A bolt tightening device for nuclear industry with balance detection function

Abstract

The present invention discloses a bolt fastening device for nuclear industry with balance detection function, which belongs to the technical field of bolt fastening device. It includes a feeding device, a feeding pipe, an automatic fastening device, a mechanical arm, a main engine base and an electric wheel. The present invention utilizes a fixed feeding assembly to realize automatic loading and feeding of bolts. When the bolt to be fastened is in place, a pressure ball is used in conjunction with a bottom support slider to press the bolt head up and down to achieve the fixing of the bolt. During the pressing process, the next bolt is loaded in place to ensure the efficiency of bolt fastening. After the pre-tightening force is applied, the control system counts. The torque is converted into an electrical signal by a torque detector and transmitted to the control system. The control system analyzes the corresponding torque size according to the size of the electrical signal and feeds it back to the staff, so as to achieve the purpose of real-time torque detection. The main engine base is used in conjunction with the electric wheel and the mechanical arm to realize automatic identification of the bolt hole, and the bolt can be automatically moved to the fastening position.

Description

Technical Field

[0001] The invention relates to the technical field of bolt fastening devices, in particular to a bolt fastening device for the nuclear industry with a balance detection function. Background Art

[0002] Nuclear industry bolts are vital fasteners in the nuclear industry. They play an irreplaceable role in ensuring the safe operation of facilities and the stability of equipment. Bolt tightening operations in the nuclear industry often require precise operations. Traditional manual tightening is not only inefficient, but also has great safety risks. When the bolts are large, manual operation usually cannot meet the tightening requirements.

[0003] When tightening bolts, it is necessary to apply pre-tightening force to the bolts. When the bolts are tightened, continue to apply tightening torque to the bolts. Under the action of tightening torque, pre-tightening force is generated between the bolts and the connected parts along the axial direction of the bolts. Pre-tightening force can increase the friction between the connecting parts. When the connecting parts are subjected to vibration or impact loads, the friction provided by the pre-tightening force can effectively resist the loosening trend and maintain the stability of the connection. When the pre-tightening force is too large, the bolt threads will produce plastic deformation and reduce the tightening strength. Therefore, when tightening the bolts, it is necessary to detect the tightening torque of the bolts to ensure that the pre-tightening force of the bolts and the force strength of the bolts themselves are balanced, so that the bolts can be prevented from loosening and deforming under the action of pre-tightening force. It is difficult for current equipment to achieve automatic tightening of bolts while also performing balance detection. Summary of the invention

[0004] The object of the present invention is to provide a bolt fastening device for the nuclear industry with a balance detection function to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a bolt tightening device for nuclear industry with a balance detection function, comprising a main base, an electric wheel rotatably installed on the main base, a mechanical arm installed on the main base, a feeding tube slidably installed on one end of the mechanical arm, an automatic tightening device installed on one end of the feeding tube, and a feeding device installed on the other end of the feeding tube; the automatic tightening device comprises a limit bar and a tightening shell, the limit bar is installed in the feeding tube and extends into the tightening shell, the tightening shell is connected to one end of the feeding tube, a rotating tightening assembly is rotatably installed in the tightening shell, a fixed feeding device is slidably installed in the tightening shell, a pre-tightening adjustment assembly is rotatably installed in the tightening shell, the pre-tightening adjustment assembly is transmission-connected to the rotating tightening assembly, a sliding base bracket is slidably connected to the bottom end of the rotating tightening assembly, the sliding base bracket is slidably installed in the tightening shell, tightening motors are respectively installed in the tightening shell, tightening gears are installed on the output shafts of the tightening motors, and the tightening gears are meshed with the pre-tightening adjustment assembly for transmission.

[0006] A control system is installed in the main base, which is used to control the entire bolt tightening device. Several bolts are filled in a straight line in the feeding tube, and the feeding device is used to neatly fill the bolts into the feeding tube. A push block is provided in the feeding tube to push the bolts forward; an industrial camera is provided on the main base to identify the bolt holes, and a limit bar is used to guide the bolts to slide in a straight line without deflection.

[0007] The control system presets the driving path of the main base, and then the control system turns on the electric wheel, which drives the bolt tightening device to travel along the preset path. The industrial camera on the main base identifies the bolt holes on the tightening equipment in the path. After identification, the control system drives the feeding tube to move through the robotic arm, so that the automatic tightening device at the end of the feeding tube is aligned with the bolt hole. Then, the robotic arm is controlled to extend further until the bolt at the end of the automatic tightening device is against the bolt hole.

[0008] The preload adjustment assembly includes a rotating main ring and an adjusting cylinder. The rotating main ring is rotatably connected to the rotating fastening assembly. A slider groove and a sliding plate groove are provided at the bottom of the rotating main ring. An adjusting slider and a transmission slider are slidably installed in the slider groove. Sliding plates are symmetrically installed on both sides of the adjusting slider. Sliding plates are symmetrically installed on both sides of the transmission slider. The sliding plates are slidably installed in the sliding plate grooves. An adjusting spring is installed between the transmission slider and the adjusting slider. The transmission slider is embedded in the rotating fastening assembly. An adjusting column is installed on the adjusting slider. An adjusting ring is rotatably installed on the rotating main ring. An arc groove is provided on the adjusting ring. The adjusting column is slidably set in the arc groove. The adjusting ring is rotatably connected to the output shaft of the adjusting cylinder through a connecting piece. One end of the adjusting cylinder is rotatably connected to the inner wall of the rotating main ring through a connecting piece. The rotating main ring is meshed with the fastening gear for transmission.

[0009] The adjusting cylinder is used to connect the rotating main ring and the adjusting ring. When the rotating main ring rotates, the adjusting ring is driven to rotate by the adjusting cylinder. At this time, since the adjusting cylinder is in a stationary state, the adjusting ring does not deflect relative to the rotating main ring, and the adjusting ring rotates as a whole with the rotating main ring; when the preload force needs to be adjusted, the control system can turn on the adjusting cylinder, and the output shaft of the adjusting cylinder drives the adjusting ring to deflect at a certain angle. At this time, the adjusting ring is deflected relative to the rotating main ring. When the adjusting ring rotates, the adjusting slider is driven to rotate by the adjusting column. Since the adjusting slider is located in the slider groove and cannot rotate, the rotation is converted into a straight line sliding along the slider groove. The adjusting ring drives the adjusting slider to approach the transmission slider. At this time, the distance between the transmission slider and the adjusting slider is reduced, and the adjusting spring is compressed accordingly. The elastic force applied by the compressed adjusting spring to the transmission slider becomes larger, and accordingly, the fitting force between the transmission slider and the transmission groove is also increased. Conversely, when the adjusting slider is away from the transmission slider, the fitting force between the transmission slider and the transmission groove is also reduced.

[0010] The transmission slide block is tightly engaged with the transmission groove under the action of the engaging force, so that the rotating main ring and the transmission ring are engaged and transmitted. When the bolt is tightened and a pre-tightening force is applied to the bolt, the fastening block continues to apply torque to the bolt, causing the bolt to continue to rotate. At the same time, the bolt will generate a corresponding reverse torque on the fastening block, which prevents the fastening block from continuing to rotate. Under the combined action of the bolt reverse torque and the rotating torque of the rotating main ring, the transmission ring on the fastening block forces the transmission slider to overcome the engagement force and retract, and the rotating main ring is disengaged from the transmission ring, causing the rotating main ring to idle. The fastening block applies torque to the bolt, and the pre-tightening force no longer changes. Therefore, when the engagement force between the transmission slider and the transmission groove increases, the torque required for the transmission slider to overcome the engagement force also increases, and the corresponding torque that the fastening block can apply to the bolt is also greater, and the pre-tightening force that can be applied is also greater. Conversely, when the engagement force between the transmission slider and the transmission groove decreases, the torque required for the transmission slider to overcome the engagement force also decreases, and the corresponding torque that the fastening block can apply to the bolt is also smaller, and the pre-tightening force that can be applied is also smaller. According to this principle, the purpose of adjusting the size of the pre-tightening force is achieved.

[0011] The control system uses the control ring to adjust the engagement force between the transmission slider and the transmission groove according to the need of the pre-tightening force, and turns on the tightening motor. The output shaft of the tightening motor drives the tightening gear to rotate, and the tightening gear drives the rotating main ring to rotate. The rotating main ring drives the transmission ring to rotate through the transmission slider thereon, and the transmission ring drives the transmission plate thereon to rotate. The transmission plate drives the torque detector to rotate, thereby driving the fastening block to rotate. The fastening block drives the bolt to rotate and tighten through the fastening hole. The mechanical arm drives the automatic fastening device to extend forward following the tightening of the bolt. When the bolt is about to be tightened, as the distance between the bolt and the fastened object decreases, the mechanical arm does not need to drive the automatic fastening device to extend forward. At this time, as the tightening continues, the bolt head will squeeze the inclined surface on the bottom support block, so that the bottom support block retracts along the bottom support slide rod under pressure until the bottom support slide block is completely retracted, and the bolt head can smoothly pass through the bottom support slide block. After that, the bolt continues to rotate to apply a preset pre-tightening force to the bolt. After the pre-tightening force is applied, the control system counts; this cycle is repeated to achieve fully automatic fastening balance detection of the bolt.

[0012] The rotating fastening assembly includes a fastening block, which is rotatably installed in the fastening shell, a fastening hole is provided on the fastening block, a transmission ring is rotatably installed on the fastening block, the rotating main ring is rotatably connected with the fastening block, a plurality of transmission plates are provided on the transmission ring, a plurality of transmission grooves are provided on the inner wall of the transmission ring, a transmission slider is embedded in the transmission groove, a plurality of torque detectors are installed on the fastening block, the torque detectors are connected to the transmission plates, and a sliding base is slidably installed on the bottom end of the fastening block.

[0013] The torque detector includes a detection shell, a detection rod is slidably installed in the detection shell, a piston is installed at one end of the detection rod, the other end of the detection rod is connected to the transmission plate, the piston is slidably connected to the detection shell, an air pressure sensor is installed at the bottom of the detection shell, and the detection shell is installed on a fastening block.

[0014] There is a detection gas in the cavity inside the detection shell. When the transmission plate drives the torque detector to rotate, it will apply torque to the torque detector. Under the action of the torque, the detection rod drives the piston to slide in the detection shell. The piston slides and compresses the detection gas in the cavity. After the detection gas is compressed, the air pressure in the cavity increases. The air pressure sensor converts the change in air pressure into an electrical signal and transmits it to the control system. The control system analyzes the corresponding torque size according to the size of the electrical signal and feeds it back to the staff.

[0015] The sliding base includes a base slide block, a base slide bar is mounted on the base slide block, the base slide bar is slidably mounted in a fastening shell, a base spring is mounted between the base slide block and the fastening shell, the top of the base slide block is slidably connected to the bottom of the fastening block, a round hole is arranged in the fastening shell, and one end of the base slide bar is slidably arranged in the round hole.

[0016] The fixed feeding device includes a feeding component, a fixed component and a driving cylinder. The feeding component is slidably installed in a fastening shell, a spring telescopic rod is installed at the bottom end of the feeding component, the driving cylinder is installed in the fastening shell, a connecting plate is installed on the output shaft of the driving cylinder, the connecting plate is connected to the spring telescopic rod, the fixed component is slidably installed in the fastening shell, and the fixed component is connected to one end of the spring telescopic rod.

[0017] The control system starts the driving cylinder, and the driving cylinder output shaft drives the spring telescopic rod to lift up through the connecting piece, and the spring telescopic rod drives the feeding ring to slide upward along the inner wall of the fastening shell, and the feeding ring drives the feeding paddle to rotate through the feeding rotating rod, and the feeding paddle rotates around the first connecting rod assembly, so that the spacing between the lower unhooks follows the rotation and moves away from each other until the contact with the bottom of the bolt head is disconnected. When the spring telescopic rod is lifted, the spring telescopic rod will synchronously drive the fixing ring at the bottom to slide upward along the inner wall of the fastening shell, and the fixing ring drives the rack rod at the bottom to slide, and the rack rod drives the lower pressure rod to rotate and lift up around the second connecting rod assembly, and the bolt loses the restriction of the lower support hook and falls along the limit bar, and the bolt head on the bolt just falls into the fastening hole of the fastening block and engages with it, and the bottom end of the bolt head is supported by the bottom support slider, and at the same time, the upper support hooks approach each other as they rotate, and when the bolt to be fastened falls, the next bolt on it falls due to the loss of support at the bottom until the bottom of the bolt head is supported by the upper unhooking hook;

[0018] When the feeding ring cannot slide down due to the clamping of the feeding paddle and the bolt, the spring telescopic rod will be lengthened by the action of the driving cylinder to prevent the lower fixing ring from sliding down due to the inability of the upper feeding ring to slide down.

[0019] The feeding assembly includes a feeding ring, a feeding rotating rod, a first connecting rod assembly and a feeding paddle. The feeding ring is slidably installed in the fastening shell. The feeding paddle is movably connected to the feeding ring through the feeding rotating rod. The feeding paddle is rotatably connected to the fastening shell through the first connecting rod assembly. A lower supporting hook is provided at the bottom end of the feeding paddle, and an upper supporting hook is provided at the top end of the feeding paddle. The bottom end of the feeding ring is connected to the spring telescopic rod.

[0020] The fixing assembly includes a fixing ring, a lower pressure rod and a second connecting rod assembly. The top of the fixing ring is connected to the spring telescopic rod, and a plurality of rack rods are installed at the bottom of the fixing ring. The lower pressure rod is connected to the fastening housing through the second connecting rod assembly. A pressing ball is rotatably installed at the bottom of the lower pressure rod, and the rack rod and the lower pressure rod are meshed for transmission. When the bolt rotates, the pressing ball is used as the contact medium to prevent the bolt surface from being scratched.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention utilizes a fixed loading assembly to realize automatic loading of bolts. When the bolt to be tightened is in place, the bolt head of the bolt is pressed up and down by a pressure ball in cooperation with a bottom support slider to achieve the fixing of the bolt. At the same time, during the tightening process, the loading of the next bolt is realized in place, thereby ensuring the efficiency of bolt tightening. When the bolt rotates, the pressure ball is used as a contact medium to prevent the surface of the bolt from being scratched.

[0022] The tightening motor is used to drive the tightening block to rotate, and the tightening block applies torque to the bolt to achieve the purpose of automatically tightening the bolt. The torque is converted into an electrical signal by a torque detector and transmitted to the control system. The control system analyzes the corresponding torque size according to the size of the electrical signal and feeds it back to the staff to achieve the purpose of real-time torque detection.

[0023] The adjusting ring is used to control the engagement force between the transmission slider and the transmission groove, so as to adjust the preload force. When the torque is too large, the rotating main ring will idle to prevent the torque from being further applied to the bolt, thereby avoiding excessive preload force.

[0024] The main machine base is combined with electric wheels and a mechanical arm to realize automatic identification of bolt holes and automatically move the bolts to the tightening position. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 is an overall elevation view of the bolt fastening device of the present invention;

[0027] Figure 2 is a cross-sectional elevation view of the automatic fastening device of the present invention;

[0028] Figure 3 is a vertical view of the internal structure of the automatic fastening device of the present invention;

[0029] Figure 4 is an elevational view of the automatic fastening device of the present invention;

[0030] Figure 5 The present invention Figure 3 A partial enlarged view of the middle A area;

[0031] Figure 6 is an elevation view of the rotating main ring of the present invention;

[0032] Figure 7 is a vertical view of the transmission ring of the present invention;

[0033] Figure 8 is an elevation view of a rotary fastening assembly and a preload adjustment assembly of the present invention;

[0034] Fig. 9 is an elevation view of a fixing assembly of the present invention;

[0035] Fig.10 The present invention Figure 8 A partial enlarged view of the middle B area;

[0036] In the figure: 1. feeding device; 2. feeding pipe; 3. automatic fastening device; 4. mechanical arm; 5. main machine base; 6. electric wheel; 31. limit bar; 32. rotating fastening assembly; 33. feeding assembly; 34. pre-tightening adjustment assembly; 35. spring telescopic rod; 36. connecting piece; 37. driving cylinder; 38. fixed feeding device; 39. fixing assembly; 310. fastening motor; 311. fastening gear; 312. fastening shell; 313. sliding base; 321. transmission ring; 322. transmission sheet; 323. transmission groove; 324. fastening block; 325. torque detector; 326. detection rod; 327. piston; 328. air pressure sensor; 329 , detection housing; 3210, fastening hole; 331, feeding ring; 332, first connecting rod assembly; 333, feeding paddle; 334, lower support hook; 335, upper support hook; 336, feeding rotating rod; 341, rotating main ring; 342, adjusting ring; 343, adjusting cylinder; 344, adjusting spring; 345, adjusting slider; 346, adjusting column; 347, transmission slider; 348, slider groove; 349, sliding piece; 3410, sliding piece groove; 391, fixing ring; 392, rack rod; 393, lower pressure rod; 394, pressing ball; 395, second connecting rod assembly; 3131, bottom support slider; 3132, bottom support slide rod; 3133, bottom support spring. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-10The present invention provides a technical solution: a bolt fastening device for the nuclear industry with a balance detection function, comprising a mainframe 5, an electric wheel 6 is rotatably mounted on the mainframe 5, a mechanical arm 4 is mounted on the mainframe 5, a feeding tube 2 is slidably mounted on one end of the mechanical arm 4, an automatic fastening device 3 is mounted on one end of the feeding tube 2, and a feeding device 1 is mounted on the other end of the feeding tube 2; the automatic fastening device 3 comprises a limit bar 31 and a fastening shell 312, the limit bar 31 is mounted in the feeding tube 2 and extends into the fastening shell 312, the fastening shell 312 is connected to one end of the feeding tube 2, and the fastening shell 312 is connected to the feeding tube 2. 2, a rotating fastening assembly 32 is rotatably installed in the fastening shell 312, a fixed feeding device 38 is slidably installed in the fastening shell 312, a pre-tightening adjustment assembly 34 is rotatably installed in the fastening shell 312, the pre-tightening adjustment assembly 34 is transmission-connected with the rotating fastening assembly 32, a sliding base 313 is slidably connected to the bottom end of the rotating fastening assembly 32, the sliding base 313 is slidably installed in the fastening shell 312, a fastening motor 310 is respectively installed in the fastening shell 312, a fastening gear 311 is installed on the output shaft of the fastening motor 310, and the fastening gear 311 is meshed with the pre-tightening adjustment assembly 34 for transmission.

[0039] A control system is installed in the main base 5, and the control system is used to control the entire bolt tightening device. A plurality of bolts are linearly filled in the feeding tube 2, and the feeding device 1 is used to neatly fill the bolts into the feeding tube 2. A push block is provided in the feeding tube 2 to push the bolts forward; an industrial camera is provided on the main base to identify the bolt holes, and a limit bar 31 is used to guide the bolts to slide linearly without deflection.

[0040] The preload adjustment assembly 34 includes a rotating main ring 341 and an adjusting cylinder 343. The rotating main ring 341 is rotatably connected to the rotating fastening assembly 32. A slider groove 348 and a slide plate groove 3410 are provided at the bottom of the rotating main ring 341. An adjusting slider 345 and a transmission slider 347 are slidably installed in the slider groove 348. Slide plates 349 are symmetrically installed on both sides of the adjusting slider 345. Slide plates 349 are symmetrically installed on both sides of the transmission slider 347. The slide plates 349 are slidably installed in the slide plate groove 3410. The transmission slider 347 and the adjusting slider 345 are symmetrically installed on both sides of the transmission slider 347. 45, an adjusting spring 344 is installed between the transmission slider 347 and the rotating fastening component 32, an adjusting column 346 is installed on the adjusting slider 345, an adjusting ring 342 is rotatably installed on the rotating main ring 341, an arc groove is provided on the adjusting ring 342, and the adjusting column 346 is slidably set in the arc groove, the adjusting ring 342 is rotatably connected to the output shaft of the adjusting cylinder 343 through a connecting piece, one end of the adjusting cylinder 343 is rotatably connected to the inner wall of the rotating main ring 341 through a connecting piece, and the rotating main ring 341 is meshed with the fastening gear 311 for transmission.

[0041] The adjusting cylinder 343 is used to connect the rotating main ring 341 and the adjusting ring 342. When the rotating main ring 341 rotates, the adjusting ring 342 is driven to rotate by the adjusting cylinder 343. At this time, since the adjusting cylinder 343 is in a stationary state, the adjusting ring 342 does not deflect relative to the rotating main ring 341, and the adjusting ring 342 rotates with the rotating main ring 341 as a whole. When the preload force needs to be adjusted, the control system can turn on the adjusting cylinder 343, and the output shaft of the adjusting cylinder 343 drives the adjusting ring 342 to deflect at a certain angle. At this time, the adjusting ring 342 is deflected relative to the rotating main ring 341. When the adjusting ring 342 rotates, it is driven by the adjusting column 346. The adjusting slider 345 rotates. Since the adjusting slider 345 is located in the slider groove 348 and cannot rotate, the rotation is converted into a linear slide along the slider groove 348. The adjusting ring 342 drives the adjusting slider 345 to approach the transmission slider 347. At this time, the distance between the transmission slider 347 and the adjusting slider 345 is reduced, and the adjusting spring 344 is compressed accordingly. The elastic force exerted by the compressed adjusting spring 344 on the transmission slider 347 becomes larger. As a result, the fitting force between the transmission slider 347 and the transmission groove 323 is also increased. On the contrary, when the adjusting slider 345 is away from the transmission slider 347, the fitting force between the transmission slider 347 and the transmission groove 323 is also reduced.

[0042] The transmission slider 347 is tightly fitted with the transmission groove 323 under the action of the fitting force, so that the rotating main ring 341 and the transmission ring 321 are meshed and transmitted. When the bolt is tightened and the pre-tightening force is applied to the bolt, the fastening block 324 continues to apply torque to the bolt, so that the bolt continues to rotate. At the same time, the bolt will generate a corresponding reverse torque on the fastening block 324, and the reverse torque prevents the fastening block 324 from continuing to rotate. Under the combined action of the bolt reverse torque and the rotation torque of the rotating main ring 341, the transmission ring 321 on the fastening block 324 forces the transmission slider 347 to overcome the fitting force and retract, and the rotating main ring 341 is out of mesh with the transmission ring 321, so that the rotating main ring 341 idles, and the fastening block 324 applies torque to the bolt, and the pre-tightening force It no longer changes. Therefore, when the engagement force between the transmission slider 347 and the transmission groove 323 increases, the torque required for the transmission slider 347 to overcome the engagement force also increases, and the corresponding fastening block 324 can apply a greater torque to the bolt, and the preload force that can be applied is also greater. Conversely, when the engagement force between the transmission slider 347 and the transmission groove 323 decreases, the torque required for the transmission slider 347 to overcome the engagement force also decreases, and the corresponding fastening block 324 can apply a smaller torque to the bolt, and the preload force that can be applied is also smaller. According to this principle, the purpose of adjusting the size of the preload force is achieved.

[0043] The rotating fastening assembly 32 includes a fastening block 324, which is rotatably installed in the fastening shell 312. The fastening block 324 is provided with a fastening hole 3210. A transmission ring 321 is rotatably installed on the fastening block 324. The rotating main ring 341 is rotatably connected to the fastening block 324. A plurality of transmission plates 322 are provided on the transmission ring 321. A plurality of transmission grooves 323 are provided on the inner wall of the transmission ring 321. A transmission slider 347 is embedded in the transmission groove 323. A plurality of torque detectors 325 are installed on the fastening block 324. The torque detectors 325 are connected to the transmission plates 322. A sliding base 313 is slidably installed on the bottom end of the fastening block 324.

[0044] The torque detector 325 includes a detection shell 329, in which a detection rod 326 is slidably installed. A piston 327 is installed at one end of the detection rod 326, and the other end of the detection rod 326 is connected to the transmission plate 322. The piston 327 is slidably connected to the detection shell 329. An air pressure sensor 328 is installed at the bottom of the detection shell 329, and the detection shell 329 is installed on the fastening block 324.

[0045] A detection gas is provided in the cavity in the detection housing 329. When the transmission plate 322 drives the torque detector 325 to rotate, a torque is applied to the torque detector 325. Under the action of the torque, the detection rod 326 drives the piston 327 to slide in the detection housing 329. The piston 327 slides and compresses the detection gas in the cavity. After the detection gas is compressed, the air pressure in the cavity increases. The air pressure sensor 328 converts the change in air pressure into an electrical signal and transmits it to the control system. The control system analyzes the corresponding torque size according to the size of the electrical signal and feeds it back to the staff.

[0046] The sliding base 313 includes a base slider 3131, a base slide bar 3132 is mounted on the base slider 3131, the base slide bar 3132 is slidably mounted in the fastening housing 312, a base spring 3133 is mounted between the base slider 3131 and the fastening housing 312, and the top of the base slider 3131 is slidably connected to the bottom of the fastening block 324. A round hole is provided in the fastening housing 312, and one end of the base slide bar 3132 is slidably arranged in the round hole.

[0047] The fixed feeding device 38 includes a feeding component 33, a fixed component 39 and a driving cylinder 37. The feeding component 33 is slidably installed in the fastening shell 312. A spring telescopic rod 35 is installed at the bottom end of the feeding component 33. The driving cylinder 37 is installed in the fastening shell 312. A connecting plate 36 is installed on the output shaft of the driving cylinder 37. The connecting plate 36 is connected to the spring telescopic rod 35. The fixed component 39 is slidably installed in the fastening shell 312. The fixed component 39 is connected to one end of the spring telescopic rod 35.

[0048] The feeding assembly 33 includes a feeding ring 331, a feeding rotating rod 336, a first connecting rod assembly 332 and a feeding paddle 333. The feeding ring 331 is slidably installed in the fastening shell 312. The feeding paddle 333 is movably connected to the feeding ring 331 through the feeding rotating rod 336. The feeding paddle 333 is rotatably connected to the fastening shell 312 through the first connecting rod assembly 332. A lower support hook 334 is provided at the bottom end of the feeding paddle 333, and an upper support hook 335 is provided at the top end of the feeding paddle 333. The bottom end of the feeding ring 331 is connected to the spring telescopic rod 35.

[0049] The fixing assembly 39 includes a fixing ring 391, a lower pressure rod 393 and a second connecting rod assembly 395. The top of the fixing ring 391 is connected to the spring telescopic rod 35, and a plurality of rack rods 392 are installed at the bottom of the fixing ring 391. The lower pressure rod 393 is connected to the fastening housing 312 through the second connecting rod assembly 395. A pressing ball 394 is rotatably installed at the bottom of the lower pressure rod 393, and the rack rod 392 is meshed with the lower pressure rod 393 for transmission. When the bolt rotates, the pressing ball 394 is used as a contact medium to prevent the bolt surface from being scratched.

[0050] The working principle of the present invention is as follows: the control system starts the driving cylinder 37, the output shaft of the driving cylinder 37 drives the spring telescopic rod 35 to lift up through the connecting piece 36, the spring telescopic rod 35 drives the feeding ring 331 to slide upward along the inner wall of the fastening shell 312, the feeding ring 331 drives the feeding paddle 333 to rotate through the feeding rotating rod 336, the feeding paddle 333 rotates around the first connecting rod assembly 332, so that the spacing between the lower unhooks follows the rotation and moves away from each other until the contact with the bottom of the bolt head is broken, and when the spring telescopic rod 35 is lifted up, the spring telescopic rod 35 will synchronously drive the fixing ring 391 at the bottom to slide along the fastening shell 312 The inner wall of 12 slides upward, the fixing ring 391 drives the rack rod 392 at the bottom to slide, and the rack rod 392 drives the pressing rod 393 to rotate and lift around the second connecting rod assembly 395, and the bolt loses the restriction of the lower supporting hook 334 and falls along the limiting bar 31, and the bolt head on the bolt just falls into the fastening hole 3210 of the fastening block 324 and fits therewith, and the bottom end of the bolt head is supported by the bottom supporting slider 3131, and at the same time, the upper supporting hooks 335 are close to each other as they rotate, and when the bolt to be fastened falls, the next bolt on it falls due to the loss of support at the bottom, until the bottom of the bolt head is supported by the upper release hook;

[0051] The control system starts the driving cylinder 37 again, the output shaft of the driving cylinder 37 contracts and drives the spring telescopic rod 35 to descend through the connecting piece 36, the spring telescopic rod 35 drives the feeding ring 331 to slide down, the feeding ring 331 drives the feeding paddle 333 to rotate in the opposite direction through the feeding rotating rod 336, the upper hooks 335 move away from each other as they rotate, the bottom end of the bolt head of the next bolt loses the support of the upper hooks 335 and falls, the spacing between the lower hooks 334 moves closer to each other as they rotate, and the bolt head of the next bolt is supported by the lower hooks 334; at the same time, the spring telescopic rod 35 When descending, it drives the fixing ring 391 to slide down, and the fixing ring 391 drives the rack rod 392 to slide down, and the rack rod 392 drives the pressing rod 393 to rotate and press down until the pressing ball 394 contacts the top of the bolt head to be tightened. At this time, the pressure ball cooperates with the bottom support slider 3131 to press the bolt head up and down to fix the bolt. When the feeding ring 331 cannot slide down due to the clamping of the feeding paddle 333 and the bolt, the spring telescopic rod 35 will be stretched under the action of the driving cylinder 37 to prevent the upper feeding ring 331 from being unable to slide down and affecting the sliding of the lower fixing ring 391.

[0052] The travel path of the main base 5 is preset by the control system, and then the control system turns on the electric wheel 6, which drives the bolt tightening device to travel along the preset path. The industrial camera on the main base identifies the bolt holes on the tightening equipment in the path. After identification, the control system drives the feeding tube 2 to move through the robotic arm 4, so that the automatic tightening device 3 at the end of the feeding tube 2 is aligned with the bolt hole. Then, the robotic arm 4 is controlled to extend further until the bolt at the end of the automatic tightening device 3 is against the bolt hole.

[0053] The control system uses the control ring to adjust the engagement force between the transmission slider 347 and the transmission groove 323 according to the need of the pre-tightening force, and turns on the fastening motor 310. The output shaft of the fastening motor 310 drives the fastening gear 311 to rotate, and the fastening gear 311 drives the rotating main ring 341 to rotate. The rotating main ring 341 drives the transmission ring 321 to rotate through the transmission slider 347 thereon, and the transmission ring 321 drives the transmission sheet 322 thereon to rotate. The transmission sheet 322 drives the torque detector 325 to rotate, thereby driving the fastening block 324 to rotate. The fastening block 324 drives the bolt to rotate and tighten through the fastening hole 3210, and the mechanical arm 4 The automatic fastening device 3 is driven to extend forward as the bolt is tightened. When the bolt is about to be tightened, as the distance between the bolt and the fastened object decreases, the robot arm 4 does not need to drive the automatic fastening device 3 to extend forward. At this time, as the tightening continues, the bolt head will squeeze the inclined surface on the bottom support block, causing the bottom support block to retract along the bottom support slide bar 3132 under pressure until the bottom support slider 3131 is completely retracted, and the bolt head can smoothly pass through the bottom support slider 3131. After that, the bolt continues to be rotated to apply a preset pre-tightening force to the bolt. After the pre-tightening force is applied, the control system counts; this cycle is repeated to achieve fully automatic tightening balance detection of the bolt.

[0054] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0055] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bolt fastening device for nuclear industry with balance detection function, characterized in that: The bolt fastening device comprises a main machine base (5), an electric wheel (6) is rotatably mounted on the main machine base (5), a mechanical arm (4) is mounted on the main machine base (5), a feeding tube (2) is slidably mounted on one end of the mechanical arm (4), an automatic fastening device (3) is mounted on one end of the feeding tube (2), and a feeding device (1) is mounted on the other end of the feeding tube (2); the automatic fastening device (3) comprises a limit bar (31) and a fastening shell (312), the limit bar (31) is mounted in the feeding tube (2) and extends into the fastening shell (312), the fastening shell (312) is connected to one end of the feeding tube (2), and a rotating member (312) is rotatably mounted in the fastening shell (312). A fastening assembly (32), a fixed feeding device (38) is slidably installed in the fastening shell (312), a pre-tightening adjustment assembly (34) is rotatably installed in the fastening shell (312), the pre-tightening adjustment assembly (34) is transmission-connected with the rotating fastening assembly (32), a sliding base (313) is slidably connected at the bottom end of the rotating fastening assembly (32), the sliding base (313) is slidably installed in the fastening shell (312), a fastening motor (310) is respectively installed in the fastening shell (312), a fastening gear (311) is installed on the output shaft of the fastening motor (310), and the fastening gear (311) is meshed with the pre-tightening adjustment assembly (34) for transmission; The preload adjustment assembly (34) comprises a rotating main ring (341) and an adjusting cylinder (343). The rotating main ring (341) is rotatably connected to the rotating fastening assembly (32). A slider groove (348) and a slide plate groove (3410) are provided at the bottom of the rotating main ring (341). An adjusting slider (345) and a transmission slider (347) are slidably installed in the slider groove (348). Slide plates (349) are symmetrically installed on both sides of the adjusting slider (345). Slide plates (349) are symmetrically installed on both sides of the transmission slider (347). The slide plates (349) are slidably installed in the slide plate groove (3410). The transmission slider (347) and the adjusting slider (345) are symmetrically installed on both sides of the transmission slider (347). An adjusting spring (344) is installed between the blocks (345), the transmission slider (347) is engaged with the rotating fastening component (32), an adjusting column (346) is installed on the adjusting slider (345), an adjusting ring (342) is rotatably installed on the rotating main ring (341), an arc groove is provided on the adjusting ring (342), the adjusting column (346) is slidably set in the arc groove, the adjusting ring (342) is rotatably connected to the output shaft of the adjusting cylinder (343) through a connecting piece, one end of the adjusting cylinder (343) is rotatably connected to the inner wall of the rotating main ring (341) through a connecting piece, and the rotating main ring (341) is meshed with the fastening gear (311) for transmission.

2. A bolt fastening device for nuclear industry with balance detection function according to claim 1, characterized in that: The rotating fastening assembly (32) comprises a fastening block (324), the fastening block (324) is rotatably mounted in a fastening housing (312), a fastening hole (3210) is provided on the fastening block (324), a transmission ring (321) is rotatably mounted on the fastening block (324), the rotating main ring (341) is rotatably connected to the fastening block (324), a plurality of transmission sheets (322) are provided on the transmission ring (321), a plurality of transmission grooves (323) are provided on the inner wall of the transmission ring (321), the transmission slider (347) is embedded in the transmission groove (323), a plurality of torque detectors (325) are installed on the fastening block (324), the torque detectors (325) are connected to the transmission sheets (322), and a sliding base (313) is slidably mounted on the bottom end of the fastening block (324).

3. A bolt fastening device for nuclear industry with balance detection function according to claim 2, characterized in that: The torque detector (325) comprises a detection housing (329), a detection rod (326) is slidably mounted in the detection housing (329), a piston (327) is mounted on one end of the detection rod (326), the other end of the detection rod (326) is connected to a transmission sheet (322), the piston (327) is slidably connected to the detection housing (329), an air pressure sensor (328) is mounted on the bottom end of the detection housing (329), and the detection housing (329) is mounted on a fastening block (324).

4. A bolt fastening device for nuclear industry with balance detection function according to claim 3, characterized in that: The sliding base support (313) comprises a base support slider (3131), a base support slide bar (3132) is installed on the base support slider (3131), the base support slide bar (3132) is slidably installed in the fastening shell (312), a base support spring (3133) is installed between the base support slider (3131) and the fastening shell (312), and the top end of the base support slider (3131) is slidably connected to the bottom end of the fastening block (324).

5. The bolt fastening device for nuclear industry with balance detection function according to claim 1, characterized in that: The fixed feeding device (38) comprises a feeding component (33), a fixed component (39) and a driving cylinder (37); the feeding component (33) is slidably mounted in a fastening shell (312); a spring telescopic rod (35) is mounted at the bottom end of the feeding component (33); the driving cylinder (37) is mounted in the fastening shell (312); a connecting piece (36) is mounted on the output shaft of the driving cylinder (37); the connecting piece (36) is connected to the spring telescopic rod (35); the fixed component (39) is slidably mounted in the fastening shell (312); and the fixed component (39) is connected to one end of the spring telescopic rod (35).

6. A bolt fastening device for nuclear industry with balance detection function according to claim 5, characterized in that: The feeding assembly (33) comprises a feeding ring (331), a feeding rotating rod (336), a first connecting rod assembly (332) and a feeding paddle (333); the feeding ring (331) is slidably mounted in the fastening shell (312); the feeding paddle (333) is movably connected to the feeding ring (331) via the feeding rotating rod (336); the feeding paddle (333) is rotatably connected to the fastening shell (312) via the first connecting rod assembly (332); a lower supporting hook (334) is provided at the bottom end of the feeding paddle (333); an upper supporting hook (335) is provided at the top end of the feeding paddle (333); and the bottom end of the feeding ring (331) is connected to the spring telescopic rod (35).

7. A bolt fastening device for nuclear industry with balance detection function according to claim 5, characterized in that: The fixing assembly (39) comprises a fixing ring (391), a lower pressure rod (393) and a second connecting rod assembly (395); the top end of the fixing ring (391) is connected to the spring telescopic rod (35); the bottom end of the fixing ring (391) is provided with a plurality of rack rods (392); the lower pressure rod (393) is connected to the fastening shell (312) via the second connecting rod assembly (395); a pressing ball (394) is rollingly installed at the bottom end of the lower pressure rod (393); the rack rod (392) and the lower pressure rod (393) are meshed for transmission.

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