, five axis lockable mechanisms 12 are identical with six axis lockable mechanisms, 13 structure, as shown in figure 4,
The four axis lockable mechanism 11, five axis lockable mechanisms 12 and six axis lockable mechanisms 13 include lock-up cylinder 25, support frame 26, lock
Tight guide bearing 27 and brake latch 28, lock-up cylinder 25 is mounted on support frame as described above 26, in the lock-up cylinder 25
Cylinder rod end is equipped with brake latch 28, the four axis lock plate 501, five axis lock plates 601, six axis lock plates 701 it is outer
Lock groove is equipped in circumferential wall, brake 28 side of latch is the camber cooperated with the lock groove, the brake lock
Stops 28 is driven by the lock-up cylinder 25 and is now locked with the lock groove engagement pressure consolidation, in the lock-up cylinder 25
Cylinder rod two sides, which are respectively equipped with a locking guide bearing 27 and are connected with the brake latch 28, to play the guiding role.Such as Fig. 1~2 and
Shown in Fig. 4, the support frame 26 in the four axis lockable mechanism 11 is mounted on three axis 4, in the five axis lockable mechanism 12
Support frame 26 be mounted on the axis pin base of the third pin shaft, the support frame 26 in the six axis lockable mechanism 13 is mounted on institute
It states on five axis 6.
In addition as shown in figure 4, being equipped with cylinder locking start-stop button 602 on five axis 6 for controlling each axis locking
Cylinder start and stop in mechanism, to control locking and the release operation of six degree of freedom joint arm component.
As shown in Figure 1 and Figure 5, the spanner connection component 14 includes connecting rod 141, hinged seat 144 and anchor ear, wherein institute
It states connecting rod 141 to be slidably mounted on six axis 7, the connecting rod 141 and six axis 7 are real by a feather key 142
It is now keyed, the guide key groove 702 for accommodating the feather key 142 is equipped on six axis 7, the connecting rod 141 is led
Freedom of movement pair is cooperatively formed to key 142, guide key groove 702, motion guide is provided for Electric torque wrench 15, in addition exists
The connecting rod 141 is equipped with the moving range that limit pin 143 is used to limit the connecting rod 141, the hinged seat 144 1
End is connected with the connecting rod 141, is equipped with lock-screw 145 for locking the chain extension bar 141 in 144 side of hinged seat
With hinged seat 144, it is combined together the two, 144 other end of hinged seat is hinged by hinging pin shaft 146 and anchor ear, institute
It states anchor ear and grips the Electric torque wrench 15, the anchor ear includes that articulated joint 147, fixed anchor ear part 148 and locking are embraced
Cuffs 149, the articulated joint 147 is hinged by the hinging pin shaft 146 and 144 lower end of hinged seat, fixed anchor ear part 148
It being connected with the articulated joint 147, locking anchor ear part 149 and fixed anchor ear part 148 are fixed the Electric torque wrench 15, Gu
Determine anchor ear 148 and lock the clamping device that anchor ear 149 collectively forms Electric torque wrench 15, due to different Electric torque wrenches 15
Torque is applicable in torque range difference and causes its retained part diameter different, therefore clamping device is designed to multiple groups, with
Meet the requirement of the Electric torque wrench under different torques.
As shown in Figure 1 and Figure 5, the end of the Electric torque wrench 15 is connected with power sleeve 151 by quick change construction,
Multiple groups are arranged according to the size of fastening screw 17 in power sleeve 151, to adapt to the fastening requirements of different size screw.This reality
It applies in example, the model ETV ST101-450-20 of the Electric torque wrench, manufacturer is that the Atlas Copco of Sweden is public
Department.The size of the power sleeve 151 can be switched fast according to the size of fastening screw 17, and the present embodiment summarizes, the fastening
Screw 17 is for connecting fastening fuel gas pipeline 16 and turbine pump flange 18, and the turbine pump flange 18 and fuel gas pipeline 16 may
In space any attitude.
The operation principle of the present invention is that:
The assembly fastening screw of the needs that airspace engine is designed due to structure, many components is in the unconventional appearance in space
State, and screw-down torque is larger, it is unstable to tighten time-consuming and laborious and fastening quality using conventional method.The present invention devises a kind of sky
Between fastening high torch bolt method and device, space fastening screw for unconventional posture tightens, its working principle is that: first
Pre-screwing fastening screw 17, then fastening screw 17 is tightened by Electric torque wrench 15, the Electric torque wrench 15
It is connected by the spanner connection component 14 with the end of six degree of freedom joint arm component, wherein the spanner connection component
14 one end are slidably mounted on six axis, 7 end of six degree of freedom joint arm component, and the other end is pulled with the electric torque
Hand 15 is hinged, and six degree of freedom joint arm component is fixed on fixed pedestal 1 and including sequentially connected six axis, and described six
Degree-of-freedom joint arm component can make Electric torque wrench 15 adjust corresponding space bit according to the spatial attitude of fastening screw 17
It sets, Electric torque wrench 15 is needed when tightening through the fixed each axis of six degree of freedom joint arm component of each axis lockable mechanism locking,
To bear the counter-force of tightening of Electric torque wrench 15, while when Electric torque wrench 15 is tightened, the spanner connection component 14
Mobile terminal is that Electric torque wrench 15 provides the freedom of motion being parallel on 17 axis direction of fastening screw, to guarantee that screw is twisted
It is tightened to position, screwing force feedback transducer is equipped in Electric torque wrench 17, can store and feed back screw-down torque value, to protect
Assembling quality is demonstrate,proved, and realizes digital management and quality tracing, and the electronic of quick change difference torque coverage area can be passed through
Torque wrench 15 and quick change are directed to different size of power sleeve 151, and the present invention is made to have bigger applicability.
Claims (10)
1. a kind of space fastening high torch bolt device, it is characterised in that: including fixed pedestal (1), six degree of freedom joint arm group
Part, spanner connection component (14) and Electric torque wrench (15), six degree of freedom joint arm component include sequentially connected one
Axis (2), two axis (3), three axis (4), four axis (5), five axis (6) and six axis (7), wherein an axis (2) and the fixed pedestal (1) turn
Dynamic connection, described spanner connection component (14) one end are slidably mounted on six axis (7) end, the other end with it is described electronic
Hingedly, each shaft connection place of six degree of freedom joint arm component is equipped with axis brake disc and axis locking machine to torque wrench (15)
Structure, and each axis brake disc passes through the axis lockable mechanism locking of the shaft connection place where the axis brake disc respectively.
2. fastening high torch bolt device in space according to claim 1, it is characterised in that: an axis (2) and fixation
Pedestal (1) rotation connection, it is hinged by the first pin shaft between two axis (3) and an axis (2), pass through between three axis (4) and two axis (3)
Second pin shaft is hinged, and four axis (5) and three axis (4) are rotatablely connected, hinged by third pin shaft between five axis (6) and four axis (5), and six
Axis (7) and five axis (6) are rotatablely connected, wherein an axis (2), four axis (5), six axis (7) are axially rotated around itself.
3. fastening high torch bolt device in space according to claim 1 or 2, it is characterised in that: an axis (2) and fixed base
Seat (1) junction is equipped with an axis brake disc (201) and an axis lockable mechanism (8), and the axis brake disc (201) is set to an axis
(2) end, the axis lockable mechanism (8) are set on the fixed pedestal (1).
4. fastening high torch bolt device in space according to claim 2, it is characterised in that: two axis (3) and an axis (2) are even
It meets place and is equipped with two axis brake discs (301) and two axis lockable mechanisms (9), three axis (4) and two axis (3) junction are equipped with three axis brake discs
(401) and three axis lockable mechanisms (10), and two axis brake discs (301) and two axis lockable mechanisms (9) are set to two axis (3) one
Side, three axis brake discs (401) and three axis lockable mechanisms (10) are set to two axis (3) other side.
5. fastening high torch bolt device in space according to claim 4, it is characterised in that: the two axis brake disc
(301) it is set to first end part of pin shaft, the two axis lockable mechanism (9) is installed on the axis pin base for supporting first pin shaft
On；The three axis brake disc (401) is set to second end part of pin shaft, and the three axis lockable mechanism (10) is mounted on bearing institute
On the axis pin base for stating the second pin shaft.
6. fastening high torch bolt device in space according to claim 2, it is characterised in that: four axis (5) and three axis (4) phase
Four axis lock plates (501) and four axis lockable mechanisms (11) are equipped at even, and the four axis lock plate (501) is set to four axis
(5) end, the four axis lockable mechanism (11) are set to three axis (4) end；Five axis (6) are equipped with four axis (5) junction
Five axis lock plates (601) and five axis lockable mechanisms (12), and the five axis lock plate (601) is set to the third pin shaft one
End, the five axis lockable mechanism (12) are mounted on the axis pin base for supporting the third pin shaft；Six axis (7) and five axis (6)
Junction is equipped with six axis lock plates (701) and six axis lockable mechanisms (13), and the six axis lock plate (701) is set to described six
Axis (7) end, six axis lockable mechanisms (13) are set to five axis (6) end.
7. fastening high torch bolt device in space according to claim 1 or 2, it is characterised in that: two axis lockable mechanisms (9)
It is identical with three axis lockable mechanism (10) structures, include locking driving cylinder (19), locking support frame (20), articulated joint (21),
Hinged fixing seat (22), hinge bar (23) and compression locking head (24), locking driving cylinder (19) are mounted on the locking
On support frame (20), the locking driving cylinder (19) cylinder rod end be equipped with articulated joint (21), the articulated joint (21) with
Described hinge bar (23) one end is hinged, is articulated with the locking by hinged fixing seat (22) in the middle part of the hinge bar (23) and supports
On the inside of frame (20), hinge bar (23) other end, which is equipped with, compresses locking head (24).
8. fastening high torch bolt device in space according to claim 1 or 2, it is characterised in that: four axis lockable mechanisms
(11), five axis lockable mechanisms (12) are identical with six axis lockable mechanism (13) structures, include lock-up cylinder (25), support frame
(26), guide bearing (27) and brake latch (28) are locked, lock-up cylinder (25) is mounted on support frame as described above (26), in institute
State lock-up cylinder (25) cylinder rod end be equipped with brake latch (28), four axis lock plates (501), five axis lock plates (601),
Lock groove is equipped on the outer circle wall of six axis lock plates (701), the brake latch (28) passes through the lock-up cylinder
(25) driving engages with corresponding lock groove and compresses, and is respectively equipped with locking guiding axis in the cylinder rod two sides of the lock-up cylinder (25)
(27) are held to be connected with the brake latch (28).
9. fastening high torch bolt device in space according to claim 1, it is characterised in that: the spanner connection component
It (14) include connecting rod (141), hinged seat (144) and anchor ear, wherein the connecting rod (141) is slidably mounted on described six
On axis (7), described hinged seat (144) one end is connected with the connecting rod (141), hinged seat (144) other end with it is described
Anchor ear is hinged, and the Electric torque wrench (15) is clamped by the anchor ear.
10. fastening high torch bolt device in space according to claim 1, it is characterised in that: five axis (6) is equipped with
Cylinder locking start-stop button (602), the end of the Electric torque wrench (15) be equipped with can changing-over power sleeve (151).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711202113.XA CN109834638A (en) | 2017-11-27 | 2017-11-27 | A kind of space fastening high torch bolt device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711202113.XA CN109834638A (en) | 2017-11-27 | 2017-11-27 | A kind of space fastening high torch bolt device |
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| CN109834638A true CN109834638A (en) | 2019-06-04 |
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ID=66879786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711202113.XA Pending CN109834638A (en) | 2017-11-27 | 2017-11-27 | A kind of space fastening high torch bolt device |
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| CN (1) | CN109834638A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112894311A (en) * | 2021-04-08 | 2021-06-04 | 中国科学院国家天文台 | Device convenient to FAST feed receiver installation and dismantlement |
| CN114193384A (en) * | 2022-01-20 | 2022-03-18 | 徐州徐工矿业机械有限公司 | Large-scale mobile crushing station bolt torque-fixing device and using method |
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| CN106737607A (en) * | 2017-02-15 | 2017-05-31 | 昆山威创自动化科技有限公司 | Six-joint robot |
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| CN202241312U (en) * | 2011-09-06 | 2012-05-30 | 芜湖德力自动化装备科技有限公司 | Self-locking brake mechanism of power-assisted manipulator |
| CN206200534U (en) * | 2016-11-17 | 2017-05-31 | 苏州菱麦自动化设备科技有限公司 | Manipulator automatic screw nailing mechanism |
| CN106737607A (en) * | 2017-02-15 | 2017-05-31 | 昆山威创自动化科技有限公司 | Six-joint robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112894311A (en) * | 2021-04-08 | 2021-06-04 | 中国科学院国家天文台 | Device convenient to FAST feed receiver installation and dismantlement |
| CN114193384A (en) * | 2022-01-20 | 2022-03-18 | 徐州徐工矿业机械有限公司 | Large-scale mobile crushing station bolt torque-fixing device and using method |
| CN114193384B (en) * | 2022-01-20 | 2024-04-30 | 徐州徐工矿业机械有限公司 | Large-scale mobile crushing station bolt fixed-torque device and use method thereof |
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Application publication date: 20190604 |