A tightening device for a live working robotic arm

Abstract

The present invention provides a tightening device for a live working robotic arm, belonging to the technical field of live working robots. It includes a mounting plate, a servo motor fixed on the mounting plate, and a rotating cylinder. It also includes an adaptive fastening component and an insulating and rust-proof mechanism. Through the settings of the liquid storage tank, the connecting plate, the connecting holes, and the liquid outlet holes, during the process of clamping and fixing the side wall of the nut, the liquid outlet holes will be connected to the side wall of the nut. Subsequently, by using the rotation effect of the rotating cylinder and through the cooperation among the liquid storage tank, the first trapezoidal block, the second trapezoidal block, the push rod, the pressing plate, and the diversion pipe, the insulating and rust-proof liquid in the liquid storage tank is pushed out and smeared on the side wall of the nut, effectively avoiding the situation that the rust-proof layer on the side wall of the nut is damaged due to mechanical torque during the tightening process. Thereby, the protection effect on the fastening nut is improved, the service life of the fastening nut is increased, and at the same time, it has an insulating effect, thus improving the safety performance after the nut is used.

Description

Technical Field

[0001] The present invention relates to the field of live working robots, and more particularly, to a tightening device for a live working robotic arm. Background Art

[0002] As a device for conducting wiring operations at high altitudes, a live working robot replaces different components through a robotic arm to complete tasks such as stripping main cables and installing wire clamps. When installing a wire clamp, it is necessary to tighten the fastening nut on the wire clamp to ensure the stability of the wire clamp after installation.

[0003] A tightening device for a live working robotic arm with the publication number "CN115213673A" includes a main shaft, with the first end connected to the output shaft of a motor and the second end threadedly connected to a driving block; a clamping assembly connected to the driving block; and an installation assembly connected to the main shaft, which is used to tighten the fasteners on the workpiece under the driving force of the rotational power of the main shaft. The above device uses a single motor to simultaneously control the clamping assembly and the installation assembly; reducing the number of motors, and correspondingly reducing the insulating materials used during live working, resulting in a lower failure rate under the influence of high voltage and magnetic fields during use, a simpler and lower-cost insulation protection process, a reduction in the overall weight due to the reduction of motors, an improvement in the safety level of the equipment during high-altitude operations, and a reduction in the power consumption required by the robotic arm.

[0004] However, after the above device achieves clamping, it is necessary to rotate the robotic arm to tighten the fastening nut of the wire clamp, and the device itself cannot rotate the fastening nut of the wire clamp, thus increasing the operating difficulty of the robotic arm. Moreover, when tightening the fastening nut of the wire clamp, since the clamping part is in close contact with the side wall of the nut, under the action of mechanical torque, it is easy to grind off the original rust-proof layer on the side wall of the nut, thereby reducing the service life of the nut, and there may also be a situation of electric leakage at the worn part, reducing the overall safety of the wire clamp during use. Therefore, how to invent a tightening device for a live working robotic arm to improve these problems has become an urgent problem for those skilled in the art. Summary of the Invention

[0005] To make up for the above deficiencies, the present invention provides a tightening device for a live working robotic arm, aiming to improve the problem that the existing tightening method cannot rotate the fastening nut of the wire clamp through the device itself, thereby increasing the operating difficulty of the robotic arm, and under the action of mechanical torque, it is easy to grind off the original rust-proof layer on the side wall of the nut, thereby reducing the service life of the nut.

[0006] The present invention is implemented as follows:

[0007] The present invention provides a tightening device for an energized operation robotic arm, which includes a mounting plate, a servo motor fixed on the mounting plate, and a rotating cylinder. A positioning plate is fixedly connected to the side wall of the mounting plate, and a spherical slide bar is fixedly connected to the side of the positioning plate away from the mounting plate. A circular slide rail is fixedly connected to the side wall of the rotating cylinder, and the spherical slide bar is engaged and slidably connected to the inner cavity of the circular slide rail. It further includes:

[0008] An adaptive fastening assembly, which is arranged on the side wall of the rotating cylinder and is used for clamping and fixing nuts of different sizes, thereby improving the applicability of the device;

[0009] An insulating and rust-proof mechanism, which is arranged on the side wall of the rotating cylinder and is used for applying an insulating and rust-proof liquid to the side wall of the nut during the tightening process, thereby avoiding the situation that the side wall of the nut is mechanically damaged and cannot meet the use requirements, and thus improving the protection effect of the device on the nut.

[0010] Preferably, the spherical slide bar and the circular slide rail are both symmetrically arranged along the central plane of the rotating cylinder. A driving gear is fixedly connected to the top of the servo motor, and a driven gear disc is fixedly connected to the side wall of the rotating cylinder, and the driven gear disc is meshed with the driving gear.

[0011] Preferably, the adaptive fastening assembly includes a first telescopic rod, which is fixedly connected to the inner wall of the rotating cylinder, and six first telescopic rods are equidistantly arranged along the central axis of the rotating cylinder. Concave clamping plates and flat clamping plates are respectively fixedly connected to the ends of adjacent two first telescopic rods away from the inner wall of the rotating cylinder. The concave clamping plates and the flat clamping plates are annularly staggered along the central axis of the rotating cylinder, and the two ends of the flat clamping plates are adapted to the two ends of the concave clamping plates.

[0012] Preferably, an inflation chamber is opened at the bottom of the rotating cylinder, and the inflation chamber is communicated with the inner cavity of the first telescopic rod through an air guide hole. A piston plate is slidably connected to the inner wall of the inflation chamber. A first spring is fixedly connected between the top of the piston plate and the inflation chamber, and a plurality of first springs are equidistantly arranged along the central axis of the rotating cylinder.

[0013] Preferably, liquid storage grooves are respectively opened in the middle of the sides of the concave clamping plates and the flat clamping plates close to the center of the rotating cylinder. Liquid outlet holes are respectively opened on both sides of the liquid storage grooves on the side walls of the concave clamping plates and the flat clamping plates, and the liquid outlet holes are communicated with the liquid storage grooves. The insulating and rust-proof mechanism includes a communicating plate, which is slidably connected to the inner wall of the liquid storage groove. A second telescopic rod is fixedly connected between the inner wall of the communicating plate and the side wall of the liquid storage groove. The communicating plate is arranged in a "U" shape, and communicating holes are opened on the side wall of the communicating plate located in the liquid storage groove, and the communicating holes are adaptively connected and communicated with the liquid outlet holes.

[0014] Preferably, a liquid storage tank is fixedly connected to the inner wall of the rotating cylinder above the concave clamping plate. A diversion pipe is fixedly connected to the side of the liquid storage tank away from the inner wall of the rotating cylinder, and the end of the diversion pipe away from the liquid storage tank is communicated with the inner cavity of the liquid storage groove. A one-way valve is arranged in the liquid outlet hole, and the thrust required to open the one-way valve is greater than the gravity of the liquid inside the liquid storage groove.

[0015] Preferably, a pressure plate is slidably connected inside the liquid storage tank. A push rod is fixedly connected to the side wall of the pressure plate. One end of the push rod away from the pressure plate penetrates through the liquid storage tank and the side wall of the rotary cylinder. The side wall of the push rod is slidably and sealingly connected to both the liquid storage tank and the rotary cylinder. One end of the push rod away from the pressure plate is fixedly connected to a first trapezoidal block. A second trapezoidal block is fixedly connected to the side of the positioning plate close to the first trapezoidal block. The second trapezoidal block can be in movable contact with the first trapezoidal block. A second spring is sleeved on the side wall of the push rod close to the first trapezoidal block.

[0016] Preferably, the positioning plate, the rotary cylinder, the concave clamping plate and the flat clamping plate are all made of insulating materials, and wear-resistant insulating sheets are fixedly connected to the side walls of the concave clamping plate and the flat clamping plate.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. Through the settings of the piston plate, the inflation chamber, the first telescopic rod, the concave clamping plate and the flat clamping plate, under the extrusion action applied by the robotic arm downward, the piston plate enters the inflation chamber, so that each concave clamping plate and flat clamping plate are closely attached to the side wall of the nut of the fastener, thereby improving the clamping stability of the device when tightening the nut side wall, and being able to adaptively clamp nuts of different sizes, thus improving the applicable range of the device.

[0019] 2. Through the settings of the liquid storage tank, the communication plate, the communication hole and the liquid outlet hole, during the process of clamping and fixing the side wall of the nut, the liquid outlet hole will be communicated with the side wall of the nut. Then, by using the rotation effect of the rotary cylinder and through the cooperation between the liquid storage tank, the first trapezoidal block, the second trapezoidal block, the push rod, the pressure plate and the diversion pipe, the insulating rust-proof liquid in the liquid storage tank is pushed out and smeared on the side wall of the nut, effectively avoiding the situation that the rust-proof layer on the side wall of the nut is damaged due to mechanical torsion during the tightening process, thereby improving the protection effect on the nut of the fastener, and

[0020] improving the service life of the nut of the fastener, and at the same time making it have an insulating effect, thereby improving the safety performance of the nut after use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show

[0022] certain embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0023] Figure 1It is a schematic diagram of the overall front view structure of a tightening device for a live working robotic arm provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the side view semi-sectional structure of a tightening device 5 for a live working robotic arm provided by an embodiment of the present invention;

[0025] Figure 3 It is a tightening device for a live working robotic arm provided by an embodiment of the present invention Figure 2 Partial enlarged structure schematic diagram;

[0026] Figure 4 It is a schematic diagram of the liquid storage tank structure of a tightening device for a live working robotic arm provided by an embodiment of the present invention;

[0027] Figure 5 It is a tightening device for a live working robotic arm provided by an embodiment of the present invention Figure 4 Enlarged structure schematic diagram of area A;

[0028] Figure 6 It is a schematic diagram of the partial top view sectional structure of a tightening device for a live working robotic arm provided by an embodiment of the present invention;

[0029] Figure 7 It is a schematic diagram of the deployed structure of an adaptive fastening assembly of a tightening device for a live working robotic arm provided by an embodiment of the present invention;

[0030] Figure 8 It is a tightening device for a live working robotic arm provided by an embodiment of the present invention Figure 7 Partial enlarged structure schematic diagram;

[0031] Figure 9 It is a schematic diagram of the tightened structure of an adaptive fastening assembly of a tightening device for a live working robotic arm provided by an embodiment of the present invention.

[0032] In the figure: 1. mounting plate; 101. servo motor; 102. rotating cylinder; 2. positioning plate; 21. spherical slide bar; 22. annular slide rail; 3. adaptive fastening assembly; 31. first telescopic rod; 32. concave clamping plate; 33. flat clamping plate; 34. inflatable chamber; 35. air guide hole; 36. piston plate; 37. first spring; 4. insulation and rust prevention mechanism; 41. connecting plate; 42. second telescopic rod; 43. connecting hole; 44. liquid storage tank; 45. diversion pipe; 46. pressing plate; 47. pushing rod; 471. second spring; 48. first trapezoidal block; 49. second trapezoidal block; 5. driving gear; 51. driven sprocket; 6. liquid storage tank; 61. liquid outlet hole; 7. wear-resistant insulating sheet. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0034] Embodiment

[0035] Referring to Figures 1-8 , a tightening device for an energized working robotic arm includes a mounting plate 1, a servo motor 101 fixed on the mounting plate 1, and a rotating cylinder 102. A positioning plate 2 is fixedly connected to the side wall of the mounting plate 1. A spherical slide bar 21 is fixedly connected to the side of the positioning plate 2 away from the mounting plate 1. A circular slide rail 22 is fixedly connected to the side wall of the rotating cylinder 102, and the spherical slide bar 21 is engaged and slidably connected to the inner cavity of the circular slide rail 22. It further includes:

[0036] An adaptive fastening assembly 3 is arranged on the side wall of the rotating cylinder 102. The adaptive fastening assembly 3 is used to clamp and fix nuts of different sizes, thereby improving the applicability of the device.

[0037] An insulation and rust prevention mechanism 4 is arranged on the side wall of the rotating cylinder 102. The insulation and rust prevention mechanism 4 is used to apply an insulation and rust prevention liquid to the side wall of the nut during the tightening process, thereby avoiding the situation where the side wall of the nut is mechanically damaged and cannot meet the usage requirements, and thus improving the protection effect of the device on the nut.

[0038] Referring to Figure 1 , Figure 2 and Figure 6 , further, the spherical slide bar 21 and the circular slide rail 22 are both symmetrically arranged along the central plane of the rotating cylinder 102. A driving gear 5 is fixedly connected to the top of the servo motor 101. A driven gear disc 51 is fixedly connected to the side wall of the rotating cylinder 102, and the driven gear disc 51 is meshed with the driving gear 5.

[0039] It should be noted that: through the arrangement of the spherical slide bar 21 and the circular slide rail 22, support is provided for the rotation of the rotating cylinder 102, playing the role of a fixed support plate. Then, by using the meshing connection between the driven gear disc 51 and the driving gear 5, power is applied to the rotation of the rotating cylinder 102, so that the rotating cylinder 102 rotates relative to the positioning plate 2, thereby realizing the tightening of the nut on the fastener.

[0040] Referring to Figure 3 , Figure 4 and Figure 5, Further, the adaptive fastening assembly 3 includes a first telescopic rod 31. The first telescopic rod 31 is fixedly connected to the inner wall of the rotating cylinder 102, and six first telescopic rods 31 are equidistantly arranged along the central axis of the rotating cylinder 102. One end of two adjacent first telescopic rods 31 away from the inner wall of the rotating cylinder 102 is fixedly connected with a concave clamping plate 32 and a flat clamping plate 33 respectively. The concave clamping plate 32 and the flat clamping plate 33 are arranged in a circular and staggered manner along the central axis of the rotating cylinder 102, and both ends of the flat clamping plate 33 are adapted to both ends of the concave clamping plate 32;

[0041] It should be noted that: all the first telescopic rods 31 are communicated with each other. Through the arrangement that the flat clamping plate 33 and the concave clamping plate 32 are staggered and can be engaged and slid with each other, the fastener nuts of different sizes can be used to the greatest extent, thereby improving the convenience of using the device;

[0042] Refer to Figure 3 、 Figure 4 and Figure 5 , Further, an air inflation chamber 34 is opened at the bottom of the rotating cylinder 102, and the air inflation chamber 34 is communicated with the inner cavity of the first telescopic rod 31 through an air guide hole 35. A piston plate 36 is slidably connected to the inner wall of the air inflation chamber 34. A first spring 37 is fixedly connected between the top of the piston plate 36 and the air inflation chamber 34, and a plurality of first springs 37 are equidistantly arranged along the central axis of the rotating cylinder 102;

[0043] It should be noted that: through the setting of the above structure, by squeezing the piston plate 36, the gas in the air inflation chamber 34 is filled into the first telescopic rod 31, so that each concave clamping plate 32 and flat clamping plate 33 can be closely attached to the side wall of the nut of the fastener, thereby improving the clamping stability of the device when tightening the nut side wall, and can adaptively clamp nuts of different sizes, thereby improving the applicable range of the device.

[0044] Refer to Figure 3 、 Figure 7 and Figure 8 , Further, a liquid storage groove 6 is opened in the middle of the side of the concave clamping plate 32 and the flat clamping plate 33 close to the center of the rotating cylinder 102. Liquid outlet holes 61 are opened on both sides of the side wall of the concave clamping plate 32 and the flat clamping plate 33 at both sides of the liquid storage groove 6, and the liquid outlet holes 61 are communicated with the liquid storage groove 6. The insulating and rust-proof mechanism 4 includes a connecting plate 41. The connecting plate 41 is slidably connected to the inner wall of the liquid storage groove 6. A second telescopic rod 42 is fixedly connected between the inner wall of the connecting plate 41 and the side wall of the liquid storage groove 6. The connecting plate 41 is arranged in a "U" shape, and a connecting hole 43 is opened on the side wall of the connecting plate 41 located in the liquid storage groove 6. The connecting hole 43 is adaptively communicated with the liquid outlet hole 61;

[0045] Among them, the "凵"-shaped connecting plate 41 can save the space in the liquid storage tank 6 to the greatest extent, so that more insulating anti-rust liquid can be stored in the liquid storage tank 6, thereby reducing the time interval for replenishing the liquid, thereby improving the working efficiency of the device, and can also conveniently connect the connecting holes 43 set on both sides with the liquid outlet hole 61 at the same time, thereby ensuring that the insulating anti-rust liquid is squeezed out from both sides at the same time, so that the insulating anti-rust liquid can be more evenly squeezed and applied to the side wall of the fastener nut, thereby improving the pressure coating effect of the insulating anti-rust liquid.

[0046] Reference Figure 2 , Figure 3 Furthermore, a liquid storage tank 44 is fixedly connected to the inner wall of the rotary drum 102 located above the concave clamping plate 32, and a guide tube 45 is fixedly connected to the side of the liquid storage tank 44 away from the inner wall of the rotary drum 102, and one end of the guide tube 45 away from the liquid storage tank 44 is connected to the inner cavity of the liquid storage tank 6, and a one-way valve is arranged in the liquid outlet hole 61, and the thrust required to open the one-way valve is greater than the gravity of the liquid inside the liquid storage tank 6;

[0047] Among them, since the thrust required to open the one-way valve is greater than the gravity of the liquid inside the liquid storage tank 6, the insulating rust-proof liquid can be pressed against the side wall of the nut only during the subsequent rotation of the rotary cylinder 102, effectively avoiding the insulating rust-proof liquid from flowing out when clamped and fixed, thereby reducing the unreasonable loss of the insulating rust-proof liquid and improving the rationality of the design of the device;

[0048] Reference Figure 2 , Figure 3 , further, a pressure plate 46 is slidably connected inside the liquid storage tank 44, and a push rod 47 is fixedly connected to the side wall of the pressure plate 46. The end of the push rod 47 away from the pressure plate 46 penetrates the liquid storage tank 44 and the side wall of the rotary drum 102, and the side wall of the push rod 47 and the liquid storage tank 44 and the rotary drum 102 are all slidably and sealedly connected. The end of the push rod 47 away from the pressure plate 46 is fixedly connected to a first trapezoidal block 48, and a second trapezoidal block 49 is fixedly connected to the side of the positioning plate 2 close to the first trapezoidal block 48, and the second trapezoidal block 49 can be movably contacted with the first trapezoidal block 48, and a second spring 471 is sleeved on the side wall of the push rod 47 close to the first trapezoidal block 48;

[0049] It should be noted that: through the arrangement of the above-mentioned structure, the first trapezoidal block 48 and the second trapezoidal block 49 are squeezed and contacted by the rotation of the rotary drum 102, so that the one-way valve in the liquid outlet 61 is opened, so that the insulating anti-rust liquid in the liquid storage tank 6 is pushed out of the liquid outlet 61 under the applied squeezing effect, and is pressed onto the side wall of the nut, effectively avoiding the situation where the mechanical torque during the tightening process causes the anti-rust layer of the side wall of the nut to be damaged, thereby improving the protection effect of the fastener nut, thereby increasing the service life of the fastener nut, and at the same time making it have an insulating effect, thereby improving the safety performance of the nut after use.

[0050] Furthermore, the positioning plate 2, the rotating cylinder 102, the concave clamping plate 32 and the flat clamping plate 33 are all made of insulating materials, and wear-resistant insulating sheets 7 are fixedly connected to the side walls of the concave clamping plate 32 and the flat clamping plate 33;

[0051] It should be noted that: through the setting of the above structure, the overall insulation effect of the device is improved, so that the work of tightening while being charged is safer, thereby improving the safety when using the device.

[0052] Refer to Figures 1-9 , the working principle of the tightening device for the live working robotic arm: First, the device is fixedly connected to the live robotic arm through the mounting plate 1 (the live robotic arm here is an existing mature technology, so it will not be shown and described in detail). When carrying out the tightening work, the rotating cylinder 102 is sleeved on the nut of the fastener, and the piston plate 36 at the bottom of the rotating cylinder 102 is in contact with and squeezes the bottom of the fastener, so that the piston plate 36 slides into the air charging chamber 34. At this time, the space inside the air charging chamber 34 will become smaller and the air pressure will increase. The air charging chamber 34 is connected to the inner cavity of the first telescopic rod 31 through the air guide hole 35. Therefore, the squeezed gas will enter the first telescopic rod 31, and the first telescopic rod 31 will extend outwards, that is, the concave clamping plates 32 and the flat clamping plates 33 will move closer to the center of the rotating cylinder 102 until they are in close contact with the side wall of the nut of the fastener, so as to clamp nuts of different sizes (the maximum state is as shown in Figure 7 , the minimum state is as shown in Figure 9 ); and during the process of clamping the nut, the connecting plate 41 will also be squeezed, so that the connecting plate 41 retracts into the liquid storage tank 6, and the connecting hole 43 is aligned and communicated with the liquid outlet hole 61, so that the inner cavity of the liquid storage tank 6 is in communication with the side wall of the nut. At this time, since the thrust required to open the one-way valve in the liquid outlet hole 61 is greater than the gravity of the liquid inside the liquid storage tank 6, the insulating and rust-proof liquid in the liquid storage tank 6 will remain stationary and will not flow out; then the servo motor 101 can be started. The servo motor 101 provides power. Through the meshing effect between the driving gear 5 and the driven gear disk 51, the rotating cylinder 102 rotates along its center, and the tightly clamped nut is driven to rotate, so as to tighten the nut on the fastener;

[0053] During the rotation of the rotating cylinder 102, the first trapezoidal block 48 will come into contact with the second trapezoidal block 49, and under the action of the rotational torque provided by the rotating cylinder 102, the first trapezoidal block 48 will slide over the second trapezoidal block 49. During this process, the first trapezoidal block 48 will drive the push rod 47 to move into the liquid storage tank 44, compress the second spring 471, and thereby push the pressure plate 46 to move to the other side of the inner cavity of the liquid storage tank 44. Under the extrusion effect, the liquid in the liquid storage tank 44 will enter the liquid storage groove 6 through the guide pipe 45. At this time, the liquid in the liquid storage groove 6 will be subjected to the extrusion effect exerted by the liquid flow in the guide pipe 45, so that the one-way valve in the liquid outlet hole 61 is in an open state, so that the insulating and rust-proof liquid in the liquid storage groove 6 is pushed out of the liquid outlet hole 61 and is applied to the damaged side wall of the nut under the extrusion effect of the concave clamping plate 32 and the flat clamping plate 33 on the side wall of the fastening nut, effectively avoiding the situation that the anti-rust layer on the side wall of the nut is damaged by the mechanical torque during the tightening process, thereby improving the service life of the fastening nut.

[0054] It should be noted that the specific model and specification of the motor need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be elaborated in detail.

[0055] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A tightening device for an electrified operation robotic arm, comprising a mounting plate (1), a servo motor (101) fixed on the mounting plate (1), and a rotating cylinder (102), characterized in that, A positioning plate (2) is fixedly connected to the side wall of the mounting plate (1). A spherical slide bar (21) is fixedly connected to the side of the positioning plate (2) away from the mounting plate (1). An annular slide rail (22) is fixedly connected to the side wall of the rotating cylinder (102), and the spherical slide bar (21) is engaged and slidably connected to the inner cavity of the annular slide rail (22). Further included are: An adaptive fastening assembly (3) is arranged on the side wall of the rotating cylinder (102). The adaptive fastening assembly (3) is used for clamping and fixing nuts of different sizes, thereby improving the applicability of the device. An insulating and rust-proof mechanism (4) is arranged on the side wall of the rotating cylinder (102). The insulating and rust-proof mechanism (4) is used for applying an insulating and rust-proof liquid to the side wall of the nut during the tightening process, thereby avoiding the situation where the side wall of the nut is mechanically damaged and cannot meet the usage requirements, and thus improving the protection effect of the device on the nut. The adaptive fastening assembly (3) includes a first telescopic rod (31). The first telescopic rod (31) is fixedly connected to the inner wall of the rotating cylinder (102), and six first telescopic rods (31) are equidistantly arranged along the central axis of the rotating cylinder (102). The ends of adjacent two first telescopic rods (31) away from the inner wall of the rotating cylinder (102) are respectively fixedly connected with a concave clamping plate (32) and a flat clamping plate (33). The concave clamping plate (32) and the flat clamping plate (33) are annularly and alternately arranged along the central axis of the rotating cylinder (102), and the two ends of the flat clamping plate (33) are adapted to the two ends of the concave clamping plate (32). Liquid storage grooves (6) are respectively formed in the middle of the sides of the concave clamping plate (32) and the flat clamping plate (33) close to the center of the rotating cylinder (102). Liquid outlet holes (61) are formed on both sides of the liquid storage grooves (6) on the side walls of the concave clamping plate (32) and the flat clamping plate (33), and the liquid outlet holes (61) are communicated with the liquid storage grooves (6). The insulating and rust-proof mechanism (4) includes a connecting plate (41). The connecting plate (41) is slidably connected to the inner wall of the liquid storage groove (6). A second telescopic rod (42) is fixedly connected between the inner wall of the connecting plate (41) and the side wall of the liquid storage groove (6). The connecting plate (41) is arranged in a "U" shape, and a communication hole (43) is formed on the side wall of the connecting plate (41) located in the liquid storage groove (6). The communication hole (43) is adaptively communicated with the liquid outlet hole (61). A liquid storage tank (44) is fixedly connected to the inner wall of the rotating cylinder (102) above the concave clamping plate (32). A diversion pipe (45) is fixedly connected to the side of the liquid storage tank (44) away from the inner wall of the rotating cylinder (102). The end of the diversion pipe (45) away from the liquid storage tank (44) is communicated with the inner cavity of the liquid storage groove (6). A one-way valve is arranged in the liquid outlet hole (61), and the thrust required to open the one-way valve is greater than the gravity of the liquid inside the liquid storage groove (6). A pressure plate (46) is slidably connected inside the liquid storage tank (44). A push rod (47) is fixedly connected to the side wall of the pressure plate (46). One end of the push rod (47) away from the pressure plate (46) penetrates the side walls of the liquid storage tank (44) and the rotary cylinder (102). The side wall of the push rod (47) is slidably and sealingly connected to both the liquid storage tank (44) and the rotary cylinder (102). A first trapezoidal block (48) is fixedly connected to one end of the push rod (47) away from the pressure plate (46). A second trapezoidal block (49) is fixedly connected to the side of the positioning plate (2) close to the first trapezoidal block (48). The second trapezoidal block (49) can be in movable contact with the first trapezoidal block (48). A second spring (471) is sleeved on the side wall of the push rod (47) close to the first trapezoidal block (48).

2. The tightening device for an energized working robotic arm according to claim 1, characterized in that, The spherical slide rod (21) and the annular slide rail (22) are both symmetrically arranged along the central plane of the rotary cylinder (102). A driving gear (5) is fixedly connected to the top of the servo motor (101). A driven gear disc (51) is fixedly connected to the side wall of the rotary cylinder (102). The driven gear disc (51) is meshed with the driving gear (5).

3. The tightening device for an energized working robotic arm according to claim 1, characterized in that, An air inflation chamber (34) is formed at the bottom of the rotary cylinder (102). The air inflation chamber (34) is communicated with the inner cavity of the first telescopic rod (31) through an air guide hole (35). A piston plate (36) is slidably connected to the inner wall of the air inflation chamber (34). A first spring (37) is fixedly connected between the top of the piston plate (36) and the air inflation chamber (34). A plurality of the first springs (37) are arranged at equal intervals along the central axis of the rotary cylinder (102).

4. The tightening device for an energized working robotic arm according to claim 1, characterized in that, The positioning plate (2), the rotary cylinder (102), the concave clamping plate (32) and the flat clamping plate (33) are all made of insulating materials. Wear-resistant insulating sheets (7) are fixedly connected to the side walls of the concave clamping plate (32) and the flat clamping plate (33).

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