CN113500383B - A bolt tightening robot for power angle steel towers - Google Patents

Abstract

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a bolt tightening robot for an electric power angle steel tower. The invention comprises a main machine and an angle steel clamping assembly; the angle steel clamping assemblies are more than two groups and are sequentially arranged on the main machine, and each angle steel clamping assembly can generate linear reciprocating motion along the length direction of the angle steel main material under the driving action of the linear driving part; the head end of the host machine is provided with a bolt tightening device, the bolt tightening device comprises an extension arm and a working head, the extension arm comprises a bottom frame fixed on the host machine, and a rotating component for driving the working head to generate rotating action and a plane displacement component for driving the working head to generate fixed-point operation are arranged on the bottom frame. The invention has higher working reliability and stability, can ensure to realize the force sealing effect and the shape sealing effect in the climbing process along the electric power angle steel tower, finally replaces manpower, and realizes the high-precision and high-efficiency high-altitude operation requirement.

Description

A bolt tightening robot for power angle steel towers

Technical Field

The invention belongs to the technical field of electric power operation climbing robots, and in particular relates to a bolt re-tightening robot for electric power angle steel towers.

Background Art

The stability and safety of electricity is the basic guarantee for promoting the development of all walks of life. In my country, there are many power angle steel towers as shown in Figure 16, which are widely distributed and exposed to the outdoor environment for a long time, even in the harsh environment of dust, strong wind and high humidity. This requires maintenance personnel to work at heights and re-tighten the connecting bolts at the power angle steel towers during subsequent inspection and maintenance. This is not only dangerous and labor-intensive, but also has a long time in the air, which can easily cause physical overdraft of the staff, thereby further endangering the health of the staff. At the same time, the maintenance method is obviously extremely inefficient. Whether it is possible to develop a bolt re-tightening robot for power angle steel towers or other high-altitude operations, so as to meet the bolt re-tightening operation needs in high-altitude environments, is a technical problem that needs to be solved in this field in recent years.

Summary of the invention

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and to provide a smaller and more compact bolt tightening robot for power angle steel towers, which has higher working reliability and stability, and can ensure the force sealing effect and shape sealing effect during its climbing process along the power angle steel tower, and ultimately replace manual labor to achieve high-precision and high-efficiency aerial work requirements.

To achieve the above object, the present invention adopts the following technical solutions:

A bolt re-tightening robot for an electric angle steel tower, characterized in that it comprises a main machine and an angle steel clamping assembly arranged on the main machine; along the length direction of the main angle steel material, the angle steel clamping assembly is more than two groups and is arranged in sequence on the main machine, and each angle steel clamping assembly can generate a linear reciprocating motion along the length direction of the main angle steel material under the driving action of a linear driving part;

The angle steel clamping assembly includes a fixed seat, on which are arranged a pressing portion for pressing against the outer wall or edge of the main material of the angle steel and a clamping portion for generating a closing and clamping action along the cross-sectional direction of the main material of the angle steel. The clamping portion and the pressing portion apply force toward each other to clamp the main material of the angle steel. The clamping portion includes two symmetrical claw rods, the head ends of the claw rods constitute the clamping ends, and the tail ends of the claw rods respectively pass through a group of swing guide sleeves, so that the corresponding claw rods can perform a linear reciprocating motion along the axial direction of the matching swing guide sleeve, and the swing guide sleeve is then passed through The clamping part also includes a mounting plate and a push-pull plate which are respectively arranged horizontally above and below the tail end of the claw rod, with the adjacent plate surfaces of the mounting plate and the push-pull plate as working surfaces, and a directional groove is concavely arranged on the working surface of the mounting plate, and the directional groove is in the shape of an "eight" character which gradually expands outward from the rear end of the fixed seat to the front end of the fixed seat, and a "one"-shaped guide groove is concavely arranged on the working surface of the push-pull plate, and a vertical push-pull shaft is arranged at the tail end of the claw rod, and the two shaft ends of the vertical push-pull shaft respectively cooperate with the directional groove and the guide groove , so that the two ends of the vertical push-pull shaft can perform synchronous slide rail guiding actions in the directional groove and the guide groove; the push-pull plate is driven by the horizontal driving assembly to generate horizontal reciprocating actions in the direction perpendicular to the vertical push-pull shaft, and the groove length direction of the guide groove intersects with the horizontal action direction of the push-pull plate; the claw rod comprises a rear rod body and a front rod body hinged to each other through the vertical axis, and the head end of the front rod body constitutes the clamping end; a fixed limiting spring sheet attached to the swing guide sleeve, the head end of the limiting spring sheet extends out of the swing guide The sleeve is bent along the radial direction of the swing guide sleeve toward the claw rod until it is pressed against the outer wall of the claw rod, thereby elastically pressing the claw rod against the wall of the swing guide sleeve; a notch is concavely provided at the tail end of the front rod body corresponding to the bent end of the limiting spring sheet, and when the vertical axis is exposed outside the barrel cavity of the swing guide sleeve, the bent end can be stuck in the notch under the elastic force of the limiting spring sheet, and at this time, the angle between the front rod body and the rear rod body is greater than 180°; an anchor point is arranged on the inner side wall of the front rod body, one end of the reset tension spring is fixedly connected to the anchor point, and the other end is fixedly connected to the vertical axis;

A bolt re-tightening device for re-tightening bolts is arranged at the head end of the main machine, and the bolt re-tightening device includes an extension arm and a working head fixed on the extension arm, and the extension arm includes a bottom frame fixed on the main machine, and a rotating component for driving the working head to generate a rotating motion and a plane displacement component for driving the working head to generate a fixed-point operation are installed on the bottom frame, wherein:

Rotating assembly: including a rotating seat that can generate a rotating motion on the bottom frame, the rotating axis of the rotating seat is perpendicular to the length direction of the main angle steel material, and the rotating axis is located on the symmetry plane where the edge of the main angle steel material is located; the rotating seat is driven by a rotating power source to generate a specified motion;

Plane displacement assembly: including an X-axis displacement mechanism and a Y-axis displacement mechanism whose displacement directions are perpendicular to each other; the X-axis displacement mechanism includes an X-axis frame and an X-axis moving block that can generate reciprocating linear motion along the length direction of the X-axis frame, the movement direction of the X-axis moving block forms a 45-degree angle with the rotation axis of the rotating seat, and the angle opening points to the direction where the main material of the angle steel is located; the Y-axis displacement mechanism includes a Y-axis frame and a Y-axis moving block that can generate reciprocating linear motion along the length direction of the Y-axis frame, and the Y-axis frame and the X-axis moving block are fixedly connected to each other;

Working head: It includes a striking seat and a striking anchor rod installed at the head end of the striking seat for positioning and rotating the sleeve, the outer contour of the head end of the striking anchor rod matches the outer contour of the preset disassembly hole at the sleeve, and a detachable elastic snap-fit or threaded fitting relationship is formed between the head end of the striking anchor rod and the disassembly hole; the striking seat is fixed on the Y-axis moving block, and a striking motor is arranged in the striking seat to drive the striking anchor rod to produce a rotational motion around the axis of the sleeve.

Preferably, the head end of the striking anchor rod is in the shape of a square prism matching the shape of the disassembly hole, and a positioning pin hole is recessed on the side wall of the head end, and an elastic pin is arranged in the positioning pin hole which can produce elastic telescopic action along the radial direction of the striking anchor rod, thereby forming an elastic snap-fit with the notch on the wall of the disassembly hole; the X-axis frame is rotatably fitted with an X-axis screw rod, and the X-axis screw rod is threadedly fitted with an X-axis moving block; the Y-axis frame is rotatably fitted with a Y-axis screw rod, and the Y-axis screw rod is threadedly fitted with a Y-axis moving block; the X-axis screw rod and the Y-axis screw rod are respectively driven by a group of synchronous motors to produce corresponding rotational actions; the rotating power source is a rotating motor, and the rotating seat is rotatably fitted on the positioning bracket at the bottom frame, and a power transmission fit is formed between the worm gear and the worm at the output shaft of the rotating motor.

Preferably, the linear drive unit includes a sliding motor installed on the main machine and a sliding screw arranged coaxially with the output shaft of the sliding motor. The sliding screw is rotatably engaged on the main machine and the length direction of the rod is parallel to the length direction of the main machine. A sliding sleeve is arranged on the fixed seat to form a screw nut structure between the sliding screw and the sliding screw.

Preferably, a group of sliding tracks are arranged on both sides of the sliding screw rod, and a sliding block is arranged on the fixed seat at each angle steel clamping assembly. The sliding block and the sliding track form a sliding guide fit with the guiding direction parallel to the length direction of the main machine.

Preferably, the limiting spring piece has an L-shaped plate shape, and the swing guide sleeve has a square sleeve shape, so as to match the claw rod with a square cross-section; the outer wall of the swing guide sleeve parallel to the vertical axis is the matching wall, the horizontal plate section is abutted against the matching wall, and a through hole is arranged through the horizontal plate section; one end of the axial tension spring is fixed at the tail end of the horizontal plate section; the other end of the axial tension spring extends forward along the length direction of the horizontal plate section, and is fixed to the matching wall after passing through the through hole; the through hole is a waist-shaped hole whose length direction is parallel to the length direction of the horizontal plate section; a group of radial tension springs are arranged on both sides of the horizontal plate section, one end of the radial tension spring is fixed to the corresponding side wall of the vertical axis on the swing guide sleeve, and the other end extends to the same side of the horizontal plate section and is fixed on that side.

Preferably, the tail end of the horizontal plate section is upturned to form a hinged ear, and a fixing column passing through the through hole is protruding from the mating wall, and both ends of the axial tension spring are respectively fixed on the hinged ear and the fixing column; support ears are arranged on both sides of the horizontal plate section, and anchor columns are arranged on both side walls of the vertical plumb axis on the swing guide sleeve, so as to fix the radial tension spring.

Preferably, the front rod body includes an inward-curved hook head and a V-shaped rod connecting the hook head and the plumb axis, the V-shaped rod and the hook head cooperate to form an arc rod-shaped structure with the notch facing inward; the head end of the arc rod and the tail end of the hook head form a detachable threaded matching structure; the anchor point is located on the inner side of the V-shaped rod.

Preferably, there are two vertical push-pull shafts that are coaxially disposed at the upper and lower parts of the tail end of the claw rod; the corresponding shaft ends of the two vertical push-pull shafts are arranged with rolling bearings that are convenient for forming a rolling fit with the directional groove and the guide groove; the "I"-shaped guide groove is formed by two groups of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate, and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts located at the tail end of the claw rod.

Preferably, the horizontal drive assembly includes a push-pull screw rod, which cooperates with the push-pull plate to form a screw slider mechanism. The push-pull screw rod extends horizontally to the rear of the fixed seat and forms a power match with the output shaft of the push-pull motor.

Preferably, the pressing portion includes a V-shaped block which is arranged vertically in the groove length direction and the groove opening is facing the direction of the edge of the main material of the angle steel, the groove bottom line of the V-shaped block constitutes a matching line for matching the edge of the main material of the angle steel, and the two groove surfaces of the V-shaped block constitute matching surfaces for matching the two groove surfaces of the main material of the angle steel; the V-shaped block is arranged in the area enclosed by the claw rod; the pressing portion also includes a driving mechanism for driving the V-shaped block to produce a moving and separating action relative to the main material of the angle steel, the driving mechanism includes two groups of screw sleeves horizontally arranged at the back of the V-shaped block groove, each screw sleeve has a coaxial thread matched with a group of screw rods, the two groups of screw rods are arranged in sequence along the length direction of the main material of the angle iron and are located on the same vertical plane; the power ends of the two groups of screw rods are matched on the same synchronous motor through synchronous belts.

The beneficial effects of the present invention are:

1) The present invention realizes the demand for re-tightening of bolts on the power angle steel tower. It has higher working reliability and stability, and can ensure the force sealing effect and shape sealing effect during the climbing process along the power angle steel tower, and finally replaces manual labor to realize high-precision and high-efficiency high-altitude operation needs.

On the one hand, according to conventional thinking, when the clamp is actually used to clamp the main angle steel material, if a larger-sized main angle steel material is encountered, in order to avoid obstacles such as foot nails, it is usually necessary to make a larger parallel displacement of the claw rod in the direction perpendicular to the main angle steel material, that is, the clamp needs to have a larger foot lift height. This part of the parallel displacement will increase the thickness of the main machine or the clamp, which will lead to a larger volume. As the core part of the present invention, the angle steel clamping assembly of the present invention adopts an articulated claw rod, which is matched with a limiting spring sheet, so that the volume is smaller, the main machine is closer to the main angle steel material, and the overall movement stability is higher. At the same time, it also has the following functions:

First, when the claw rod is opened, it has a larger opening area. When the push-pull plate pushes the two sets of claw rods to move forward, the two sets of claw rods open under the action of the swing guide sleeve until the vertical axis is exposed from the tube mouth of the swing guide sleeve; at this time, under the action of the reset spring, the entire front rod body bends backward around the vertical axis, that is, the angle between the front rod body and the rear rod body changes from the original 180° to greater than 180°, so that the maximum opening range of the claw rod is increased.

Secondly, when the claw rod is clamped, it has more reliable force sealing and shape sealing. When the push-pull plate retracts and drives the two sets of claw rods to produce a clamping action, the limiting spring sheet first disengages from the notch, and then under the retraction action of the claw rod relative to the swing guide sleeve, it pushes the front rod body to return to a 180° state with the rear rod body, so that the front rod body can be retracted into the barrel of the swing guide sleeve. Afterwards, the tail end of the front rod body is fixed in the barrel of the swing guide sleeve, and is elastically pressed tightly against the barrel wall of the swing guide sleeve by the limiting spring sheet, ensuring the reliability of positioning and avoiding the loose fit and inaccurate movement problems that may occur due to the sliding fit between the claw rod and the swing guide sleeve. The head end of the front rod body is hooked on the corresponding groove edge of the main material of the angle steel, and combined with the pressing part, it can achieve reliable force sealing and shape sealing.

On the other hand, due to the large number of bolts and different models on the power angle steel tower, it is obviously difficult to realize the online sleeve replacement operation. If a climbing robot with different models of sleeves is used each time, the cost performance obviously cannot meet daily needs.

In view of this, the present invention also provides a bolt re-tightening device installed at the head end of the main machine, so that the position of the working head can be positioned by the cooperation of the rotating component and the plane displacement component, and then the bolt re-tightening function at any point can be realized by the striking motor located on the working head; and whenever the bolt model changes, it can also be easily achieved by online replacement of the sleeve at the striking anchor at the working head, thereby achieving the purpose of convenient and efficient operation. It is worth noting that the rotation axis of the rotating component needs to be located on the symmetry plane where the edge of the angle steel main material is located; in this way, the X-axis displacement mechanism with an angle of 45° can ensure that it always moves horizontally along the wall surface of one of the outer walls of the angle steel main material, and the Y-axis displacement mechanism ensures that the working head moves close to and away from the bolt to be re-tightened, and its controllability and working accuracy can be effectively guaranteed.

2) As a further preferred solution of the above solution, the layout of the sliding track and the sliding block improves the movement accuracy of the angle steel clamping assembly; and the cooperation between the sliding screw and the sliding sleeve enables the power of the sliding motor to be reliably transmitted to the corresponding angle steel clamping assembly, so as to improve the working reliability and stability of the present invention.

3) The limiting spring piece realizes the fixing function based on the matching wall of the swing guide sleeve through the axial tension spring, and then the radial tension spring is used to ensure that the bent end of the limiting spring piece is always pressed against the claw rod, ultimately ensuring its working effect.

The axial tension spring is the key to the instantaneous action of the limit spring: if only the radial tension spring is set, the limit spring can also gradually slide into the gap when the claw rod is unfolded. However, practice has proved that this kind of snap-in action is delayed rather than instantaneous, which is not allowed in the field of high-altitude remote control operations with extremely high alignment requirements, and may even cause loose clamping and cause safety accidents. The present invention adds an axial tension spring. When the claw rod is opened, the front rod body of the claw rod continuously extends out of the swing guide sleeve. Since the bent end of the limit spring is tightly pressed against the front rod body, under the action of friction, the limit spring begins to overcome the elastic force of the axial tension spring and produces a follow-up forward action along the length direction of the through hole. By presetting the elastic force value of the axial tension spring, when the front rod body moves forward to the notch to expose the swing guide sleeve, the elastic restoring force of the axial tension spring just overcomes the above friction force, so that the limit spring piece instantly retracts under the common elastic restoring force of the radial tension spring and the axial tension spring, and is stuck in the notch that just exposes the swing guide sleeve, thereby achieving the purpose of instantaneous insertion. Obviously, the instantaneous insertion action greatly improves the action accuracy and precision of the present invention, and significantly improves the stability and reliability of the claw rod action.

4) Furthermore, the purpose of setting the hinged ears, fixed columns, support ears and anchor columns is to further specifically describe the matching state of each tension spring, which will not be described in detail here. For the front rod body, the present invention preferably adopts a detachable hook head, so that the clamping effect of different types of angle steel main materials can be improved by replacing the hook head according to the on-site conditions.

5) For the V-block, its function is that when the two groups of claw rods are tightened inward and clamp the two groove edges of the angle steel, the groove cavity of the V-block can fit tightly against the ridgeline of the angle steel, thereby cooperating with the claw rods to achieve a clamping effect in opposite directions, so as to significantly improve the clamping reliability of the main material of the angle steel. In actual design, the present invention controls the action of the V-block through two groups of screw nut mechanisms, and uses a synchronous motor as a power source, and uses a synchronous belt to ensure the synchronization of the action of the two groups of screw nut mechanisms, which ensures the compactness of the volume while effectively ensuring the working reliability.

BRIEF DESCRIPTION OF THE DRAWINGS

Figures 1 and 2 are assembly state diagrams of the present invention;

FIG3 is a schematic diagram of the three-dimensional structure of the angle steel clamping assembly;

FIG4 is an exploded view of the structure of FIG3 ;

FIG5 is an exploded view of the structure of FIG4 ;

FIG6 is a cross-sectional view of FIG3;

FIG7 is a schematic diagram of the structure of the angle steel clamping assembly when the claw rod is in an open state;

FIG8 is a cross-sectional view of FIG7;

FIG9 is a diagram showing the coordination between the limit spring piece and the front rod body in the state shown in FIG7 ;

FIG10 is a schematic diagram of the three-dimensional structure of the limiting spring piece;

FIG11 is a schematic diagram of the structure of the claw rod in the clamping process;

FIG12 is a schematic diagram of the structure of the claw rod in a clamping state;

FIG13 is a schematic diagram of the structure of a bolt re-tightening device;

FIG14 is a schematic diagram of the three-dimensional structure of the rotating assembly;

FIG15 is an exploded view of the assembly of the structure shown in FIG14;

FIG16 is a schematic diagram of the three-dimensional structure of the X-axis displacement assembly;

FIG17 is an exploded view of the assembly of the structure shown in FIG16 ;

FIG18 is a schematic diagram of the three-dimensional assembly of the Y-axis displacement assembly and the working head;

FIG19 is an exploded view of the assembly of the structure shown in FIG18 ;

FIG20 is an exploded view of the assembly of the working head;

Figure 21 is a schematic diagram of the structure of the power angle steel tower.

The actual correspondence between the reference numerals and component names of the present invention is as follows:

a- Angle steel main material b- Sleeve b1- Positioning notch b2- Disassembly hole

11-Extension arm

111- bottom frame 112- rotating assembly

112a-rotating seat 112b-rotating motor 113-X-axis displacement mechanism

113a-X axis frame 113b-X axis moving block 113c-X axis screw

114-Y-axis displacement mechanism 114a-Y-axis frame 114b-Y-axis moving block

114c-Y-axis screw 115-synchronous motor

12-Working head 12a-Strike seat

12b-Strike anchor rod 12c-Elastic pin 12d-Strike motor

30-Host 31-Sliding track 32-Sliding block 33-Sliding screw 34-Sliding sleeve

35-Slip motor

40-Angle Steel Clamp Assembly

41-fixed seat 42-pressing part

421-V-block 422-screw sleeve 423-screw 424-synchronous belt 425-synchronous motor

43-Clamping part 431-Claw rod

431a-vertical push-pull shaft 431b-rear rod body 431c-front rod body 431d-vertical shaft

431f-Gap

432-swing guide sleeve 432a-matching wall

433- plumb hinge seat 434- mounting plate 434a- orientation slot

435-push-pull plate 435a-guide groove

436-limiting spring 436a-horizontal plate section 436b-bending end 436c-hinged ear

437a-Reset tension spring 437b-Radial tension spring 437c-Axial tension spring

438a-Push-Pull Screw 438b-Push-Pull Motor

DETAILED DESCRIPTION

For the sake of overall understanding, the structure and working mode of the specific embodiment of the entire climbing robot applied by the present invention are described as follows:

The climbing robot, here taking the inchworm structure as shown in Figure 1-2 as an example: its specific structure includes a main unit 30 in the shape of a long strip frame, an angle steel clamping assembly 40 is arranged at the main unit 30 to achieve the climbing function relative to the main angle steel material, and a working kit is arranged on the main unit 30 to achieve the purpose of maintenance of the specified function. In the present invention, the working kit is a bolt re-tightening device as shown in Figures 13-20. In actual operation, the length direction of the main unit 30 should be parallel to the length direction of the main angle steel material a at the power angle steel tower as shown in Figure 21. Among them:

In further design, the inchworm structure of the present invention includes a sliding track 31 arranged on the side of the main machine 30 facing the main material of the angle steel, and a sliding block 32 is arranged on the sliding track 31, which can produce a straight reciprocating motion along the sliding track 31; the sliding block 32 is correspondingly arranged on the angle steel clamping assembly 40, so that the angle steel clamping assembly 40 can be controlled to produce a reciprocating motion along the length direction of the main machine 30 according to the action of the control unit. At the same time, a sliding motor 35 can also be arranged on the main machine 30, so that the sliding screw 33 coaxial with the output shaft of the sliding motor 35 can drive the sliding sleeve 34 located on the angle steel clamping assembly to produce a screw nut action, thereby allowing the sliding block 32 to produce a guiding action relative to the sliding track 31. When working, one or both of the two groups of angle steel clamping assemblies 40 can produce an up and down sliding motion on the sliding track 31 along the length direction of the main machine 30 through the sliding block 32, thereby realizing an inchworm-like action function. When the main machine 30 moves along the main angle steel material to a designated point and stops, the designated action can be achieved by the working kit pre-assembled at the head end or other parts of the main machine 30.

1. Bolt re-tightening device

13-20 are schematic diagrams of the structure of the bolt re-tightening device. It can be seen from the figures that the bolt re-tightening device includes a bottom frame 111, a rotating assembly 112, a plane displacement assembly and a working head 12 which are assembled in sequence.

The bottom frame 111 is shown in FIG13 , which is a common fixed frame structure, and its purpose is to connect the rotating assembly 112 with the head end of the main machine 30, which will not be described here. Referring to FIG13-14 , the rotating assembly 112 adopts a worm gear transmission pair to realize the power transmission requirement from the rotating motor 112b to the rotating seat 112a, so as to realize the rotation requirement of the rotating seat 112a on the symmetry plane where the edge of the current root angle steel main material is located; in other words, when only the rotating assembly 112 starts to move, the swing amount of the working head 12 on the left side of the angle steel main material and the swing amount on the right side of the angle steel main material are consistent, so as to realize the reference positioning requirement and provide basic guarantee for the subsequent tightening of the fixed point bolts of the working head.

On the basis of the above structure, the present invention further arranges a plane displacement assembly composed of an X-axis displacement mechanism 113 and a Y-axis displacement mechanism 114 as shown in Figures 16-19. The X-axis displacement mechanism 113 and the Y-axis displacement mechanism 114 are driven by corresponding synchronous motors 115 respectively.

During assembly, the X-axis displacement mechanism 113 includes an X-axis frame 113a and an X-axis screw rod 113c rotatably matched on the X-axis frame 113a, and an X-axis moving block 113b is arranged on the X-axis screw rod 113c, so that the X-axis moving block 113b can produce a linear telescopic movement along the 45° angle direction of the rotation axis of the rotating seat 112a. Since the main material of the angle steel is a 90° angle steel, and the rotation axis of the rotating seat 112a is located on the symmetry plane where the edge of the main material of the angle steel is located, the axis movement direction of the X-axis moving block 113b is actually parallel to one of the side walls of the main material of the angle steel, thereby ensuring the precise positioning effect of the working head 12 relative to the bolt, and ensuring that the working head 12 will not interfere with the main material of the angle steel, achieving multiple goals at one stroke. As for the Y-axis displacement mechanism 114, it is the same as the X-axis displacement mechanism 113, and also includes a corresponding Y-axis frame 114a, a Y-axis screw rod 114c and a Y-axis movable block 114b. The Y-axis frame 114a is fixed on the X-axis movable block 113b to ensure the straight-line movement of the striking seat 12a fixed to the Y-axis movable block 114b.

As for the working head 12, as shown in Figures 19-20, it actually realizes the online rotation of the sleeve fixed on the striking anchor 12b through the coaxially arranged striking motor 12d and the striking anchor 12b located at the output shaft of the striking motor 12d. The rotation of the sleeve b can be similar to a socket wrench, thereby driving the bolt located in the sleeve cavity to produce a re-tightening action. Each time the sleeve is inserted or pulled out relative to the bolt, it can be completed by the Y-axis displacement mechanism 114; each time the relative position of the sleeve and the bolt is accurately positioned, it can be completed by the rotation component 112 and the X-axis displacement mechanism 113 working together.

2. Angle steel clamping assembly 40

The purpose of the angle steel clamping assembly 40 is to directly realize the clamping, holding and loosening functions relative to the main angle steel material. Based on the above structure, the structure of the angle steel clamping assembly 40 can be shown in Figures 3-12, that is, it includes a fixed seat 41 and a clamping portion 43 and a pressing portion 42 arranged in front of the fixed seat 41. When working, the clamping portion 43 and the pressing portion 42 cooperate with each other, so that the present invention can be clamped on the main angle steel material in an embracing manner.

The structure of the fixing seat 41 is shown in Fig. 3-6, and it serves as a mounting carrier for the clamping portion 43 and the pressing portion 42, and also functions to connect the clamping portion 43, the pressing portion 42 and the host 30. The aforementioned sliding block 32 can be disposed on the back of the fixing seat 41, so as to form a guide rail matching relationship with the sliding track 31 on the host 30.

During actual assembly, the pressing portion 42 includes a V-shaped block 421. The V-shaped block 421 is in the shape of a rectangular block with a V-shaped groove on one side as shown in Figures 3-6. Two groups of threaded sleeves 422 arranged in parallel are convexly provided on the back of the V-shaped block 421. Each group of threaded sleeves 422 is respectively matched with a group of screw rods 423 in a one-to-one corresponding thread. The screw rods 423 are rotatably matched on the fixed seat 41, and rely on the synchronous motor 425 and the synchronous belt 424 to realize the online rotation of the screw rods 423. When the synchronous motor 425 is in operation, the synchronous motor 425 drives the screw rod 423 to rotate through the synchronous belt 424. The rotation of the screw rod 423 drives the threaded sleeve 422 to produce an axial reciprocating motion, which can drive the V-shaped block 421 fixed to the threaded sleeve 422 to produce an approaching and separating motion relative to the ridgeline of the main material of the angle steel.

The specific structure of the clamping part 43 is shown in Figure 3-12, including two groups of claw rods 431 symmetrical to each other, and the two groups of claw rods 431 are both inserted in the swing guide sleeve 432, and the swing guide sleeve 432 is fixed on the fixed seat 41 through the vertical hinge seat 433. During assembly, it is necessary to ensure that the upper shaft end of the vertical push-pull shaft 431a located at the tail end of the claw rod 431 should be accurately matched in the directional groove 434a, that is, the rolling bearing at the vertical push-pull shaft 431a can accurately form a rolling match with the groove wall of the directional groove 434a. Afterwards, the guide groove 435a at the push-pull block is inserted into the lower shaft end of the vertical push-pull shaft 431a, and the push-pull screw rod 438b is inserted into the hole of the push-pull block. Finally, the push-pull screw rod 438b is driven to rotate by the rotation action of the push-pull motor 438c, so that the push-pull block can be driven to produce a reciprocating linear movement relative to the push-pull screw rod 438b. The linear motion of the push-pull plate 435 will drive the claw rod 431 to move due to the existence of the vertical push-pull shaft 431a, and the motion trajectory of the claw rod 431 is determined by the "eight" shaped directional groove 434a on the mounting plate 434. As shown in Figures 7-12, it can be seen that the claw rod 431 can produce an opening and clamping action relative to the main angle steel material.

In fact, the "I"-shaped guide groove 435a can also be formed by two groups of "I"-shaped horizontal sub-grooves that are sequentially combined along the length direction of the push-pull plate 435, and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts 431a located at the tail end of the claw rod 431, as shown in Figures 5 and 8. The two groups of "I"-shaped horizontal sub-grooves can be completely on the same straight line, or they can be at a certain angle as shown in Figures 5 and 8, as long as they can drive the claw rod 431 to move along the directional groove 434a when the push-pull plate moves.

On the basis of the above structure, the claw rod 431 of the present invention includes a rear rod body 431b and a front rod body 431c, and the front rod body 431c includes a V-shaped rod and a hook head. When working, the rear end of the rear rod body 431b is arranged with the vertical push-pull shaft 431a, the head end of the rear rod body 431b and the tail end of the V-shaped rod are hinged to each other through the vertical shaft 431d, and the head end of the V-shaped rod forms a detachable threaded fit with the hook head. At the same time, through the arrangement of the reset tension spring 437a, the front rod body 431c and the relative rear rod body 431b produce a backward movement under the premise of no other constraints, that is, the angle between the front rod body 431c and the rear rod body 431b forms a state greater than 180° as shown in Figures 7-8. When targeting different types of angle steel main materials, the hook head at the head end of the claw rod 431 can be disassembled and replaced with a hook head of a new size, so as to adapt to the current model of angle steel main materials, and the flexibility in operation is obviously higher. At the same time, since only the hook head can be replaced, the rear rod body 431b and even the V-shaped rod that need to cooperate with the swing guide sleeve 432, the push-pull plate 435 and the limiting spring piece 436 do not need to be replaced, which effectively ensures the efficiency and convenience of on-site replacement, achieving multiple goals at one stroke.

Under the premise that the front rod body 431c and the rear rod body 431b can form the above state, the present invention provides a notch 431f at the tail end of the front rod body 431c, and arranges a limit spring 436 that can produce a compound action under the action of the radial tension spring 437b and the axial tension spring 437c at the matching wall of the swing guide sleeve 432. The appearance of the limit spring 436 is shown in Figure 10, and the assembly state is shown in Figure 9. By adding the axial tension spring 437c, when the claw rod 431 is opened, the front rod body 431c of the claw rod 431 continuously extends out of the swing guide sleeve 432. At this time, since the bent end 436b of the limit spring 436 is tightly pressed on the front rod body 431c, under the action of friction, the limit spring 436 begins to overcome the elastic force of the axial tension spring 437c and produces a follow-up forward action along the hole length direction of the through hole. By presetting the elastic force value of the axial tension spring 437c, when the front rod body 431c moves forward to the notch 431f to expose the swing guide sleeve 432, the elastic restoring force of the axial tension spring 437c just overcomes the above-mentioned friction force, so that the limiting spring piece 436 instantly retracts under the common elastic restoring force of the radial tension spring 437b and the axial tension spring 437c, and is inserted into the notch 431f that just exposes the swing guide sleeve 432, thereby achieving the purpose of instant insertion. Obviously, the above-mentioned instant insertion action greatly improves the action accuracy and precision of the present invention, and significantly improves the stability and reliability of the action of the claw rod 431.

To ensure the assembly stability of the radial tension spring 437b and the axial tension spring 437c, as shown in FIG9 , the tail end of the horizontal plate segment 436a is tilted upward to form a hinged ear 436c, and a fixing column passing through the through hole is protruded from the matching wall, and the two ends of the axial tension spring 437c are respectively fixed on the hinged ear 436c and the fixing column. At the same time, support ears are arranged on both sides of the horizontal plate segment 436a, and anchor columns are arranged on both side walls of the vertical shaft 431d on the swing guide sleeve 432, so as to fix the radial tension spring 437b.

Of course, it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims (8)

1. A bolt tightening robot for electric power angle steel tower, its characterized in that: comprises a main machine (30) and an angle steel clamping assembly (40) arranged on the main machine (30); the angle steel clamping assemblies (40) are more than two groups in the length direction of the angle steel main material and are sequentially arranged on the main machine (30), and each angle steel clamping assembly (40) can generate linear reciprocating motion in the length direction of the angle steel main material under the driving action of the linear driving part;

The angle steel clamping assembly (40) comprises a fixed seat (41), wherein a pressing part (42) for pressing the outer wall or the edge line of the angle steel main material and a clamping part (43) for generating a furling clamping action along the cross section direction of the angle steel main material are arranged on the fixed seat (41), and the clamping part (43) and the pressing part (42) apply force to each other in opposite directions so as to clamp the angle steel main material; the clamping part (43) comprises two symmetrical claw rods (431), the head ends of the claw rods (431) form clamping ends, the tail ends of the claw rods (431) respectively penetrate through a group of swing guide sleeves (432), so that the corresponding claw rods (431) can do linear reciprocating motion along the axial direction of the matched swing guide sleeves (432), and the swing guide sleeves (432) are hinged on the fixed seat (41) through the vertical hinging seat (433); The clamping part also comprises a mounting plate (434) and a push-pull plate (435) which are respectively and horizontally arranged above and below the tail end of the claw rod (431), the adjacent plate surfaces of the mounting plate (434) and the push-pull plate (435) are used as working surfaces, an orientation groove (434 a) is concavely arranged at the working surface of the mounting plate (434), the orientation groove (434 a) is in an splayed shape gradually expanding from the rear end of the fixed seat (41) to the front port of the fixed seat (41), a linear guide groove (435 a) is concavely arranged on the working surface of the push-pull plate (435), the tail end of the claw rod (431) is provided with a vertical push-pull shaft (431 a), The two shaft ends of the vertical push-pull shaft (431 a) are respectively matched with the orientation groove (434 a) and the guide groove (435 a), so that the two shaft ends of the vertical push-pull shaft (431 a) can synchronously conduct sliding rail guiding actions in the orientation groove (434 a) and the guide groove (435 a); The push-pull plate (435) is driven by a horizontal driving component to generate horizontal reciprocating motion in the direction vertical to a push-pull shaft (431 a), and the groove length direction of the guide groove (435 a) is intersected with the horizontal motion direction of the push-pull plate (435); the claw rod (431) comprises a rear rod body (431 b) and a front rod body (431 c) hinged with each other through a vertical shaft (431 d), and the head end of the front rod body (431 c) forms the clamping end; a limiting elastic sheet (436) is fixed on the swing guide sleeve (432) in an attached mode, the head end of the limiting elastic sheet (436) extends out of the swing guide sleeve (432) and bends towards the claw rod (431) along the radial direction of the swing guide sleeve (432) until the claw rod is abutted against the outer wall of the claw rod (431), and therefore the claw rod (431) is elastically pressed on the wall of the swing guide sleeve (432); The tail end of the front rod body (431 c) is concavely provided with a notch (431 f) corresponding to the bending end (436 b) of the limiting elastic piece (436), when the vertical axis (431 d) is exposed out of the cylinder cavity of the swing guide sleeve (432), the bending end (436 b) can be clamped into the notch (431 f) under the elastic force of the limiting elastic piece (436), and at the moment, the angle between the front rod body (431 c) and the rear rod body (431 b) is larger than 180 degrees; an anchor point is arranged on the inner side wall of the front rod body (431 c), one end of a reset tension spring (437 a) is fixedly connected to the anchor point, and the other end of the reset tension spring is fixedly connected to the vertical axis;

The head end department of host computer (30) has arranged the bolt tightening device that is used for the tightening bolt, and this bolt tightening device includes extension arm (11) and is fixed in working head (12) on extension arm (11), extension arm (11) are including fixing bottom frame (111) on host computer (30), install on bottom frame (111) and are used for driving rotary motion's rotary component (112) of working head (12) and be used for driving working head (12) and produce the plane displacement subassembly of fixed point operation, wherein:

rotating assembly (112): the angle steel main material rotating device comprises a rotating seat (112 a) capable of generating rotation action on a bottom frame (111), wherein the rotation axis of the rotating seat (112 a) is vertical to the length direction of the angle steel main material and is positioned on a symmetry plane where the angle steel main material edge is positioned; the rotating seat (112 a) is driven by a rotating power source to generate a specified action;

a planar displacement assembly: comprises an X-axis displacement mechanism (113) and a Y-axis displacement mechanism (114) with the displacement directions being perpendicular to each other; the X-axis displacement mechanism (113) comprises an X-axis frame (113 a) and an X-axis moving block (113 b) capable of generating reciprocating linear motion along the length direction of the X-axis frame (113 a), an included angle of forty-five degrees is formed between the motion direction of the X-axis moving block (113 b) and the rotating shaft line of the rotating seat (112 a), and an opening of the included angle points to the direction of the angle steel main material; the Y-axis displacement mechanism (114) comprises a Y-axis frame (114 a) and a Y-axis moving block (114 b) which can generate reciprocating linear motion along the length direction of the Y-axis frame (114 a), and the Y-axis frame (114 a) and the X-axis moving block (113 b) are fixedly connected with each other;

Working head (12): the device comprises a striking seat (12 a) and a striking anchor rod (12 b) which is arranged at the head end of the striking seat (12 a) and is used for positioning and rotating a sleeve, wherein the outline of the head end of the striking anchor rod (12 b) is matched with the outline of a preset dismounting hole at the sleeve, and the head end of the striking anchor rod (12 b) and the dismounting hole form a detachable elastic clamping or threaded matching relation; the striking seat (12 a) is fixed on the Y-axis movable block (114 b), and a striking motor (12 d) is arranged in the striking seat (12 a) so as to drive the striking anchor rod (12 b) to rotate around the axis of the sleeve;

The limiting elastic sheet (436) is in an L-shaped plate shape, and the swing guide sleeve (432) is in a square sleeve shape, so that the claw rod (431) with a square cross section is matched; the outer wall of a parallel vertical shaft (431 d) of the swing guide sleeve (432) is taken as a matching wall (432 a), a horizontal plate section (436 a) is abutted against the matching wall (432 a), and a through hole is arranged on the horizontal plate section (436 a) in a penetrating way; one end of an axial tension spring (437 c) is fixed at the tail end of the horizontal plate section (436 a); the other end of the axial tension spring (437 c) extends forwards along the length direction of the horizontal plate section (436 a) and passes through the through hole to be fixed on the matching wall (432 a); the through hole is a waist-shaped hole with a hole type length direction parallel to the length direction of the horizontal plate section (436 a); a group of radial tension springs (437 b) are respectively arranged at two sides of the horizontal plate section (436 a), one end of each radial tension spring (437 b) is fixed at the corresponding side wall of the vertical shaft (431 d) on the swing guide sleeve (432), and the other end extends towards the same side of the horizontal plate section (436 a) and is fixed at the side;

The front rod body (431 c) comprises an inward-bending hook head and a V-shaped rod for connecting the hook head with a vertical shaft (431 d), and the V-shaped rod and the hook head are matched together to form an arc rod-shaped structure with an inward notch; the head end of the arc rod and the tail end of the hook head form a detachable thread matching structure; the anchor point is located at the inner side of the V-shaped rod.

2. The screw-fastening robot for an electric angle tower of claim 1, wherein: the head end of the striking anchor rod (12 b) is square prism-shaped matched with the shape of the dismounting hole, a positioning pin hole is concavely arranged at the side wall of the head end, and an elastic pin (12 c) capable of generating elastic telescopic action along the radial direction of the striking anchor rod (12 b) is arranged in the positioning pin hole, so that elastic clamping fit is formed between the elastic pin and a notch at the wall of the dismounting hole; an X-axis screw rod (113 c) is rotatably matched with the X-axis frame (113 a), and an X-axis moving block (113 b) is in threaded fit with the X-axis screw rod (113 c); a Y-axis screw rod (114 c) is rotatably matched with the Y-axis frame (114 a), and a Y-axis moving block (114 b) is in threaded fit with the Y-axis screw rod (114 c); the X-axis screw rod (113 c) and the Y-axis screw rod (114 c) are respectively driven by a group of synchronous motors (115) so as to generate corresponding rotation actions; the rotary power source is a rotary motor (112 b), and the rotary seat (112 a) is rotatably matched on a positioning bracket at the bottom frame (111) and forms power transmission matching with a worm at the output shaft of the rotary motor (112 b) through a worm wheel.

3. A screw-tightening robot for an electric angle tower as claimed in claim 2, wherein: the linear driving part comprises a sliding motor (35) arranged on the host machine (30) and a sliding screw rod (33) coaxially arranged with an output shaft of the sliding motor (35), the sliding screw rod (33) is rotatably matched on the host machine (30) and the length direction of the rod is parallel to the length direction of the host machine (30), and a sliding sleeve (34) is arranged on the fixed seat (41) so as to form a screw-nut structure with the sliding screw rod (33).

4. A screw-tightening robot for an electric angle tower as claimed in claim 3, wherein: a group of sliding rails (31) are respectively arranged on two sides of the sliding screw rod (33), sliding blocks (32) are respectively arranged on the fixed seat (41) at each angle steel clamping assembly (40), and sliding guiding coordination with the sliding rails (31) in the direction parallel to the length direction of the host machine (30) is formed between the sliding blocks (32).

5. The screw-fastening robot for an electric angle tower of claim 1, wherein: the tail end of the horizontal plate section (436 a) is tilted upwards to form a hinge lug (436 c), a fixed column penetrating through the through hole is arranged at the position of the matching wall (432 a) in a protruding mode, and two ends of the axial tension spring (437 c) are respectively fixed on the hinge lug (436 c) and the fixed column; lugs are arranged on two sides of the horizontal plate section (436 a), and anchor posts are arranged on two side walls of a vertical shaft (431 d) on the swing guide sleeve (432), so that the radial tension springs (437 b) are fixed.

6. A screw tightening robot for an electric angle tower according to claim 1 or 2 or 3 or 4, characterized in that: the two vertical push-pull shafts (431 a) are coaxially arranged at the upper part and the lower part of the tail end of the claw rod (431) in a separated mode; the corresponding shaft ends of the two plumb push-pull shafts (431 a) are provided with rolling bearings which are convenient to form rolling fit with the orientation groove (434 a) and the guide groove (435 a); the horizontal sub-groove bodies are correspondingly matched with a group of vertical push-pull shafts (431 a) positioned at the tail end of the claw rod (431).

7. The screw-fastening robot for an electric angle tower of claim 6, wherein: the horizontal driving assembly comprises a push-pull screw rod (438 a), the push-pull screw rod (438 a) is matched with the push-pull plate (435) to form a screw rod sliding block mechanism, and the push-pull screw rod (438 a) horizontally extends to the rear of the fixed seat (41) and is in power fit with an output shaft of the push-pull motor (438 b).

8. A screw tightening robot for an electric angle tower according to claim 1 or 2 or 3 or 4, characterized in that: the pressing part (42) comprises V-shaped blocks (421) which are vertically arranged in the groove length direction and have notches facing the direction of the ridge line of the angle steel main material, the groove bottom line of each V-shaped block (421) forms a matching line for matching the ridge line of the angle steel main material, and two groove surfaces of each V-shaped block (421) form matching surfaces for matching the two groove surfaces of the angle steel main material; the V-shaped block (421) is arranged in an area surrounded by the claw rod (431); the pressing part (42) further comprises a driving mechanism for driving the V-shaped block (421) to move relative to the angle iron main material and move away from the angle iron main material, the driving mechanism comprises two groups of threaded sleeves (422) horizontally arranged at the back of the groove of the V-shaped block (421), coaxial threads in each threaded sleeve (422) are matched with one group of threaded rods (423), and the two groups of threaded rods (423) are sequentially arranged along the length direction of the angle iron main material and are positioned on the same vertical plane; the power ends of the two groups of screws (423) are matched on the same synchronous motor (425) through a synchronous belt (424).