Single-thread bolt fuse fastening end effector

Abstract

The invention discloses a single-strand bolt fuse fastening end effector. The single-strand bolt fuse fastening end effector comprises a mechanical arm connecting disc; the main bracket is fixed on the front end plate surface of the mechanical arm connecting plate; the fuse coil bracket is mounted on the left side of the main bracket; the guide pipe is mounted at the left front end of the main bracket; one section of the L-shaped supporting arm is fixed on the right side of the main bracket; the front moving assembly and the rear moving assembly slide along the other section of the L-shaped supporting arm; the fuse extrusion driving group is mounted at the front end of the main bracket; and the fuse cut-off knife group is mounted at the front end of the main bracket. The device has the advantages that the force, the angle and the position of bolt fuses can be accurately controlled, the consistency and the accuracy of installation of each fuse are ensured, and the product quality is more stable; compared with manual operation, the operation speed is higher; according to the matched mechanical arm, a large number of bolt fuse mounting tasks can be completed in a short time, and the production efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical and electrical safety technology, specifically to a single-strand bolt fuse fastening end effector. Background Art

[0002] In the complex and high-speed mechanical systems of aircraft, mechanical safety devices (such as fuses) are a critical line of defense for flight safety. During flight, aircraft components are subjected to strong vibrations, airflow impacts, and temperature changes. These factors can cause bolts connecting components to gradually loosen or even fall off, leading to serious safety accidents. By wrapping fuses around adjacent bolts, a mutually restraining mechanical locking structure can be formed. When a bolt tends to loosen due to vibration, the connected fuse will restrict its rotation, effectively preventing the bolt from falling out of position and providing a secondary tightening effect, thus constructing a reliable protective barrier for flight safety. Currently, manual threading of fuses and connection of bolts is a common operating procedure. Before operation, personnel must select the appropriate fuse specification according to the aircraft maintenance manual, ensuring it meets design requirements and aviation safety standards. During operation, one end of the fuse is first passed through the safety hole of a bolt head, then it is wrapped around the safety holes of adjacent bolts using a specific winding method, such as the "figure-eight winding method" or "tandem winding method," to ensure the fuse is tightly fitted to the bolt surface. Next, a special tool is used to stretch and tighten both ends of the fuse, ensuring uniform winding force and meeting the specified torque requirements. However, manually threading fuses and connecting bolts has several limitations. Firstly, manual operation is inefficient, the process is cumbersome, and requires a high degree of concentration from the operator. When dealing with a large number of bolts, it is time-consuming, impacting aircraft maintenance progress. Secondly, the quality of operation depends on the operator's experience and skill level. Inconsistency in winding force and method among different operators is difficult to guarantee, leading to inconsistent safety performance. Furthermore, the long-term repetitive and meticulous operation can cause visual fatigue and hand strain, increasing the risk of operational errors and ultimately affecting the safety performance of the aircraft's mechanical systems. Summary of the Invention

[0003] This invention provides a single-strand bolt fuse fastening end actuator, which has the advantages of high modularity and flexibility, and solves the problems of low installation efficiency, high labor intensity and high error rate of existing fuses.

[0004] This invention provides the following technical solution: a single-strand bolt fuse fastening end effector, comprising: a robotic arm connecting plate for connecting to the end of a robotic arm; a main bracket fixed to the front end of the robotic arm connecting plate; a fuse coil bracket installed on the left side of the main bracket for winding a fuse; a guide tube installed at the left front end of the main bracket for threading the fuse; an L-shaped support arm, one end of which is fixed to the right side of the main bracket; a front moving assembly and a rear moving assembly sliding along the other end of the L-shaped support arm for clamping and threading the fuse wire; a fuse extrusion drive assembly installed at the front end of the main bracket for driving the fuse in the guide tube to move to the right; and a fuse cutting blade assembly installed at the front end of the main bracket, positioned between the fuse extrusion drive assembly and the L-shaped support arm for cutting the fuse.

[0005] Preferably, it also includes a dust cover, which is wrapped around the fuse extrusion drive assembly and the fuse cutter assembly and is connected to the front end of the main support.

[0006] Preferably, the front moving assembly includes: a front moving assembly fixing plate for providing a connection platform for the mechanism mounted thereon; a fuse guide support mounted on the front moving assembly fixing plate for passing through and supporting a fuse; a front moving assembly translation drive wheel set rotatably connected to one side of the front moving assembly fixing plate for lateral translation along the L-shaped support arm; and a front moving assembly translation control motor mounted on the other side of the front moving assembly fixing plate, the motor's output shaft being coaxially connected to one of the drive wheels of the front moving assembly translation drive wheel set for controlling the lateral translation of the front moving assembly on the L-shaped support arm.

[0007] Preferably, the front moving assembly further includes: a front moving assembly clamping plate, which is movably connected to the front moving assembly fixing plate for clamping the fuse; a front moving assembly clamping plate control motor, which is mounted on the front moving assembly fixing plate; and a front moving assembly clamping plate drive gear, which is sleeved and fixed on the output shaft of the front moving assembly clamping plate control motor and meshes with the vertically arranged spur gear on the front moving assembly clamping plate for controlling the up and down movement of the front moving assembly clamping plate.

[0008] Preferably, the rear moving assembly includes: a rear moving assembly fixing plate for providing a connection platform for the mechanism mounted thereon; a rear moving assembly lifting frame for moving up and down along the rear moving assembly fixing plate; a rear moving assembly fuse tube installed on the rear moving assembly lifting frame for threading and supporting a fuse; a rear moving assembly translation drive wheel set rotatably connected to the rear moving assembly fixing plate for lateral translation along the L-shaped support arm; and a rear moving assembly translation control motor installed on the rear moving assembly fixing plate, the output shaft of which is coaxially connected to one of the drive wheels of the rear moving assembly translation drive wheel set for controlling the lateral translation of the rear moving assembly on the L-shaped support arm.

[0009] Preferably, the rear moving component further includes: a rear moving component lifting frame control gear, which is vertically disposed on the rear moving component lifting frame; and a rear moving component lifting frame control motor, which is mounted on the rear moving component fixing plate, and has a gear meshing with the rear moving component lifting frame control gear on its output shaft for controlling the lifting of the rear moving component lifting frame.

[0010] Preferably, the rear moving assembly further includes: a rear moving assembly clamping plate, which is movably connected to the rear moving assembly lifting frame for clamping the fuse; a rear moving assembly clamping plate control motor, which is mounted on the rear moving assembly lifting frame; and a rear moving assembly clamping plate drive gear, which is sleeved and fixed on the output shaft of the rear moving assembly clamping plate control motor and meshes with a vertically arranged row of straight teeth on the rear moving assembly clamping plate for controlling the up and down movement of the rear moving assembly clamping plate.

[0011] Preferably, the fuse extrusion drive assembly includes two drive motors arranged vertically, with a rubber wheel connected to the output shaft of each drive motor, and the distance between the two rubber wheels is less than the diameter of the fuse.

[0012] Preferably, the fuse cutter assembly includes a fixed blade and a movable blade with opposite blade edges. The movable blade is arranged to move up and down. A movable blade drive motor is installed at the front end of the main support. A blade drive gear is sleeved and fixed on the output shaft of the movable blade drive motor. The blade drive gear meshes with the straight teeth on the side edge of the movable blade.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1) After the robotic arm is programmed, it can quickly and continuously drive the end effector to perform actions according to the programmed instructions. Compared with manual operation, the operation speed is faster. The robotic arm of this invention can complete a large number of bolt and fuse installation and tightening tasks in a short time, which greatly improves production efficiency.

[0014] 2) In large-scale production, manual operation is easily affected by factors such as fatigue and lack of proficiency. However, the robotic arm driving the end effector of this invention will not have these problems, thus solving the problem of low efficiency in manually tightening bolts and fuses.

[0015] 3) By combining with a robotic arm, this invention can precisely control the force, angle, and position of bolting the fuses, ensuring the consistency and accuracy of each fuse installation, making the product quality more stable, and effectively reducing the occurrence of quality problems. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 .

[0019] Figure 3 This is a three-dimensional structural diagram of the present invention after the dust cover has been removed.

[0020] Figure 4 for Figure 3 A magnified view of part A.

[0021] Figure 5 This is a schematic diagram of the structure of the fuse extrusion drive assembly and the fuse cutting blade assembly described in this invention.

[0022] Figure 6 for Figure 5 A schematic diagram of the three-dimensional structure.

[0023] Figure 7 This is a schematic diagram of the structure of the forward moving component described in this invention.

[0024] Figure 8 for Figure 7 BB cross-sectional view.

[0025] Figure 9 This is a three-dimensional structural diagram of the forward moving component described in this invention. Figure 1 .

[0026] Figure 10 This is a three-dimensional structural diagram of the forward moving component described in this invention. Figure 2 .

[0027] Figure 11 This is a three-dimensional structural diagram of the forward moving component described in this invention. Figure 3 .

[0028] Figure 12 This is a schematic diagram of the structure of the rear moving component described in this invention.

[0029] Figure 13 for Figure 12 CC section view.

[0030] Figure 14 This is a three-dimensional structural diagram of the rear moving component described in this invention. Figure 1 .

[0031] Figure 15 This is a three-dimensional structural diagram of the rear moving component described in this invention. Figure 2 .

[0032] Figure 16 This is a three-dimensional structural diagram of the rear moving component described in this invention. Figure 3 .

[0033] Figure 17 This is a schematic diagram illustrating the usage state of the present invention.

[0034] Figures 18 to 28 This is a schematic diagram illustrating the process of performing a single-strand double-link protection operation on two bolts at the side holes according to the present invention.

[0035] The components in the attached diagram are labeled as follows: 1. Robotic arm connecting plate; 2. Main support; 3. Fuse coil support; 4. Guide tube; 5. Dustproof shell; 6. Front moving assembly; 7. Rear moving assembly; 8. L-shaped support arm; 9. Fuse extrusion drive assembly; 9.1. Drive motor; 9.2. Rubber wheel; 10. Fuse cutting blade assembly; 10.1. Fixed blade; 10.2. Movable blade; 10.3. Movable blade drive motor; 10.4. Blade drive gear; 10.5. Fuse guide tube; 11. Front moving assembly fixing plate; 11.1. Horizontal plate; 11.2. Longitudinal guide plate; 12. Fuse guide support; 13. Front moving assembly clamping plate control motor; 14. Front... 15. Front moving component translation control motor; 16. Front moving component translation drive wheel set; 17. Front moving component clamping plate; 18. Front moving component clamping plate drive gear; 19. Rear moving component clamping plate control motor; 20. Rear moving component fuse tube; 20. Rear moving component lifting frame; 20.1. Horizontal support plate; 20.2. Vertical guide plate; 21. Rear moving component fixing plate; 21.1. Connecting plate; 22. Rear moving component lifting frame control motor; 23. Rear moving component translation control motor; 24. Rear moving component translation drive wheel set; 25. Rear moving component lifting frame control gear; 26. Rear moving component clamping plate; 27. Rear moving component clamping plate drive gear; 28. Robotic arm. Detailed Implementation

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "front", "rear", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] like Figures 1 to 17 As shown, this embodiment provides a single-strand bolt fuse fastening end effector, which includes: a robotic arm connecting plate 1 for connecting the end effector to the end of a robotic arm 28; a main bracket 2 fixed to the front end of the robotic arm connecting plate 1 for providing a fixing platform for other components; a fuse coil bracket 3 installed on the left side of the main bracket 2 for winding a sufficient amount of fuse for later use; a guide tube 4 installed at the left front end of the main bracket 2, which has an L-shaped bending structure, with the bent section extending to the right to the fuse extrusion drive group 9, and the fuse passing through one end of the guide tube 4 to guide the fuse through to the subsequent fuse extrusion drive group 9; the fuse extrusion drive group 9 is installed at the front end of the main bracket 2 for driving the fuse at the other end of the guide tube 4 to move to the right; the fuse... The cutting blade assembly 10 is installed at the front end of the main bracket 2 and positioned to the right of the fuse extrusion drive assembly 9. It is used to cut the fuse to a predetermined length. The longitudinal section of the L-shaped support arm 8 is fixed to the right side of the main bracket 2, and the transverse section of the L-shaped support arm 8 is parallel to the outlet end of the guide tube 4. The front moving assembly 6 and the rear moving assembly 7 are slidably arranged on the transverse section of the L-shaped support arm 8 from left to right. They are used to clamp and thread the fuse wire. The top and bottom surfaces of the transverse section of the L-shaped support arm 8 are respectively provided with two parallel tracks. The front moving assembly 6 and the rear moving assembly 7 each move along one of the tracks. The dust cover 5 is wrapped around the fuse extrusion drive assembly 9 and the fuse cutting blade assembly 10 and is connected to the front end of the main bracket 2 by bolts. It is used to protect the fuse extrusion drive assembly 9 and the fuse cutting blade assembly 10.

[0039] like Figures 4 to 6 As shown, the fuse extrusion drive assembly 9 includes two drive motors 9.1 arranged vertically. Each drive motor 9.1 has a rubber wheel 9.2 connected to its output shaft. The guide tube 4 has grooves corresponding to the positions of the rubber wheels 9.2. After the two rubber wheels 9.2 extend into the corresponding grooves, they clamp the fuse. The distance between the two rubber wheels 9.2 is smaller than the diameter of the fuse, which facilitates clamping the fuse. Then, driven by the drive motors 9.1, the two rubber wheels 9.2 drive the fuse to move to the right.

[0040] The fuse cutting blade assembly 10 includes a fixed blade 10.1 and a movable blade 10.2 with opposing blade edges. The fixed blade 10.1 is fixed to the front end of the main bracket 2 at the fuse output point of the guide tube 4. A guide strip is vertically fixed to the top surface inside the dustproof housing 5. The movable blade 10.2 is slidably sleeved on the guide strip and can move up and down along the guide strip. A row of straight teeth is vertically formed on the side edge of the movable blade 10.2. A fuse guide tube is installed at the front end of the main bracket 2 on the other side of the fixed blade 10.1 to guide and support the fuse. The fuse guide tube and the guide tube 4 are positioned on both sides of the fixed blade 10.1. On the side, the center line of the fuse guide tube is collinear with the center line of the output section of the guide tube 4. The fuse that passes through the guide tube 4 then passes through the fuse guide tube. A movable blade drive motor 10.3 is installed at the front end of the main bracket 2. A blade drive gear 10.4 is fixedly sleeved on the output shaft of the movable blade drive motor 10.3. The blade drive gear 10.4 meshes with the straight teeth on the side edge of the movable blade 10.2. Driven by the movable blade drive motor 10.3, the movable blade 10.2 moves downward and contacts the blade of the fixed blade 10.1, thereby cutting the fuse at the output end of the guide tube 4.

[0041] like Figures 7 to 11 As shown, the front moving assembly 6 includes: a front moving assembly fixing plate 11, which provides a connection platform for the mechanism mounted on it; a fuse guide support 12, which is a semi-circular arc groove with the slot facing upward, and is mounted on the front moving assembly fixing plate 11 via a connecting block to support the fuse, wherein the center line of the fuse guide support 12 is collinear with the center line of the fuse guide tube 10.5; and a front moving assembly translation drive wheel set 15, which consists of four drive wheels arranged in two rows and two columns, rotatably connected to one side of the front moving assembly fixing plate 11, and translates laterally along the L-shaped support arm 8. The upper and lower rows of drive wheels of the front moving assembly translation drive wheel set 15... The front moving component is mounted on the transverse section of the L-shaped support arm 8 and moves along the corresponding track. The front moving component translation control motor 14 is installed on the other side of the front moving component fixing plate 11. A horizontal plate is vertically fixed on the plate of the front moving component fixing plate 11. The front moving component translation control motor 14 is fixed on the horizontal plate. The output shaft of the front moving component translation control motor 14 is coaxially connected to one of the drive wheels of the front moving component translation drive wheel set 15. Under the drive of the front moving component translation control motor 14, the front moving component 6 is controlled to translate laterally along the transverse section of the L-shaped support arm 8, and its position on the L-shaped support arm 8 can be precisely adjusted.

[0042] The front moving assembly 6 further includes: a front moving assembly clamping plate 16, which is vertically connected to the front moving assembly fixing plate 11 for clamping the fuse; a longitudinal guide plate is vertically fixed on the front moving assembly fixing plate 11 below the horizontal plate; the front moving assembly clamping plate 16 is slidably inserted into the longitudinal guide plate; and a row of straight teeth is vertically provided on the side edge of the front moving assembly clamping plate 16; a front moving assembly clamping plate control motor 13, which is mounted on the front moving assembly fixing plate 11; and a front moving assembly clamping plate drive gear 17, which is sleeved and fixed on the output shaft of the front moving assembly clamping plate control motor 13 for forward movement. The component clamping plate control motor 13 drives the front moving component clamping plate drive gear 17 to rotate, which meshes with a row of straight teeth vertically arranged on the front moving component clamping plate 16 to control the up and down movement of the front moving component clamping plate 16. After the front moving component clamping plate 16 rises, it can clamp the fuse on the horizontal plate. In this embodiment, the top surface of the front moving component clamping plate 16 and the bottom surface of the horizontal plate are respectively provided with semi-circular arc through grooves. The center line of the full circular through groove formed by the two semi-circular arc through grooves after they are engaged is collinear with the center line of the fuse guide support member 12. The fuse is clamped by the two engaged semi-circular arc through grooves.

[0043] like Figures 12 to 16 As shown, the rear moving assembly 7 includes: a rear moving assembly fixing plate 21, which is vertically arranged, with a "7"-shaped connecting plate integrally formed on its bottom edge to provide a connection platform for the mechanism installed on it; a rear moving assembly lifting frame 20, which moves up and down along the rear moving assembly fixing plate 21; a rear moving assembly fuse tube 19, which is installed on the rear moving assembly lifting frame 20 to carry and support the fuse, and the center line of the rear moving assembly fuse tube 19 is collinear with the center line of the fuse guide support 12; and a rear moving assembly translation drive wheel set 24, consisting of 4 wheels arranged in two rows. The drive wheels are arranged in rows and rotatably connected to the inner side of the vertical section of the connecting plate integrally formed with the rear moving component fixing plate 21. The upper and lower rows of drive wheels are mounted and clamped on the horizontal section of the L-shaped support arm 8 and move horizontally along the horizontal section of the L-shaped support arm 8. The rear moving component translation control motor 23 is installed on the outer side of the vertical section of the connecting plate. Its output shaft is coaxially connected to one of the drive wheels of the rear moving component translation drive wheel group 24. It is used to control the lateral translation of the rear moving component 7 on the L-shaped support arm 8 to achieve precise adjustment of the position of the rear moving component 7 on the L-shaped support arm 8.

[0044] The rear moving component 7 further includes: a rear moving component lifting frame control gear 25, which is vertically mounted on the rear moving component lifting frame 20; a rear moving component lifting frame control motor 22, which is mounted on the top of the horizontal section of the connecting plate, and a gear that meshes with the rear moving component lifting frame control gear 25 is sleeved and fixed on its output shaft, for controlling the rear moving component lifting frame 20 to rise and fall along the rear moving component fixing plate 21; and a rear moving component clamping plate control motor 18, which is mounted on the side wall of the rear moving component lifting frame 20. In order not to obstruct or interfere with the movement of the front moving component 6, the rear moving component lifting frame 20 is controlled to rise along the rear moving component fixing plate 21 under the control of the rear moving component lifting frame control motor 22, thereby avoiding the running track of the front moving component 6 and facilitating the passage of the front moving component 6.

[0045] The rear moving component lifting frame 20 has horizontal support plates and vertical guide plates fixed to its side walls. The rear moving component clamping plate 26 is slidably inserted into the vertical guide plate. A row of straight teeth is vertically provided on the side edge of the rear moving component clamping plate 26. The rear moving component clamping plate driving gear 27 is sleeved and fixed on the output shaft of the rear moving component clamping plate control motor 18, and meshes with the row of straight teeth vertically provided on the rear moving component clamping plate 26. It is used to control the rear moving component clamping plate 26 to lift up and down, and to clamp the fuse. Specifically, after the rear moving component clamping plate 26 rises, it can clamp the fuse on the horizontal support plate. In this embodiment, the top surface of the rear moving component clamping plate 26 and the bottom surface of the horizontal support plate are respectively provided with semi-circular arc through grooves. The center line of the full circular through groove formed by the two semi-circular arc through grooves is collinear with the center line of the rear moving component fuse tube 19. The fuse is clamped by the two semi-circular arc through grooves.

[0046] Working process: Taking a single-strand double-connected fuse with a side hole as an example (i.e., two bolts are fastened by a single fuse in a single strand), such as... Figure 18 As shown, the robotic arm is operated to position the end effector at the two bolts that need to be tightened. The fuse extrusion drive assembly and the forward moving assembly are positioned on both sides of the side hole of the first bolt, and the fuse guide tube is aligned with the side hole. During the rotation of the rubber wheel driven by the drive motor, the fuse is pulled through the side hole by friction and then out of the forward moving assembly, where it is clamped by the clamping plate of the forward moving assembly.

[0047] like Figure 19 and 20 As shown, the robotic arm tilts the end effector to a position above the second bolt. At the same time, the fuse extrusion drive group continuously extrudes the fuse, and the front moving component clamps the fuse and moves it along the L-shaped support arm to the rear moving component. The fuse between the fuse extrusion drive group and the front moving component is in a slack state, leaving room for subsequent winding onto the second bolt.

[0048] like Figure 21 As shown, the robotic arm is operated to make the end effector swing in the opposite direction, and the fuse between the fuse extrusion drive assembly and the forward moving assembly is wound around the second bolt, and the forward moving assembly moves to the side hole adjacent to the second bolt.

[0049] like Figure 22 As shown, the robotic arm rotates the end effector 180° while the fuse extrusion drive extrudes the fuse outward. The position of the end effector is adjusted so that the front moving assembly and the rear moving assembly are positioned on both sides of the second bolt side hole, and the fuse tube of the rear moving assembly corresponds to the side hole. The front moving assembly clamps the fuse and moves to the rear moving assembly, while passing the fuse through the side hole of the second bolt and out through the fuse tube of the rear moving assembly. The rear moving assembly then clamps the end of the fuse, and the front moving assembly releases the fuse.

[0050] like Figure 23 As shown, the robotic arm rotates the end effector 180° in the opposite direction while the drive motor of the fuse extrusion drive group rotates in the opposite direction to retract the fuse. At the same time, the fuse in the forward moving assembly disengages from the fuse guide support.

[0051] like Figures 24 to 26 As shown, the front moving assembly moves closer to the fuse extrusion drive group, the fuse extrusion drive group extrudes the fuse to the front moving assembly, the front moving assembly clamps the fuse with its clamping plate, and then the fuse cutting blade group of the adjacent fuse extrusion drive group cuts the fuse.

[0052] like Figure 27 and 28 As shown, the front moving component and the rear moving component respectively clamp the two ends of the cut fuse. The front moving component moves towards the rear moving component, and then the robotic arm is operated to rotate the end effector, thereby causing the fuse to wrap and knot, thus completing the double-bolt fuse fastening operation.

[0053] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A single-strand bolt fuse tightening end actuator, characterized in that, It includes: Robotic arm connecting plate (1), used to connect to the end of the robotic arm; The main support (2) is fixed to the front end of the connecting plate (1) of the robotic arm; A fuse coil bracket (3) is installed on the left side of the main bracket (2) for winding a fuse. The guide tube (4) is installed at the left front end of the main bracket (2) and is used to pass through the fuse; L-shaped support arm (8), one end of which is fixed to the right side of the main bracket (2); The front moving assembly (6) and the rear moving assembly (7) slide along another section of the L-shaped support arm (8) for clamping and threading the protective wire; A fuse extrusion drive assembly (9) is installed at the front end of the main bracket (2) and is used to drive the fuse in the guide tube (4) to move to the right; The fuse cutter assembly (10) is installed at the front end of the main bracket (2) and placed between the fuse extrusion drive assembly (9) and the L-shaped support arm (8) for cutting the fuse.

2. The single-strand bolt fuse tightening end actuator according to claim 1, characterized in that, It also includes a dust cover (5) that wraps around the fuse extrusion drive assembly (9) and the fuse cutter assembly (10) and is connected to the front end of the main support (2).

3. The single-strand bolt fuse tightening end actuator according to claim 1, characterized in that, The forward moving component (6) includes: A front moving component mounting plate (11) is used to provide a connection platform for the mechanism mounted thereon; A fuse guide support (12) is installed on the front moving component fixing plate (11) for threading and supporting the fuse; The front moving component translation drive wheel group (15) is rotatably connected to one side of the front moving component fixing plate (11) and translates laterally along the L-shaped support arm (8); The forward moving component translation control motor (14) is installed on the other side of the front moving component fixing plate (11). Its output shaft is coaxially connected to one of the drive wheels of the forward moving component translation drive wheel set (15) and is used to control the forward moving component (6) to translate laterally on the L-shaped support arm (8).

4. The single-strand bolt fuse tightening end actuator according to claim 3, characterized in that, The forward moving component (6) also includes: The front moving component clamping plate (16) is movably connected to the front moving component fixing plate (11) for clamping the fuse; The front moving component clamping plate control motor (13) is mounted on the front moving component fixing plate (11); The front moving component clamping plate drive gear (17) is sleeved and fixed on the output shaft of the front moving component clamping plate control motor (13), and meshes with the vertically arranged straight teeth on the front moving component clamping plate (16) to control the front moving component clamping plate (16) to move up and down.

5. The single-strand bolt fuse tightening end actuator according to claim 1, characterized in that: The rear moving component (7) includes: The rear moving component mounting plate (21) provides a connection platform for the mechanism mounted thereon; The rear moving component lifting frame (20) moves up and down along the rear moving component fixing plate (21); The rear moving component fuse tube (19) is installed on the rear moving component lifting frame (20) for threading and supporting the fuse; The rear moving component translation drive wheel group (24) is rotatably connected to the rear moving component fixing plate (21) and translates laterally along the L-shaped support arm (8); The rear moving component translation control motor (23) is installed on the rear moving component fixing plate (21). Its output shaft is coaxially connected to one of the drive wheels of the rear moving component translation drive wheel set (24) and is used to control the rear moving component (7) to translate laterally on the L-shaped support arm (8).

6. The single-strand bolt fuse tightening end actuator according to claim 5, characterized in that, The rear moving component (7) also includes: The rear moving component lifting frame control gear (25) is vertically mounted on the rear moving component lifting frame (20); The rear moving component lifting frame control motor (22) is installed on the rear moving component fixing plate (21). A gear that meshes with the rear moving component lifting frame control gear (25) is sleeved on its output shaft to control the lifting of the rear moving component lifting frame (20).

7. The single-strand bolt fuse tightening end actuator according to claim 5, characterized in that, The rear moving component (7) also includes: The rear moving component clamping plate (26) is movably connected to the rear moving component lifting frame (20) and is used to clamp the fuse; The rear moving component clamping plate control motor (18) is installed on the rear moving component lifting frame (20); The rear moving component clamping plate drive gear (27) is sleeved and fixed on the output shaft of the rear moving component clamping plate control motor (18), and meshes with a row of straight teeth vertically arranged on the rear moving component clamping plate (26) to control the rear moving component clamping plate (26) to move up and down.

8. The single-strand bolt fuse tightening end actuator according to claim 1, characterized in that, The fuse extrusion drive assembly (9) includes two drive motors (9.1) arranged vertically, and a rubber wheel (9.2) is connected to the output shaft of each drive motor (9.1). The distance between the two rubber wheels (9.2) is less than the diameter of the fuse.

9. The single-strand bolt fuse tightening end actuator according to claim 1, characterized in that, The fuse cutter assembly (10) includes a fixed blade (10.1) and a movable blade (10.2) with opposite blade edges. The movable blade (10.2) is arranged to move up and down. A movable blade drive motor (10.3) is installed at the front end of the main bracket (2). A blade drive gear (10.4) is sleeved and fixed on the output shaft of the movable blade drive motor (10.3). The blade drive gear (10.4) meshes with the straight teeth on the side edge of the movable blade (10.2).

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