CN215967318U - Bolt tightening device and climbing robot applying same - Google Patents
Bolt tightening device and climbing robot applying same Download PDFInfo
- Publication number
- CN215967318U CN215967318U CN202121383696.2U CN202121383696U CN215967318U CN 215967318 U CN215967318 U CN 215967318U CN 202121383696 U CN202121383696 U CN 202121383696U CN 215967318 U CN215967318 U CN 215967318U
- Authority
- CN
- China
- Prior art keywords
- axis
- sleeve
- rod
- hole
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 23
- 238000006073 displacement reaction Methods 0.000 claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 31
- 239000010959 steel Substances 0.000 claims description 31
- 230000007246 mechanism Effects 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 19
- 230000006698 induction Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 abstract description 3
- 239000000758 substrate Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
本实用新型属于电力作业攀爬机器人技术领域，具体涉及一种螺栓复紧装置及应用该装置的攀爬机器人。螺栓复紧装置包括延伸臂以及固定于延伸臂上的工作头，其特征在于：所述延伸臂包括固定在主机上的底部框架，底部框架上安装用于驱动工作头产生旋转动作的旋转组件以及用于驱动工作头产生定点操作的平面位移组件。该螺栓复紧装置可安装于目前传统型号的攀爬机器人的主机上，从而替代人工，实现高精准和高效率的高空作业需求。本实用新型的另一个目的在于提供一种优选的攀爬机器人，从而搭载上述螺栓复紧装置，以在确保安全施工的前提下，更好的实现高空作业时的套筒在线更换功能，最终大大节省人力巡检成本，提高检修效率，并保障输电系统安全可靠运行。
The utility model belongs to the technical field of electric-operating climbing robots, in particular to a bolt tightening device and a climbing robot applying the device. The bolt re-tightening device includes an extension arm and a working head fixed on the extension arm, and is characterized in that: the extension arm includes a bottom frame fixed on the main machine, and a rotating assembly for driving the working head to generate a rotating action is installed on the bottom frame and A plane displacement component used to drive the work head to generate fixed-point operations. The bolt re-tightening device can be installed on the mainframe of the current traditional climbing robot, so as to replace manual work and achieve high-precision and high-efficiency high-altitude operation requirements. Another object of the present invention is to provide a preferred climbing robot, which is equipped with the above-mentioned bolt re-tightening device, so as to better realize the online replacement function of the sleeve during high-altitude operation under the premise of ensuring safe construction, and finally Save manpower inspection costs, improve maintenance efficiency, and ensure safe and reliable operation of power transmission systems.
Description
Technical Field
The utility model belongs to the technical field of electric power operation climbing robots, and particularly relates to a bolt tightening device and a climbing robot applying the same.
Background
The stability and the safety of the electric power are basic guarantees for promoting the development of various industries. In China, the electric angle steel towers shown in FIG. 16 are large in number and wide in distribution, and are exposed in a field environment or even a dusty strong wind and high humidity severe environment for a long time; in the subsequent maintenance process, maintenance personnel need to ascend and stably tighten the connecting bolts at the electric angle steel tower, the danger coefficient is high, the labor intensity is high, the idle time is long, the physical strength of the working personnel is easily overdrawn, the physical health of the working personnel is further harmed, and meanwhile, the maintenance mode is obviously extremely low in efficiency. Whether a climbing robot used for an electric angle steel tower or other high-altitude operations can be developed so as to meet the requirement of bolt tightening operations in high-altitude environments is an urgent technical problem to be solved in recent years in the field.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provide a bolt tightening device which can be mounted on a main machine of a climbing robot with the traditional model at present so as to replace manpower and meet the requirements of high-precision and high-efficiency aerial work. The utility model also aims to provide an optimal climbing robot, so that the bolt re-tightening device is carried, the function of online sleeve replacement during high-altitude operation is better realized on the premise of ensuring safe construction, the labor-saving inspection cost is greatly reduced, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a bolt device that retightens, includes the extension arm and is fixed in the working head on the extension arm, its characterized in that: the extension arm is including fixing the bottom frame on the host computer, installs the rotating component who is used for driving the working head to produce the rotation action and is used for driving the working head to produce the plane displacement subassembly of fixed point operation on the bottom frame, wherein:
a rotating component: the angle steel angle iron comprises a rotating seat capable of generating rotating action on a bottom frame, wherein the rotating axis of the rotating seat is vertical to the length direction of an angle steel main material and is positioned on a symmetrical plane where the edge of the angle steel main material is positioned; the rotary seat is driven by a rotary power source to generate a specified action;
a plane displacement assembly: the X-axis displacement mechanism and the Y-axis displacement mechanism are vertical to each other in displacement direction; the X-axis displacement mechanism comprises an X-axis rack and an X-axis moving block capable of generating reciprocating linear motion along the length direction of the X-axis rack, the motion direction of the X-axis moving block and the rotary axis of the rotary seat form a forty-five-degree included angle, and the opening of the included angle points to the direction of the main angle steel material; the Y-axis displacement mechanism comprises a Y-axis rack and a Y-axis moving block which can generate reciprocating linear motion along the length direction of the Y-axis rack, and the Y-axis rack and the X-axis moving block are fixedly connected with each other;
working head: the striking anchor rod is arranged at the head end of the striking seat and used for positioning and rotating the sleeve, the outline of the head end of the striking anchor rod is matched with the outline of a preset dismounting hole at the sleeve, and a detachable elastic clamping or thread matching relation is formed between the head end of the striking anchor rod and the dismounting hole; the striking base is fixed on the Y-axis moving block, and a striking motor is arranged in the striking base so as to drive the striking anchor rod to rotate around the axis of the sleeve.
Preferably, the head end of striking the stock is the square prism shape of matcing dismouting hole appearance, is equipped with the locating pin hole in the lateral wall department recess of this head end, arranges the elastic pin that can follow the radial flexible action that produces of striking stock in the locating pin hole to form the cooperation of elasticity joint between the notch with dismouting hole pore wall department.
Preferably, an X-axis lead screw is matched on the X-axis frame in a rotating mode, and an X-axis moving block is matched on the X-axis lead screw in a threaded mode; a Y-axis screw rod is matched on the Y-axis frame in a rotating way, and a Y-axis moving block is matched on the Y-axis screw rod in a threaded way; the X-axis screw rod and the Y-axis screw rod are respectively driven by a group of synchronous motors to generate corresponding rotary actions.
Preferably, the rotary power source is a rotary motor, the rotary seat is in rotary fit with the positioning support at the bottom frame, and power transmission fit is formed between the worm gear and the worm at the output shaft of the rotary motor.
Preferably, a climbing robot of using the bolt tightening device, including the host computer and be used for driving the host computer and produce the walking portion along the lift action of angle steel owner material, its characterized in that: the main machine is also provided with a sleeve auxiliary replacing box which is convenient for realizing high-altitude sleeve replacing operation between the main machine and the working head, and the sleeve auxiliary replacing box and the bolt tightening device are both fixed at the head end of the main machine; the sleeve auxiliary replacement box comprises a box body, wherein the box body is provided with more than two groups of accommodating holes for accommodating single sleeves, and the accommodating holes are sequentially arranged along a set direction; the auxiliary replacing box also comprises an unlocking pull rod parallel to the radial direction of the accommodating hole in the rod length direction, a guide cavity or a guide rail communicated with the accommodating hole is arranged at the side of the box body at the accommodating hole, the unlocking pull rod is positioned in the guide cavity or on the guide rail so as to generate reciprocating motion along the arrangement direction of the accommodating hole, and the auxiliary replacing box also comprises a power source for driving the unlocking pull rod to generate the motion; a limiting bulge is convexly arranged on one side of the unlocking pull rod, which faces the hole cavity of the accommodating hole; the limiting bulge extends into the hole cavity of the accommodating hole and forms a spigot fit for limiting the sleeve to generate an upward motion with a preset positioning notch at the sleeve; when the unlocking pull rod generates reciprocating motion, only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time, so that the sleeve corresponding to the positioning notches is unlocked.
Preferably, the box body is in a rectangular block shape, and the accommodating holes are uniformly distributed along the length direction of the box body in sequence; the unlocking pull rod is in a rectangular rod body shape, an intersection is arranged between the rod body of the unlocking pull rod and the hole cavity of the accommodating hole, and an avoidance arc groove for avoiding an ascending path of the sleeve is arranged on the unlocking pull rod corresponding to each sleeve; along the long direction of the pole of unblock pull rod, the region between each adjacent arc groove of dodging forms spacing arch, and the width of each spacing arch increases in proper order or reduces in proper order to ensure that at the same time only a set of spacing arch and corresponding location notch can throw off each other.
Preferably, the cartridge body comprises a rectangular cartridge-shaped outer housing and a mounting substrate arranged in the outer housing, and the mounting substrate is horizontally arranged to divide the cartridge cavity of the outer housing into an upper cartridge cavity and a lower cartridge cavity; the box cover of the outer shell is provided with a mounting hole in a penetrating manner, the hole wall of the mounting hole forms a hole wall of the accommodating hole, the upper plate surface of the mounting substrate forms a hole bottom of the accommodating hole, and a sunk accommodating hole is formed finally; the unlocking pull rod extends along the upper box cavity and forms spigot fit with the corresponding sleeve in each accommodating hole.
Preferably, the power source is an electric push rod, the power source is fixed to the lower plate surface of the mounting substrate, and a telescopic shaft of the power source is fixedly connected with the power end of the unlocking pull rod through a connecting block.
Preferably, the box body is cylindrical, and the accommodating holes are uniformly distributed along the circumferential direction of the box body in sequence; the unlocking pull rod is in a C-shaped rod shape or a circular rod shape, an intersection is arranged between the rod body of the unlocking pull rod and the hole cavity of the accommodating hole, and an avoidance arc groove for avoiding an ascending path of the sleeve is arranged at the position of the inner rod surface of the unlocking pull rod corresponding to each sleeve; the limiting protrusions are formed in the area between every two adjacent avoidance arc grooves along the circumferential direction of the unlocking pull rod, and the width of each limiting protrusion is sequentially increased or decreased so as to ensure that only one group of limiting protrusions and corresponding positioning notches can be separated from each other at the same time.
Preferably, the unlocking pull rod is provided with induction points, the number of the induction points corresponds to that of the sleeves, and the distance between the induction points is equal to the distance between the adjacent sleeves; the photoelectric switch for monitoring the position of the sensing point is arranged at the box body, and the sensing surface of the photoelectric switch is positioned on the action path of the sensing point.
The utility model has the beneficial effects that:
1) based on the current situations of various numbers and different types of bolts on the electric angle steel tower, it is obvious that how to realize online sleeve replacement operation becomes a difficult problem. If the climbing robot with sleeves of different models is used at each time, the cost performance obviously cannot meet daily requirements.
In view of the above, the utility model provides a bolt re-tightening device which can be installed on a host of a climbing robot of the conventional type, so that the position of a working head can be positioned through the matching of a rotating component and a plane displacement component, and the bolt re-tightening function of any point position can be realized through a striking motor on the working head; when the type of the bolt is changed, the sleeve at the striking anchor rod of the working head can be easily replaced on line, so that the purposes of convenience and high efficiency are achieved. It is worth noting that the rotation axis of the rotating assembly needs to be located on the symmetrical plane where the edge of the angle steel main material is located; therefore, the X-axis displacement mechanism with the included angle of 45 degrees can ensure that the X-axis displacement mechanism can always horizontally move along the wall surface of one outer wall of the main angle steel material, the Y-axis displacement mechanism also ensures that the working heads perform approaching and separating actions relative to the bolt to be tightened, and the controllability and the working accuracy can be effectively ensured.
Obviously, the utility model can be used for multiple purposes on one hand, thereby being suitable for bolt tightening occasions of various electric angle steel towers; on the other hand, the fixed point action of the working head is very accurate and reliable by the driving of the extension arm, so that the high-altitude operation requirement of high accuracy and high efficiency can be realized instead of manual work.
2) The utility model also aims to provide an optimal climbing robot, so that the bolt re-tightening device is carried, the function of online sleeve replacement during high-altitude operation is better realized on the premise of ensuring safe construction, the labor-saving inspection cost is greatly reduced, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.
In particular, the special high-altitude remote control using environment based on the electric angle steel tower is extremely dangerous for falling objects accidentally, so the safety of the operation is the first time. When the detachable structure of the working head is adopted and the working head is assembled on the ground, the safety is ensured, but the working efficiency cannot be maximized. The utility model abandons the ground assembly mode, adopts a unique high-altitude assembly structure instead, and utilizes the locking characteristic of the unlocking pull rod to the inner sleeve of the accommodating hole to ensure that only one group of sleeves are unlocked at the same time, and the group of sleeves are just the type of the sleeves required by the working head. Therefore, during actual work, the utility model can be completely suitable for the existing climbing robot and matched with the detachable working head, so that on the premise of ensuring safe construction, the function of online replacement of the sleeve during high-altitude operation can be synchronously realized, and the working efficiency can be maximized.
3) During actual assembly, the unlocking pull rod can be regarded as a lock tongue, and therefore the purpose of storing and taking the inner sleeve in the appointed accommodating hole is achieved through locking and unlocking actions between the lock tongue and the positioning notch at the sleeve. On the basis of the above concept, the present invention provides the following two specific embodiments:
firstly, the box body is rectangular and matched with a rectangular rod-shaped unlocking pull rod; when the unlocking device works, the unlocking pull rod is pulled to move along the straight line of the rod length direction, so that the locking and unlocking actions of the limiting bulge at the unlocking pull rod and the avoidance arc groove relative to the positioning notch are realized. When the unlocking pull rod moves linearly, the power source can adopt linear motion power components such as a linear motor or an electric push rod and the like so as to realize the online driving function of the unlocking pull rod.
Secondly, the box body is cylindrical and matched with a C-shaped rod-shaped or circular rod-shaped unlocking pull rod; when the locking device works, the unlocking pull rod rotates along the circumferential direction of the box body, so that the locking and unlocking actions of the limiting protrusion at the unlocking pull rod and the avoiding arc groove relative positioning notch are realized. When the unlocking pull rod is in a rotary action, a rotary motor which is coaxial with the unlocking pull rod can be adopted to directly drive the unlocking pull rod to act; the rack may also be arranged on the lever side of the unlocking lever so as to form a meshing fit with a pinion gear at the rotary motor. When the swing arm motor is adopted, if a steering engine and the like are adopted, the purpose of power transmission can be directly completed in a hinged mode, and the details are omitted here.
4) During actual work, due to high-altitude remote control operation, the induction component needs to be additionally arranged on the unlocking pull rod, so that the on-line induction effect of the position of the unlocking pull rod is realized, and which sleeve is in the unlocking state at present is determined. The utility model adopts the mode that the induction point is matched with the photoelectric switch, has simple and clear structure and more compact and reasonable structure, and is beneficial to the use in the high-altitude operation environment.
Drawings
FIG. 1 is an assembled view of a bolt tightening apparatus;
FIG. 2 is a schematic structural view of a bolt tightening device;
FIG. 3 is a perspective view of the rotary assembly;
FIG. 4 is an exploded assembly view of the structure shown in FIG. 3;
FIG. 5 is a schematic perspective view of the X-axis displacement assembly;
FIG. 6 is an exploded assembly view of the structure shown in FIG. 5;
FIG. 7 is a perspective view of the Y-axis displacement assembly and the working head;
FIG. 8 is an exploded assembly view of the structure shown in FIG. 7;
FIG. 9 is an exploded view of the assembly of the work head;
FIG. 10 is a schematic view of the cartridge assisted replacement cartridge;
FIG. 11 is a front view of the structure of FIG. 10 with the outer housing removed;
FIG. 12 is a top view of FIG. 11;
FIG. 13 is a right side view of FIG. 11;
FIGS. 14 and 15 are flowcharts of the operation of the unlocking lever;
FIG. 16 is a schematic structural view of an electric angle tower.
The actual correspondence between each label and the part name of the utility model is as follows:
a-angle steel main material b-sleeve b 1-positioning notch b 2-dismounting hole
11-extension arm
111-bottom frame 112-swivel assembly
112 a-rotary base 112 b-rotary 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 12 a-striking base
12 b-striking anchor 12 c-elastic pin 12 d-striking motor
21-body 211-receiving hole 21 a-outer housing 21 b-mounting substrate
22-unlocking pull rod 22 a-avoiding arc groove 22 b-sensing point
23-power source 24-connecting block 25-photoelectric switch
30-main unit 40-walking part
Detailed Description
For ease of understanding, the specific construction and operation of the present invention is further described herein with reference to FIGS. 1-16:
the specific structure of the present invention is shown in fig. 2, and the main structure thereof includes a main frame 30 with a walking part 40 and a work kit located on the main frame 30. The main machine is used as a bearing main body of the working kit and is used for realizing the functions of climbing upwards and walking downwards relative to the electric angle steel tower shown in figure 16. The work kit comprises a sleeve auxiliary replacement box and a bolt tightening device. The bolt re-tightening device is formed by matching the extension arm 11 and the working head 12, so that the on-line re-tightening function of the working suite on the bolts at the main angle steel material a and the bolts at the peripheral area at the four corners of the electric angle steel tower is realized. The sleeve auxiliary replacement box is auxiliary equipment based on a bolt re-tightening device, and because the type of a bolt and a nut used for fixing on the electric angle steel tower is more than one, when the bolt re-tightening is carried out on the electric angle steel tower, the sleeve can be replaced at any time at different moments, so the sleeve auxiliary replacement box is designed. Wherein:
one, the host computer
Fig. 1 is a schematic view showing an assembled state of the main body 30, the traveling unit, and the work kit. As can be seen from fig. 1, the main body 30 and the walking part 40 can be implemented by using an inchworm-type robot or a wheel-type robot, etc. that are commonly available in the market, and the work purpose can be achieved by installing a work kit during work. Of course, when necessary, the bolt tightening device can be installed without matching with the sleeve auxiliary replacement box, and at the moment, when the sleeve needs to be replaced, the bolt tightening device needs to be disassembled and assembled on the ground, so that the efficiency is obviously lower than that of the sleeve auxiliary replacement box.
Bolt tightening device
Fig. 2 to 9 are schematic structural views of the bolt tightening apparatus, and it can be seen from the drawings that the bolt tightening apparatus includes a base frame 111, a rotation member 112, a plane displacement member, and a working head 12, which are assembled in sequence.
The bottom frame 111 is shown in fig. 2 and is a conventional fixed frame structure for connecting the rotating component 112 with the head end of the main frame 30, which will not be described herein. 2-3, the rotating assembly 112 adopts a worm gear and worm transmission pair to meet the power transmission requirement from the rotating motor 112b to the rotating base 112a, so that the rotating base 112a on the symmetrical plane where the current root angle steel main material edge is located meets the rotation requirement; in other words, when only the rotating assembly 112 starts to operate, the swinging amount of the working head 12 on the left side of the angle steel main material is consistent with the swinging amount of the working head on the right side of the angle steel main material, so that the reference positioning requirement is realized, and a foundation guarantee is provided for the fixed point bolt tightening of the subsequent working head.
On the basis of the above structure, the present invention is further provided with a plane displacement assembly composed of an X-axis displacement mechanism 113 and a Y-axis displacement mechanism 114 which are matched as shown in fig. 5 to 8. The X-axis displacement mechanism 113 and the Y-axis displacement mechanism 114 are each driven by means of a corresponding synchronous motor 115.
During assembly, the X-axis displacement mechanism 113 includes an X-axis frame 113a and an X-axis lead screw 113c rotatably fitted on the X-axis frame 113a, and an X-axis moving block 113b is disposed on the X-axis lead screw 113c, so that the X-axis moving block 113b can generate a linear telescopic motion along the rotation axis of the rotating base 112a in an angle direction of 45 °. Because the angle steel main material is 90-degree angle steel, and the rotation axis of the rotating base 112a is located on the symmetrical plane where the edge of the angle steel main material is located, the axis action direction of the X-axis moving block 113b is actually parallel to one side wall of the angle steel main material, so that the accurate positioning effect of the working head 12 relative to the bolt is ensured, and the working head 12 cannot generate action interference with the angle steel main material, thereby achieving multiple purposes. The Y-axis displacement mechanism 114 includes a Y-axis frame 114a, a Y-axis lead screw 114c, and a Y-axis moving block 114b, which are similar to the X-axis displacement mechanism 113, and the Y-axis frame 114a is fixed to the X-axis moving block 113b to ensure the linear movement of the striking block 12a fixed to the Y-axis moving block 114 b.
As for the working head 12, as shown with reference to fig. 8 to 9, it is practical to perform an online swiveling action of the sleeve fixed to the striking bolt 12b by the striking motor 12d and the striking bolt 12b at the output shaft of the striking motor 12d, which are coaxially arranged. The rotation action of the sleeve b can be similar to a socket wrench, so that the bolt in the sleeve cavity is driven to generate the re-tightening action. Each time the sleeve is inserted and pulled relative to the bolt, the insertion can be completed through the Y-axis displacement mechanism 114; each time the relative position of the sleeve and the bolt is accurately located, this may be accomplished by means of the rotation assembly 112 in cooperation with the X-axis displacement mechanism 113.
Third, the auxiliary replacement casket of the bush
Fig. 10-15 are schematic views of one embodiment of the cartridge replacement-assist box, that is, the box 21 is a rectangular parallelepiped. In fig. 10 to 15, the cartridge 21 includes an outer case 21a having a hollow cartridge chamber, and a horizontal plate-like mounting base plate 21b is disposed in the cartridge chamber of the outer case 21a so as to divide the cartridge chamber of the outer case 21a into two parts, an upper cartridge chamber and a lower cartridge chamber. In fig. 10, three sets of receiving holes 211 are disposed through the lid of the outer housing 21a, and the three sets of receiving holes 211 correspond to the M16 sleeve, the M18 sleeve, and the M20 sleeve, respectively. Each sleeve is coaxially recessed with a positioning notch b1 at the outer wall. An elongated guide chamber is formed in the outer case 21a and communicates with the accommodation hole 211 at the upper cartridge chamber. The unlocking rod 22 moves in the guide cavity, and the part of the unlocking rod 22 extending into the accommodating hole 211 is in a shape of a right-angled sawtooth protruding from one side as shown in fig. 12 and 14-15, namely, a limit protrusion is formed. In other words, the portion of the unlocking lever 22 extending into the receiving hole 211 has an arc avoiding groove 22a recessed on one side in an isosceles trapezoid shape as shown in fig. 12 and 14 to 15, and the above-mentioned limit protrusion is formed between the adjacent arc avoiding grooves 22 a. The tail end of the extending part of the unlocking pull rod 22, namely the power end, is fixed with a telescopic shaft of a power source 23 through a connecting block 24, and the power source 23 is an electric push rod. The electric push rod is fixed on the back of the mounting base plate 21b, and the horizontal movement of the telescopic shaft drives the unlocking pull rod 22 to generate horizontal movement along with the output of the electric push rod.
As shown in fig. 12, three convex right-angled serrations equally spaced apart are further disposed on the outer side of the unlocking lever 22, thereby forming a sensing point 22 b; the three convex sensing points 22b are in contact with the photoelectric switches 25, respectively. When the electric push rod stops outputting, the unlocking pull rod 22 stops, and the position of the current unlocking pull rod 22 can be known through matching the photoelectric switch 25 and the sensing point 22 b.
When the push rod of the electric push rod contracts to the minimum position, the side edge of the unlocking pull rod 22 is completely clamped in the positioning notch b1 of the sleeve to limit the movement of all the sleeves;
as shown in fig. 11-13; when the unlocking pull rod 22 is stopped for the first time, the M20 sleeve corresponds to the most right avoiding arc groove 22a of the unlocking pull rod 22, the unlocking pull rod 22 does not limit the M20 sleeve, the M20 sleeve can be taken out, and the rest two sleeves correspond to the unlocking pull rod 22 and are straight edges or limiting protrusions. Similarly, as shown in fig. 14 to 15, the M16 sleeve and the M18 sleeve can be unlocked in sequence, so that only one sleeve can be unlocked and taken out at the same time.
When the bolt needs to be tightened again, the required sleeve b is unlocked according to the use condition, then the working head 12 of the extension arm 11 is aligned to the dismounting hole b2 at the rear of the sleeve b, and the bolt is pushed into the dismounting hole b2 while slowly rotating. The side surface of the working head 12 is provided with an elastic pin 12c, the hole cavity of the dismounting hole b2 is provided with a notch in a concave manner, after the elastic pin 12c is matched with the notch, the rotation of the working head 12 is stopped, and the extension arm 11 drives the working head 12 to carry the current sleeve b to be separated from the accommodating hole 211 at the box body 21, so that the operation is carried out.
When the sleeve is used, the extension arm drives the working head to align the sleeve thereon with the corresponding receiving hole 211 on the box body 21. The unlocking pull rod 22 moves until the corresponding avoiding arc groove 22a is unlocked, and a storage path is left. After the sleeves have been pushed along the storage path into the respective receiving openings 211, the unlocking levers 22 are moved until the respective receiving openings 211 are locked again.
It will, of course, be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, but rather includes the same or similar structures that may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (10)
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121383696.2U CN215967318U (en) | 2021-06-21 | 2021-06-21 | Bolt tightening device and climbing robot applying same |
| JP2023579097A JP2024524243A (en) | 2021-06-21 | 2022-02-24 | Bolt tightening device and climbing robot using same |
| PCT/CN2022/077729 WO2022267507A1 (en) | 2021-06-21 | 2022-02-24 | Bolt re-tightening device and climbing robot using same |
| EP22827014.6A EP4357069A4 (en) | 2021-06-21 | 2022-02-24 | BOLT TIGHTENING DEVICE AND CLIMBING ROBOT USING SAME |
| US18/064,944 US20230114661A1 (en) | 2021-06-21 | 2022-12-13 | Multifunctional climbing operation platform and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121383696.2U CN215967318U (en) | 2021-06-21 | 2021-06-21 | Bolt tightening device and climbing robot applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215967318U true CN215967318U (en) | 2022-03-08 |
Family
ID=80578255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121383696.2U Expired - Fee Related CN215967318U (en) | 2021-06-21 | 2021-06-21 | Bolt tightening device and climbing robot applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215967318U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500382A (en) * | 2021-06-21 | 2021-10-15 | 国网安徽省电力有限公司 | Bolt tightening device and climbing robot applying same |
-
2021
- 2021-06-21 CN CN202121383696.2U patent/CN215967318U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500382A (en) * | 2021-06-21 | 2021-10-15 | 国网安徽省电力有限公司 | Bolt tightening device and climbing robot applying same |
| CN113500382B (en) * | 2021-06-21 | 2024-11-08 | 国网安徽省电力有限公司 | A bolt re-tightening device and a climbing robot using the same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022267507A1 (en) | Bolt re-tightening device and climbing robot using same | |
| CN104603517B (en) | Cloud platform | |
| CN215967318U (en) | Bolt tightening device and climbing robot applying same | |
| CN113649796A (en) | Maintenance robot with online bolt tightening function | |
| CN109551506B (en) | Welding head assembling and disassembling device | |
| CN113500382A (en) | Bolt tightening device and climbing robot applying same | |
| CN111593821A (en) | Building protection canopy is with convenient structure of putting up | |
| CN215967234U (en) | A sleeve auxiliary replacement box and a maintenance robot using the auxiliary replacement box | |
| CN206785963U (en) | A kind of actuator of convenient disassembly | |
| CN210060363U (en) | Lock screw installation equipment of keyboard | |
| CN113458744A (en) | Sleeve auxiliary replacement box and maintenance robot applying same | |
| CN215967317U (en) | Maintenance robot with online bolt tightening function | |
| CN204570934U (en) | The flat oblique locating connector of cylindrical steel structure based on BIM | |
| CN219504077U (en) | Case material loading equipment mechanism | |
| CN215968501U (en) | Novel lithology density probe dismouting device | |
| CN206419448U (en) | A kind of direct-connected electronic slide unit | |
| CN220428394U (en) | Industrial robot's installation base structure | |
| CN207710694U (en) | A kind of disassembling fixture for engine link dismounting | |
| CN216898960U (en) | Sensor capable of being quickly assembled and disassembled | |
| CN210461337U (en) | Double-end screw locking device convenient to assembly | |
| CN220186109U (en) | Pipe convenient to install | |
| CN217232247U (en) | Connecting component convenient to install and used for assembling steel structure house | |
| CN216642768U (en) | Motor rotor shaft convenient to install | |
| CN217738241U (en) | High-precision deformation monitoring device convenient to install on steel structure | |
| CN212096407U (en) | Swing block of rail transit shielding door production device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220308 |