Adaptive bolt fastening head

Abstract

The application discloses a self-adaptive bolt fastening head, which comprises a fastening motor, a fastening rod arranged on an output shaft of the fastening motor, a fastening sleeve coaxially arranged on the fastening rod, a clamping arm hingedly arranged on the fastening sleeve, and a clamping arm sleeve arranged outside the fastening sleeve, wherein when the fastening sleeve moves axially towards the inside of the clamping arm sleeve, the clamping arm sleeve can press the outside of the clamping arm to make the first end of the clamping arm swing towards the inside, and when the fastening sleeve moves axially towards the outside of the clamping arm sleeve, the first end of the clamping arm swings towards the outside. The self-adaptive bolt fastening head has the advantages that the clamping arm can be adapted to the re-tightening operation of bolts of different specifications through the expansion and contraction of the clamping arm, the self-adaptive bolt fastening head has strong adaptability, and the self-adaptive bolt fastening head is suitable for a wide range of applications.

Description

Technical Field

[0001] This invention relates to the field of bolt fastening, and more specifically to an adaptive bolt fastening head. Background Technology

[0002] Angle steel tower, as the name suggests, is a tower built primarily of angle steel. Since adjacent angle steels are connected by connecting plates, there are many bolts on the angle steel tower for connection and fastening. To ensure the stability of the angle steel tower, the bolts on the tower need to be tightened frequently, i.e., bolt retightening, to ensure the reliability of the bolt connection. Because angle steel towers are generally quite tall, it is inconvenient for people to climb them, so machine operation is usually used.

[0003] In the prior art, for example, Chinese invention patent application with publication number CN113649796A discloses a maintenance robot with online bolt retightening function, including a main unit and an angle steel clamping assembly arranged on the main unit; a bolt retightening device for retightening bolts is arranged at the head end of the main unit, the bolt retightening device includes an extension arm and a working head fixed on the extension arm, the extension arm includes a bottom frame fixed on the main unit, a rotating assembly for driving the working head to generate a rotating motion and a planar displacement assembly for driving the working head to generate a fixed-point operation are installed on the bottom frame; a sleeve auxiliary replacement box is also fixed on the main unit to facilitate high-altitude sleeve replacement operation with the working head, and both the sleeve auxiliary replacement box and the bolt retightening device are fixed at the head end of the main unit.

[0004] Because multiple bolt sizes are installed on the same angle steel tower, different sizes of sleeves are installed in the sleeve auxiliary changing box to allow for retightening of bolts of different sizes. When retightening bolts of different sizes, the bolt retightening device simply replaces the sleeve with the appropriate size from the sleeve auxiliary changing box. However, this bolt retightening device cannot adapt to different bolt sizes independently; it requires the use of different sized sleeves to retighten different bolt sizes. The addition of the sleeve auxiliary changing box undoubtedly increases the weight of the entire maintenance robot, making climbing more difficult and less flexible. Furthermore, changing different sized sleeves is time-consuming and labor-intensive, resulting in low work efficiency. Summary of the Invention

[0005] The technical problem to be solved by this invention is:

[0006] The existing technology addresses the technical problem that bolt fastening heads cannot adapt to bolts of different specifications.

[0007] The present invention solves the above-mentioned technical problems through the following technical means:

[0008] An adaptive bolt fastening head includes a fastening motor, a fastening rod on the output shaft of the fastening motor, a fastening sleeve coaxially mounted on the fastening rod, a locking arm hinged to the fastening sleeve, the first end of the locking arm facing the opening of the fastening sleeve, and a locking arm sleeve disposed outside the fastening sleeve. When the fastening sleeve moves axially inward toward the locking arm sleeve, the locking arm sleeve can press against the outer side of the locking arm, causing its first end to swing inward. When the fastening sleeve moves axially outward toward the locking arm sleeve, the first end of the locking arm swings outward.

[0009] In practical application, the adaptive bolt tightening head of this invention involves placing a tightening sleeve on the bolt to be tightened. The tightening sleeve moves axially towards the inside of the clamping arm sleeve. Simultaneously, the clamping arm sleeve presses against the outer side of the clamping arm, causing its first end to swing inward until it clamps the inner bolt. After clamping, the tightening motor continuously drives the tightening rod to rotate forward, thereby rotating the tightening sleeve to achieve the bolt tightening operation. After tightening, the clamping arm gradually disengages from the clamping arm sleeve and opens outward, thus loosening the bolt and completing the bolt re-tightening operation. Compared to existing technologies, the retraction and extension of the clamping arm can adapt to the re-tightening operation of bolts of different specifications, exhibiting strong adaptability and a wide range of applications.

[0010] In the optimized configuration, the fastening rod is a threaded rod, and the fastening sleeve is threadedly mounted on the fastening rod. A locking mechanism is provided on the side of the fastening motor. The locking mechanism can lock or release the clamping arm sleeve. When the clamping arm sleeve is locked, the fastening sleeve can move axially relative to the clamping arm sleeve without rotating.

[0011] In practical applications, the locking mechanism locks the clamping arm sleeve, preventing it from rotating. The fastening motor drives the fastening rod to rotate clockwise, with the direction of rotation being the same as when the bolt is tightened. Since the fastening sleeve cannot rotate relative to the clamping arm sleeve, under the action of the thread, the fastening sleeve can only move axially inward towards the inside of the clamping arm sleeve. Simultaneously, the clamping arm sleeve presses against the outer side of the clamping arm, causing its first end to swing inward until it clamps the inner bolt. After clamping, the locking mechanism releases the clamping arm sleeve, and the fastening motor continues to drive the fastening rod to rotate clockwise, thereby causing the fastening sleeve and clamping arm sleeve to rotate together to achieve the bolt tightening operation. After tightening, the locking mechanism locks the clamping arm sleeve, and the fastening motor drives the fastening rod to rotate counterclockwise. The fastening rod pushes the fastening sleeve out of the clamping arm sleeve, while the clamping arm gradually disengages from the clamping arm sleeve and opens outward, thereby loosening the bolt and completing the bolt re-tightening operation. Compared to existing technologies, the opening and closing action of the clamping arm can adapt to the re-tightening operation of bolts of different specifications, exhibiting strong adaptability and a wide range of applications.

[0012] The optimized design includes an anti-rotation step on the outer side of the locking arm sleeve, and the locking mechanism includes an electric push rod arranged parallel to the side of the fastening motor. The piston rod of the electric push rod can extend and block the outside of the anti-rotation step to prevent rotation, or retract and disengage from the anti-rotation step.

[0013] In practical applications, the piston rod of the electric actuator extends outward to block the outside of the anti-rotation step to achieve anti-rotation, or retracts and disengages from the anti-rotation step. Its structural principle is relatively simple and its operation is reliable.

[0014] In an optimized configuration, the fastening sleeve is provided with a mounting groove parallel to the axial direction of the fastening sleeve, and the retaining arm is located in the mounting groove.

[0015] In an optimized configuration, a swing guide mechanism is provided between the clamping arm and the mounting groove. The swing guide mechanism includes a guide groove provided on the side wall of the mounting groove and a guide protrusion provided on the side of the clamping arm. The guide protrusion slides in conjunction with the guide groove. When the clamping arm swings around its hinge axis, the guide protrusion can slide in the guide groove.

[0016] The swing guide mechanism formed by the sliding cooperation between the guide protrusion and the guide groove can guide the swing of the clamping arm, thereby ensuring that the swing of the clamping arm is relatively smooth, stable and reliable.

[0017] In an optimized configuration, several clamping arms are evenly arranged along the circumferential direction of the fastening sleeve.

[0018] In an optimized configuration, an elastic body is provided between the locking arm and the fastening sleeve, the elastic body enabling the locking arm to have a tendency to open outward.

[0019] In an optimized configuration, a clamping protrusion is provided on the inner side of the first end of the clamping arm; a wedge-shaped protrusion is provided on the outer side of the clamping arm, and the thickness of the wedge-shaped protrusion gradually decreases from the first end to the second end of the clamping arm.

[0020] When the fastening sleeve moves axially into the clamping arm sleeve, the clamping arm sleeve can press against the wedge-shaped protrusion on the outside of the clamping arm, thereby causing its first end to swing inward to achieve clamping. Its overall structure is simple and its operation is reliable.

[0021] The optimized fastening sleeve has several positioning ridges parallel to the axial direction of the fastening sleeve on its inner wall, and the positioning ridges are evenly distributed along the circumference of the fastening sleeve.

[0022] When the bolt is large, the clamping arm does not directly act on the bolt when it opens. In this case, the bolt edge can be clamped by the groove formed between the positioning edges, thereby achieving the clamping and tightening operation.

[0023] In the optimized configuration, the fastening rod can drive the fastening sleeve to rotate. The clamping arm sleeve includes a rotor located on the inner side and a stator located on the outer side. The rotor is sleeved on the outer side of the fastening sleeve. A clamping arm sleeve push-pull mechanism is provided on the side of the fastening motor. The movable end of the clamping arm sleeve push-pull mechanism is connected to the stator. The clamping arm sleeve push-pull mechanism can drive the clamping arm sleeve to move axially back and forth.

[0024] In practical applications, after the fastening sleeve is placed on the bolt, the clamping arm push-pull mechanism pushes the clamping arm to move. Under the action of the rotor of the clamping arm, the clamping arms swing inward and retract, thereby clamping the bolt. The fastening sleeve and rotor are driven to rotate by the fastening motor and fastening rod. At this time, the rotor can rotate relative to the stator, thereby realizing the bolt fastening operation. After the fastening is completed, the clamping arm push-pull mechanism pulls the clamping arm to move, and the rotor gradually disengages from each clamping arm. Each clamping arm opens, thereby loosening the bolt. Its overall structure and principle are relatively simple, and the operation is reliable.

[0025] The advantages of this invention are:

[0026] 1. In practical application, the adaptive bolt tightening head of this invention involves placing the tightening sleeve on the bolt to be tightened. The tightening sleeve moves axially towards the inside of the clamping arm sleeve. Simultaneously, the clamping arm sleeve presses against the outer side of the clamping arm, causing its first end to swing inward until the inner bolt is clamped. After clamping, the tightening motor continuously drives the tightening rod to rotate forward, thereby rotating the tightening sleeve to achieve the bolt tightening operation. After tightening, the clamping arm gradually disengages from the clamping arm sleeve and opens outward, thus loosening the bolt and completing the bolt re-tightening operation. Compared to existing technologies, the retraction and extension of the clamping arm can adapt to the re-tightening operation of bolts of different specifications, exhibiting strong adaptability and a wide range of applications.

[0027] 2. In practical applications, the locking mechanism locks the clamping arm sleeve, preventing it from rotating. The fastening motor drives the fastening rod to rotate clockwise, with the direction of rotation being the same as when the bolt is tightened. Since the fastening sleeve cannot rotate relative to the clamping arm sleeve, under the action of the thread, the fastening sleeve can only move axially inward towards the inside of the clamping arm sleeve. Simultaneously, the clamping arm sleeve presses against the outer side of the clamping arm, causing its first end to swing inward until it clamps the inner bolt. After clamping, the locking mechanism releases the clamping arm sleeve, and the fastening motor continues to drive the fastening rod to rotate clockwise, thereby causing the fastening sleeve and clamping arm sleeve to rotate together to achieve the bolt tightening operation. After tightening, the locking mechanism locks the clamping arm sleeve, and the fastening motor drives the fastening rod to rotate counterclockwise. The fastening rod pushes the fastening sleeve out of the clamping arm sleeve, while the clamping arm gradually disengages from the clamping arm sleeve and opens outward, thereby loosening the bolt and completing the bolt re-tightening operation. Compared to existing technologies, the opening and closing action of the clamping arm can adapt to the re-tightening operation of bolts of different specifications, exhibiting strong adaptability and a wide range of applications.

[0028] 3. In practical applications, the piston rod of the electric actuator extends outward to block the outside of the anti-rotation step to achieve anti-rotation, or retracts and disengages from the anti-rotation step. Its structural principle is relatively simple and its operation is reliable.

[0029] 4. The swing guide mechanism formed by the sliding cooperation between the guide protrusion and the guide groove can guide the swing of the clamping arm, thereby ensuring that the swing of the clamping arm is relatively smooth, stable and reliable.

[0030] 5. When the fastening sleeve moves axially into the clamping arm sleeve, the clamping arm sleeve can press against the wedge-shaped protrusion on the outside of the clamping arm, thereby causing its first end to swing inward to achieve clamping. Its overall structure is simple and its operation is reliable.

[0031] 6. When the bolt size is large, the clamping arm does not directly act on the bolt when it opens. In this case, the bolt edge can be clamped by the groove formed between the positioning edges, thereby realizing the clamping and tightening operation.

[0032] 7. In practical applications, after the fastening sleeve is placed on the bolt, the clamping arm sleeve push-pull mechanism pushes the clamping arm sleeve to move. Under the action of the rotor of the clamping arm sleeve, the clamping arms swing inward and retract, thereby clamping the bolt. The fastening sleeve and rotor are driven to rotate by the fastening motor and fastening rod. At this time, the rotor can rotate relative to the stator, thereby realizing the bolt fastening operation. After the fastening is completed, the clamping arm sleeve push-pull mechanism pulls the clamping arm sleeve to move, and the rotor gradually disengages from each clamping arm. Each clamping arm opens, thereby loosening the bolt. Its overall structure and principle are relatively simple, and the operation is reliable. Attached Figure Description

[0033] Figure 1 , 2 This is a perspective view of the adaptive bolt fastening head in an embodiment of the present invention;

[0034] Figure 3 This is a side view of the adaptive bolt fastening head in an embodiment of the present invention;

[0035] Figure 4 for Figure 3 Sectional view of AA;

[0036] in,

[0037] Mounting bracket-51;

[0038] Fastening motor-52; Fastening rod-521;

[0039] Fastening sleeve-53; Mounting groove-531; Clamping arm-532; Guide groove-533; Guide protrusion-534; Clamping protrusion-535; Wedge-shaped protrusion-536; Positioning ridge-537;

[0040] Arm sleeve-54; anti-rotation step-541; pressure plate section-542; limit ring-543;

[0041] Locking mechanism -55; Piston rod -551. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figure 1 , 2 As shown, an adaptive bolt fastening head includes a mounting bracket 51, a fastening motor 52, a fastening sleeve 53, a clamping arm sleeve 54, and a locking mechanism 55.

[0044] Combination Figure 3 , 4 The fastening motor 52 is located in the mounting bracket 51. A fastening rod 521 is provided on the output shaft of the fastening motor 52. A fastening sleeve 53 is coaxially installed on the fastening rod 521 by a thread. A clamping arm 532 is hinged on the fastening sleeve 53. The first end of the clamping arm 532 faces the opening of the fastening sleeve 53.

[0045] like Figure 4 As shown, the clamping arm sleeve 54 is disposed outside the fastening sleeve 53. When the fastening sleeve 53 moves axially inward toward the clamping arm sleeve 54, the clamping arm sleeve 54 can press against the outer side of the clamping arm 532, causing its first end to swing inward. When the fastening sleeve 53 moves axially outward toward the clamping arm sleeve 54, the first end of the clamping arm 532 swings outward. A locking mechanism 55 is disposed on the side of the fastening motor 52, and the locking mechanism 55 is disposed on the mounting bracket 51. The locking mechanism 55 can lock or release the clamping arm sleeve 54. When the clamping arm sleeve 54 is locked, the fastening sleeve 53 can move axially relative to the clamping arm sleeve 54 without rotating.

[0046] Specifically, in combination Figure 1 , 2 In this embodiment, the main function of the mounting bracket 51 is to provide mounting positions for other components. It is not limited to a specific structure. In this embodiment, the mounting bracket 51 is a cuboid frame structure. The fastening motor 52 is installed in the middle of the frame, parallel to the length direction of the frame, and the fastening rod 521 extends from the end of the frame.

[0047] Combination Figure 1 , 4The first end of the fastening sleeve 53 is a cylindrical portion with an open end, and the second end of the fastening sleeve 53 is a prism portion with a threaded hole at the end, which is threaded to the fastening rod 521. The outer diameter of the cylindrical portion is larger than the radial dimension of the prism portion, and the cross-section of the prism portion is a regular polygon, such as a regular quadrilateral, regular pentagon, or regular hexagon. Correspondingly, the clamping arm sleeve 54 has a regular polygonal hole in the middle for axial sliding engagement with the prism portion. The prism portion and the clamping arm sleeve 54 can only slide relative to each other axially and cannot rotate relative to each other.

[0048] like Figure 1 As shown, the fastening sleeve 53 is provided with a mounting groove 531 parallel to the axial direction of the fastening sleeve 53, and the clamping arm 532 is located in the mounting groove 531.

[0049] Several clamping arms 532 are evenly arranged along the circumference of the fastening sleeve 53. Figure 1 , 2 In this embodiment, three mounting slots 531 are provided, evenly distributed along the circumference of the cylindrical portion, and the mounting slots 531 connect the inside and outside of the cylindrical portion radially. Each clamping arm 532 corresponds to one of the mounting slots 531. The first end of each clamping arm 532 points towards the end opening of the cylindrical portion, and the second end of each clamping arm 532 is hinged to the side wall of the second end of the mounting slot 531. The hinge axis is parallel to the tangent direction of the cylindrical portion at the location of the second end of the clamping arm 532.

[0050] Furthermore, in combination Figure 1 , 2 A swing guide mechanism is provided between the clamping arm 532 and the mounting groove 531. The swing guide mechanism includes a pair of guide grooves 533 disposed on the two side walls of the first end of the mounting groove 531 and a pair of guide protrusions 534 disposed on the two side sides of the first end of the clamping arm 532. The guide protrusions 534 are slidably engaged with the guide grooves 533. When the clamping arm 532 swings around its hinge axis, the guide protrusions 534 can slide in the guide grooves 533. That is, both the guide protrusions 534 and the guide grooves 533 are arc-shaped with the hinge axis of the second end of the clamping arm 532 as the center.

[0051] Furthermore, an elastic body is provided between the locking arm 532 and the fastening sleeve 53, the elastic body enabling the locking arm 532 to tend to open outwards. The elastic body can be a torsion spring, which can be mounted on the hinge shaft of the locking arm 532, with its two ends respectively abutting against the locking arm 532 and the fastening sleeve 53, thus giving the locking arm 532 a tendency to open outwards. Alternatively, the elastic body can be a tension spring, with one end connected to the second end of the locking arm 532 and the other end connected to the fastening sleeve 53, thus giving the locking arm 532 a tendency to open outwards under the action of the tension spring. Alternatively, the elastic body can be a compression spring, with one end abutting against the locking arm 532 and the other end abutting against the fastening sleeve 53, thus giving the locking arm 532 a tendency to open outwards.

[0052] Furthermore, such as Figure 4 As shown, a clamping protrusion 535 is provided on the inner side of the first end of the clamping arm 532 to clamp the bolt. A wedge-shaped protrusion 536 is provided on the outer side of the clamping arm 532. The wedge-shaped protrusion 536 is located near the second end of the clamping arm 532, and the thickness of the wedge-shaped protrusion 536 gradually decreases from the first end to the second end of the clamping arm 532.

[0053] Furthermore, in combination Figure 1 , 2 The inner wall of the fastening sleeve 53 is provided with a plurality of positioning ridges 537 parallel to the axial direction of the fastening sleeve 53. The positioning ridges 537 are evenly distributed along the circumferential direction of the fastening sleeve 53, that is, the positioning ridges 537 are located on the inner side wall of the cylindrical part.

[0054] Furthermore, in combination Figure 1 , 2 The first end of the clamping arm sleeve 54 is evenly provided with three pressure plate portions 542 along the circumferential direction. The pressure plate portions 542 protrude axially from the end of the clamping arm sleeve 54. The pressure plate portions 542 are arc-shaped plate structures, corresponding one-to-one with the clamping arms 532, and are used to press down the wedge-shaped protrusions 536 to make the clamping arms 532 swing inward.

[0055] Combination Figure 1 , 2 The outer side of the clamping arm sleeve 54 is provided with an anti-rotation step 541. The anti-rotation step 541 protrudes outward in a radial direction and its outer end face is flat. Two anti-rotation steps 541 are symmetrically arranged. The locking mechanism 55 includes two electric push rods arranged parallel to the side of the fastening motor 52. Two electric push rods are provided, corresponding one-to-one with the anti-rotation steps 541. The electric push rods are parallel to the axis of the clamping arm sleeve 54. The piston rod 551 of the electric push rod can extend and block the outside of the anti-rotation step 541 to prevent rotation, or retract and disengage from the anti-rotation step 541.

[0056] Furthermore, such as Figure 4As shown, a limiting ring 543 is installed at the second end of the clamping arm sleeve 54. The inner hole of the limiting ring 543 is the same as the inner hole of the clamping arm sleeve 54, and the limiting ring 543 and the prism part of the fastening sleeve 53 are axially slidingly fitted.

[0057] Working principle:

[0058] In practical application, the adaptive bolt fastening head of this invention involves placing the fastening sleeve 53 onto the bolt to be fastened, locking the locking arm sleeve 54 with the locking mechanism 55, preventing the locking arm sleeve 54 from rotating. The fastening motor 52 drives the fastening rod 521 to rotate clockwise, with the direction of rotation of the fastening rod 521 being the same as the direction of rotation when the bolt is tightened. Since the fastening sleeve 53 cannot rotate relative to the locking arm sleeve 54, under the action of the thread, the fastening sleeve 53 can only move axially towards the inside of the locking arm sleeve 54. Simultaneously, the locking arm sleeve 54 presses against the outside of the locking arm 532, causing it to... The first end swings inward until it clamps the inner bolt. After clamping, the locking mechanism 55 releases the clamping arm sleeve 54, and the fastening motor 52 continues to drive the fastening rod 521 to rotate forward, thereby driving the fastening sleeve 53 and the clamping arm sleeve 54 to rotate together to achieve the bolt tightening operation. After tightening, the locking mechanism 55 locks the clamping arm sleeve 54, and the fastening motor 52 drives the fastening rod 521 to rotate in reverse. The fastening rod 521 pushes the fastening sleeve 53 out of the clamping arm sleeve 54. At the same time, the clamping arm 532 gradually disengages from the clamping arm sleeve 54 and opens outward, thereby loosening the bolt and completing the bolt re-tightening operation. Compared with the prior art, the opening and closing action of the clamping arm 532 can adapt to the re-tightening operation of bolts of different specifications, which has strong adaptability and a wide range of applications.

[0059] The swing guide mechanism formed by the sliding engagement of the guide protrusion 534 and the guide groove 533 can guide the swing of the clamping arm 532, thereby ensuring that the swing of the clamping arm 532 is relatively smooth, stable and reliable. When the fastening sleeve 53 moves axially into the clamping arm sleeve 54, the clamping arm sleeve 54 can press against the wedge-shaped protrusion 536 on the outside of the clamping arm 532, thereby causing its first end to swing inward to achieve clamping. Its overall structure is simple and its operation is reliable. When the bolt size is large, the opening of the clamping arm 532 does not directly act on the bolt. At this time, the bolt edge can be clamped by the groove formed between the positioning ridges 537 and 537, thereby achieving the clamping and tightening operation. In practical applications, the piston rod 551 of the electric actuator extends out and blocks the outside of the anti-rotation step 541 to achieve anti-rotation, or retracts and disengages from the anti-rotation step 541. Its structural principle is relatively simple and its operation is reliable.

[0060] Alternatively, the fastening rod 521 is fixedly connected to the fastening sleeve 53. The clamping arm sleeve 54 includes a rotor located on the inner side and a stator located on the outer side. A bearing is provided between the rotor and the stator to realize relative rotation between them. The rotor is sleeved on the outer side of the fastening sleeve 53. A clamping arm sleeve push-pull mechanism is provided on the side of the fastening motor 52. The clamping arm sleeve push-pull mechanism can be an electric push rod. Two clamping arm sleeve push-pull mechanisms are symmetrically arranged, located on both sides of the fastening motor 52. The movable end of the clamping arm sleeve push-pull mechanism is connected to the stator. The clamping arm sleeve push-pull mechanism can drive the clamping arm sleeve 54 to move axially back and forth.

[0061] In practical applications, after the fastening sleeve 53 is placed on the bolt, the clamping arm sleeve push-pull mechanism pushes the clamping arm sleeve 54 to move. Under the action of the rotor of the clamping arm sleeve 54, the clamping arm 532 swings inward and retracts, thereby clamping the bolt. The fastening sleeve 53 and the rotor are driven to rotate by the fastening motor 52 and the fastening rod 521. At this time, the rotor can rotate relative to the stator, thereby realizing the bolt fastening operation. After the fastening is completed, the clamping arm sleeve push-pull mechanism pulls the clamping arm sleeve 54 to move, and the rotor gradually disengages from each clamping arm 532. Each clamping arm 532 opens, thereby loosening the bolt. Its overall structure and principle are relatively simple, and the operation is reliable.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive bolt fastening head, characterized in that: The device includes a fastening motor (52), a fastening rod (521) on the output shaft of the fastening motor (52), a fastening sleeve (53) coaxially mounted on the fastening rod (521), a locking arm (532) hinged on the fastening sleeve (53), the first end of the locking arm (532) facing the opening of the fastening sleeve (53), and a locking arm sleeve (54) disposed outside the fastening sleeve (53). When the fastening sleeve (53) moves axially into the locking arm sleeve (54), the locking arm sleeve (54) can press the outer side of the locking arm (532) so that its first end swings inward. When the fastening sleeve (53) moves axially outward from the locking arm sleeve (54), the first end of the locking arm (532) swings outward. The fastening rod (521) is a threaded rod, and the fastening sleeve (53) is installed on the fastening rod (521) by thread. The fastening motor (52) is provided with a locking mechanism (55) on its side. The locking mechanism (55) can lock or release the clamping arm sleeve (54). When the clamping arm sleeve (54) is locked, the fastening sleeve (53) can move axially relative to the clamping arm sleeve (54) without rotating.

2. The adaptive bolt fastening head according to claim 1, characterized in that: The outer side of the clamp arm sleeve (54) is provided with an anti-rotation step (541), and the locking mechanism (55) includes an electric push rod arranged parallel to the side of the fastening motor (52). The piston rod (551) of the electric push rod can extend and block the outside of the anti-rotation step (541) to prevent rotation, or retract and disengage from the anti-rotation step (541).

3. The adaptive bolt fastening head according to claim 1, characterized in that: The fastening sleeve (53) is provided with a mounting groove (531) parallel to the axial direction of the fastening sleeve (53), and the clamping arm (532) is located in the mounting groove (531).

4. The adaptive bolt fastening head according to claim 3, characterized in that: A swing guide mechanism is provided between the clamping arm (532) and the mounting groove (531); the swing guide mechanism includes a guide groove (533) provided on the side wall of the mounting groove (531) and a guide protrusion (534) provided on the side of the clamping arm (532), the guide protrusion (534) and the guide groove (533) slidingly engaging.

5. The adaptive bolt fastening head according to claim 4, characterized in that: When the arm (532) swings about its hinge axis, the guide protrusion (534) can slide in the guide groove (533).

6. The adaptive bolt fastening head according to claim 1, characterized in that: Several clamping arms (532) are evenly arranged along the circumference of the fastening sleeve (53).

7. The adaptive bolt fastening head according to claim 1, characterized in that: An elastic body is provided between the clamping arm (532) and the fastening sleeve (53), the elastic body enabling the clamping arm (532) to have an outward opening tendency.

8. The adaptive bolt fastening head according to claim 1, characterized in that: The first end of the clamping arm (532) is provided with a clamping protrusion (535) on the inner side; the outer side of the clamping arm (532) is provided with a wedge-shaped protrusion (536), and the thickness of the wedge-shaped protrusion (536) gradually decreases from the first end to the second end of the clamping arm (532).

9. The adaptive bolt fastening head according to claim 1, characterized in that: The inner wall of the fastening sleeve (53) is provided with a number of positioning ridges (537) parallel to the axial direction of the fastening sleeve (53), and the positioning ridges (537) are evenly distributed along the circumference of the fastening sleeve (53).

10. The adaptive bolt fastening head according to claim 1, characterized in that: The fastening rod (521) can drive the fastening sleeve (53) to rotate. The clamping arm sleeve (54) includes a rotor located on the inner side and a stator located on the outer side. The rotor is sleeved on the outer side of the fastening sleeve (53). The side of the fastening motor (52) is provided with a clamping arm sleeve push-pull mechanism. The movable end of the clamping arm sleeve push-pull mechanism is connected to the stator. The clamping arm sleeve push-pull mechanism can drive the clamping arm sleeve (54) to move axially back and forth.

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