Power transmission line operation inspection robot drainage plate fastening device based on torque setting

Abstract

The invention discloses a power transmission line operation inspection robot drainage plate fastening device based on torque setting, which relates to the technical field of line inspection robots and comprises an H-shaped electric clamping mechanism, a reciprocating torque transmission device and a protection circuit. The electric clamping mechanism is of an H-shaped structural design and comprises a left movable clamping rod, a sliding rail, a right fixed support and a lower fixed chuck, the left movable clamping rod is matched with the sliding rail, and the movable clamping rod is controlled by a motor to move left and right along the sliding rail, so that the two ends of the drainage plate bolt are clamped and loosened; the reciprocating type torque transmission device is fixed to a fixing support on the right side of the electric clamping mechanism. The protection circuit is used for starting a turbine gear motor after a power supply is switched on and a bolt fastening instruction signal is sent to the inspection robot; through mutual cooperation of all the structures, the device achieves the function that the power transmission line inspection robot fastens the bolts of the drainage plate.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line robots, and in particular to a drain plate fastening device for a power transmission line inspection robot based on torque setting; the device is used for the power transmission line inspection robot to perform drain plate fastening operations. Background Art

[0002] The drain plate of an overhead transmission line is an important connecting part between the drain line and the tension clamp, and it is responsible for the flow of the line. When the drain plate connection bolts are loosened, the line flow will be blocked, the drain plate will heat up severely, and even the drain plate will burn and break, resulting in the occurrence of a disconnection and tripping accident of the transmission line drain line. At present, with the rise of transmission line inspection robots, the live tightening of the drain plate connection bolts by the robot's mechanical arm can effectively avoid the safety risk of operators directly entering the conductor side of the transmission line, and has become a development trend of intelligent inspection of transmission lines in the future. However, when the existing transmission line inspection robots carry out the tightening of the drain plate connection bolts, they mainly tighten the nuts directly by operating the electric socket wrench through the mechanical arm. Because the drain plate is made of aluminum, when the transmission inspection robot's mechanical arm operates the electric socket wrench to directly tighten the drain plate nut, the electric socket wrench is not stopped in time, which is very likely to cause excessive torque and damage the aluminum drain plate. In severe cases, it will even cause the aluminum drain plate to break. At the same time, when the robot arm operates the electric socket wrench, it only tightens the nut at one end of the bolt, which can easily cause the screw to rotate with the nut and fail to tighten it in place. Moreover, when the electric socket wrench rotates, it is subject to the instantaneous torque, which can easily cause the socket wrench to be thrown out of the bolt, seriously affecting the stability and work efficiency of the power transmission and inspection robot.

[0003] In the prior art, when the power transmission and inspection robot's mechanical arm operates an electric socket wrench to directly tighten the drain plate nut, the electric socket wrench is not stopped in time, which can easily cause excessive torque and damage the aluminum drain plate. In severe cases, it may even cause the aluminum drain plate to break. At the same time, when the mechanical arm operates the electric socket wrench, it only tightens the nut at one end of the bolt, which can easily cause the screw to rotate with the nut and fail to tighten in place. Moreover, when the electric socket wrench rotates, it is affected by the instantaneous torque, which can easily cause the socket wrench to be thrown out of the bolt, seriously affecting the stability and work efficiency of the power transmission and inspection robot. Therefore, it is urgent to propose a transmission line inspection robot drain plate tightening device based on torque setting to solve the above problems.

[0004] In the prior art, China's authorized patent announcement number: CN 114473469 A, discloses an overhead transmission line drain plate bolt tightening device, robot and method: comprising a feed part, a flexible sleeve part and a nut fastening part; the flexible sleeve part is located on the bolt side of the drain plate, the nut fastening part is located on the nut side of the drain plate, and the flexible sleeve part and the nut fastening part are installed oppositely on both sides of the feed part; the feed part is used to drive the flexible sleeve part and the nut fastening part to move toward the middle at the same time, respectively approaching the head and nut of the drain plate bolt to be tightened, so as to achieve the purpose of tightening the drain plate bolt. Summary of the invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies in the prior art and disclose a drain plate fastening device for a transmission line inspection robot based on torque setting, which solves the problem of fastening the drain plate bolts of the transmission line inspection robot.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A power transmission line inspection robot drain plate fastening device based on torque setting, comprising: an "H"-shaped electric clamping mechanism, a reciprocating torque transmission device and a protection circuit;

[0007] The "H"-shaped electric clamping mechanism adopts an "H"-shaped structural design, and the "H"-shaped electric clamping mechanism includes a left movable clamping rod, a slide rail and a fixed pulley; the left movable clamping rod is slidably connected to the slide rail through the fixed pulley, and the movable clamping rod is controlled by a motor to move left and right along the slide rail, and the upper end of the movable clamping rod is provided with a first sleeve, and the first sleeve is fixedly rotated on the movable clamping rod through a first connecting shaft;

[0008] The right side of the "H"-shaped electric clamping mechanism is connected to the reciprocating torque transmission device, including a fixed bracket and a second sleeve; the upper end of the fixed bracket is connected to the second sleeve through a bearing;

[0009] The lower side of the "H"-shaped electric clamping mechanism includes a movable clamping rod transmission tooth, an electric gear and a fixed chuck, the movable clamping rod transmission tooth is connected to the electric gear gear, and the fixed bracket on the right side of the "H"-shaped electric clamping mechanism is connected to the fixed chuck below;

[0010] The reciprocating torque transmission device is fixed on the right side of the electric clamping mechanism through the fixing bracket;

[0011] The reciprocating torque transmission device comprises a torque wrench, a normally closed switch, a torque assembly and a turbine reduction motor; the torque wrench is arranged at the upper end of the reciprocating torque transmission device, the upper end of the torque wrench is fixedly connected to the second sleeve through the second connecting shaft, and the bearing is fixedly connected to the fixed bracket on the right side of the "H"-shaped electric clamping mechanism;

[0012] The upper end of the torque wrench also includes a ratchet wrench head assembly and a torque setting knob.

[0013] Further:

[0014] There is a 30° rotation margin between the first sleeve and the movable clamping rod, and the first sleeve adopts a twelve-edge design.

[0015] Further:

[0016] The torque setting knob is fixedly connected to the torque assembly;

[0017] The torque assembly comprises a second connecting shaft, a first connecting rod, a third connecting shaft, a fixed connecting rod and a shaft rotating mechanism.

[0018] Further:

[0019] The lower end of the torque wrench is connected to the second connecting shaft, the second connecting shaft is connected to the upper end of the first connecting rod, the lower end of the first connecting rod is connected to the third connecting shaft, the upper end of the fixed connecting rod is fixedly connected to the third connecting shaft, and the lower end of the fixed connecting rod is fixedly connected to the turbine reduction motor.

[0020] Further:

[0021] The ratchet wrench head assembly comprises the ratchet, and a pawl is arranged at the lower end of the ratchet; the ratchet wrench head assembly is fixed to the torque wrench by a pin.

[0022] Further:

[0023] The torque component and the normally closed switch can be replaced by a torque sensor circuit.

[0024] Further:

[0025] Features:

[0026] The fixing bracket is a solid steel structure.

[0027] Further:

[0028] The protection circuit is provided with a power supply interface, the turbine reduction motor, a signal switch and the normally closed switch;

[0029] The protection circuit is used to send a command signal to the inspection robot and start the turbine reduction motor to move at the same time.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention realizes the bidirectional clamping function of the screw and the nut through the design of the "H"-shaped electric clamping mechanism, so as to prevent the screw from rotating with the nut when the bolt is tightened. The bidirectional clamping mechanism also increases the stability of the power transmission inspection robot during the bolt tightening period, thereby improving the work efficiency.

[0032] The invention sets the torque required by the tightening standards of different types of bolts in advance through the torque setting knob. When the electric socket wrench reaches the set torque, it automatically knocks open the normally closed switch and disconnects the circuit, thereby preventing the aluminum drain plate from being damaged or broken due to over-tightening of the bolts.

[0033] The present invention connects the torque wrench to the fastening device through the design of a reciprocating torque transmission mechanism, so that the fastening device has a torque setting function. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of a specific implementation mode of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the reciprocating torque transmission device of the present invention;

[0036] Figure 3 It is a structural schematic diagram of the protection circuit of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of the sleeve shaft rotating mechanism at the upper end of the movable clamp rod of the present invention:

[0038] Figure 5 It is a structural schematic diagram of the twelve-sided sleeve of the present invention;

[0039] Figure 6 It is a structural schematic diagram of the torque wrench of the present invention cooperating with a normally closed switch.

[0040] Description of reference numerals:

[0041] 1- movable clamping rod, 2- slide rail, 3- fixed pulley, 4- first connecting shaft, 5- first sleeve, 6- movable clamping rod transmission tooth, 7- electric gear, 8- fixed chuck, 9- fixed bracket, 10- second sleeve, 11- bearing, 12- second connecting shaft, 13- torque wrench, 14- ratchet, 15- normally closed switch, 16- torque setting knob, 17- second connecting shaft, 18- first connecting rod, 19- third connecting shaft, 20- fixed connecting rod, 21- turbine reduction motor, 22- shaft rotating mechanism, 23- sleeve twelve-edge structure, 24- ratchet wrench head assembly, 25- pin, 26- hollow metal tube end slot, 27- pivot block, 28- spacer block. DETAILED DESCRIPTION

[0042] 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.

[0043] like Figures 1 to 6 As shown, it shows a specific implementation example of the present invention.

[0044] like Figure 1 As shown, it shows a schematic diagram of the overall structure of the present invention, including: an "H"-shaped electric clamping mechanism, a reciprocating torque transmission device and a protection circuit;

[0045] The "H"-shaped electric clamping mechanism adopts an "H"-shaped structural design, and the "H"-shaped electric clamping mechanism includes a movable clamping rod 1 and a slide rail 2 on the left side; the movable clamping rod 1 on the left side cooperates with the slide rail 2, and the movable clamping rod 1 is controlled by an electric motor to move left and right along the slide rail 2, thereby achieving clamping and loosening of both ends of the guide plate bolt.

[0046] The movable clamping rod 1 has a first sleeve 5 at its upper end, and the first sleeve 5 is fixedly rotated on the movable clamping rod 1 via a first connecting shaft 4;

[0047] The right side of the "H" type electric clamping mechanism is connected to the reciprocating torque transmission device, including a fixed bracket 9 and a second sleeve 10; the upper end of the fixed bracket 9 is connected to the second sleeve 10 through a bearing 11; the lower side of the "H" type electric clamping mechanism includes a movable clamping rod transmission tooth 6, an electric gear 7 and a fixed chuck 8, the movable clamping rod transmission tooth 6 is gear-connected with the electric gear 7, and the fixed bracket 9 on the right side of the "H" type dynamic clamping mechanism is connected to the fixed chuck 8 below;

[0048] Specifically, the fixed bracket 9 is a solid steel structure, which is mainly used for fixing and installing the reciprocating torque transmission device and the protection circuit. The upper end of the fixed bracket 9 also has the second sleeve 10. In this way, the "H"-shaped structure design of the movable clamping rod 1 on the left, the slide rail 2 and the fixed bracket 9 on the right, combined with the sleeve design at the upper end of the bracket, can smoothly realize the bidirectional clamping function of the screw and the nut, avoiding the screw from rotating with the nut when the bolt is tightened, thereby increasing the stability of the device during bolt tightening.

[0049] like Figure 2 The reciprocating torque transmission device is fixed on the right fixed bracket of the electric clamping mechanism, and includes the reciprocating transmission mechanism, the turbine reduction motor 21 and the torque wrench 13 with the normally closed switch 15. The reciprocating transmission mechanism is composed of the torque wrench 13 and the torque assembly. The lower end of the torque wrench 13 is connected to the upper end of the torque assembly and can rotate around the connecting rod. The lower end of the torque assembly is fixed to the rotor of the turbine reduction motor 21. One end of the torque wrench 13 is connected to one end with the normally closed switch 15, so that the turbine reduction motor 21 drives the torque wrench with the normally closed switch to do reciprocating motion. The ratchet 14 is provided inside the upper end of the torque wrench 13, and the ratchet 14 is provided on the ratchet. The ratchet can realize that when the torque wrench 13 rotates clockwise, the bolt is tightened, and when it rotates counterclockwise, only the torque wrench 13 rotates, so that when the torque wrench 13 of the normally closed switch 15 is driven by the turbine reduction motor 21 to make a reciprocating motion, the bolt is always in a continuously tightened state. At the same time, the torque wrench 13 with the normally closed switch 15 can also set the torque value required for tightening the guide plate bolt in advance according to the standard torque required for tightening different bolts. When the torque wrench reciprocates to tighten the bolt and reaches the set torque value, the normally closed switch on the torque wrench is opened, and the turbine reduction motor 21 is turned off and stops running, which can effectively avoid the problem of damage and breakage of the aluminum guide plate caused by over-tightening of the bolt.

[0050] like Figure 3 The protection circuit shown in the figure includes the power interface, the turbine reduction motor 21, the signal switch and the normally closed switch 15 on the torque wrench connected in series in sequence to form a series circuit;

[0051] Specifically, when the power is turned on and a bolt tightening command signal is sent to the inspection robot, the signal switch in the series circuit is closed, the turbine reduction motor 21 is started, and the torque wrench 13 is driven by the reciprocating transmission mechanism to tighten the drain plate bolts. When the drain plate bolts are tightened to the set torque value, the normally closed switch 15 on the torque wrench 13 is pushed open, the series circuit is closed, and the turbine reduction motor 21 stops automatically to prevent the aluminum drain plate from being damaged or broken due to over-tightening of the bolts.

[0052] like Figure 4 , 5 The figure shows a schematic diagram of the structure of the shaft rotation mechanism at the upper end of the movable clamping rod of the present invention and a schematic diagram of the structure of the twelve-sided sleeve; the upper end of the movable clamping rod 1 is provided with the first sleeve 5 for fixing one end of the bolt, the first sleeve 5 adopts a twelve-sided design, and has a 30° rotation margin with the movable clamping rod 1, so that the first sleeve can be smoothly inserted into the bolt.

[0053] like Figure 6 The figure shows a schematic diagram of the structure of the torque wrench of the present invention cooperating with the normally closed switch; the specific cooperating process is as follows: after the transmission line inspection robot on the right aligns the "H" type electric clamping mechanism with the corresponding bolt to be tightened through the mechanical arm, the electric gear 7 is driven to rotate forward and reverse by controlling the motor, and the movable clamping rod transmission tooth 6 is driven to move, so that the movable clamping rod 1 slides along the slide rail 2, thereby clamping and loosening the two ends of the guide plate bolt. The fixed bracket 9 is a solid steel structure; the first sleeve 10 above the fixed bracket 9 on the right side of the "H" type electric clamping mechanism is connected to the ratchet 13 on the ratchet wrench head assembly 24 of the reciprocating torque transmission device through the bearing 11 and the connecting shaft 12; the ratchet 13 is provided with the pawl at the lower end, which can limit the ratchet 13 from rotating when the wrench tightens the bolt clockwise, thereby driving the second connecting shaft 12 to tighten the bolt, but the ratchet will only slide over the pawl when rotating counterclockwise. The second connecting shaft 12 cannot be subjected to force, so that when the turbine reduction motor 21 drives the torque wrench with the normally closed switch to perform reciprocating motion, the bolt is always in a continuously tightened state. The ratchet wrench head assembly 24 is fixed to the hollow metal tube inside the torque wrench through the pin 25. Because the slot 26 at the end of the hollow metal tube inside the torque wrench is connected to the spacer block 28 through the pivot block 27, when the torque setting knob 17 is rotated to set the required torque parameter, once the bolt is tightened to the corresponding set torque, according to the working principle of the torque wrench, the hollow metal tube inside the torque wrench 13 will collide to the right side because the pivot block 27 cannot withstand the eccentric force, triggering the normally closed switch 15 on the right side to disconnect; because the normally closed switch 15 and the power interface, the turbine reduction motor 21, and the signal switch in the protection circuit are a series circuit. When the normally closed switch 15 on the torque wrench 13 is knocked open, the series circuit will be disconnected and the turbine reduction motor 21 will automatically stop, which can effectively prevent the aluminum guide plate from being damaged or broken due to over-tightening of the bolts.

[0054] Since the torque wrench is used as a bolt tightening tool in the present invention, a reciprocating transmission mechanism is adopted in the design; the reciprocating transmission mechanism is composed of a second connecting shaft 17, a first connecting rod 18, a third connecting shaft 19, a fixed connecting rod 20, and a turbine reducer motor 21. One end of the connecting rod 18 is connected to the end of the torque wrench without a sleeve through the connecting shaft 17, and can rotate around the connecting shaft, and the other end of the connecting rod 18 is connected to the turbine reducer motor fixed connecting rod 20 through the connecting shaft 19, and can also rotate around the connecting shaft. The turbine reducer motor fixed connecting rod 20 is fixedly connected to the turbine reducer motor 21. When the turbine reducer motor 21 drives the turbine reducer motor fixed connecting rod 20 to rotate, it can drive the torque wrench with a normally closed switch to perform a reciprocating tightening motion, which is similar to the action of a person manually rotating the torque wrench back and forth to tighten the bolts. In this way, the turbine reducer motor 21 can drive the torque wrench to tighten the bolts, and the guide plate tightening device can also have a torque setting function.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A drain plate fastening device for a power transmission line inspection robot based on torque setting, Features: It includes an "H" type electric clamping mechanism, a reciprocating torque transmission device and a protection circuit; The "H"-shaped electric clamping mechanism adopts an "H"-shaped structural design, and the "H"-shaped electric clamping mechanism includes a left movable clamping rod (1), a slide rail (2) and a fixed pulley (3); the left movable clamping rod (1) is slidably connected to the slide rail (2) through the fixed pulley (3), and the movable clamping rod (1) is controlled by an electric motor to move left and right along the slide rail (2); the upper end of the movable clamping rod (1) is provided with a first sleeve (5), and the first sleeve (5) is fixedly rotated on the movable clamping rod (1) through a first connecting shaft (4); The right side of the "H"-shaped electric clamping mechanism is connected to the reciprocating torque transmission device, and comprises a fixed bracket (9) and a second sleeve (10); the upper end of the fixed bracket (9) is connected to the second sleeve (10) via a bearing (11); The lower side of the "H"-shaped electric clamping mechanism comprises a movable clamping rod transmission tooth (6), an electric gear (7) and a fixed chuck (8), wherein the movable clamping rod transmission tooth (6) is gear-connected with the electric gear (7), and the fixed bracket (9) on the right side of the "H"-shaped electric clamping mechanism is connected with the fixed chuck (8) below; The reciprocating torque transmission device is fixed on the right side of the electric clamping mechanism through the fixing bracket (9); The reciprocating torque transmission device comprises a torque wrench (13), a normally closed switch (15), a torque assembly and a turbine reduction motor (21); the torque wrench (13) is arranged at the upper end of the reciprocating torque transmission device, the upper end of the torque wrench (13) is fixedly connected to the second sleeve (10) via the second connecting shaft (12), and the bearing (11) is fixedly connected to the fixed bracket (9) on the right side of the "H"-shaped electric clamping mechanism; The upper end of the torque wrench (13) also includes a ratchet wrench head assembly (24) and a torque setting knob (16).

2. According to claim 1, a power transmission line inspection robot drain plate fastening device based on torque setting, Features: There is a rotation margin of 30° between the first sleeve (5) and the movable clamping rod (1), and the first sleeve (5) adopts a twelve-edge design.

3. According to the torque setting-based power transmission line inspection robot drain plate fastening device of claim 1, Features: The torque setting knob (16) is fixedly connected to the torque assembly; The torque assembly comprises a second connecting shaft (17), a first connecting rod (18), a third connecting shaft (19), a fixed connecting rod (20) and a shaft rotating mechanism (22).

4. According to claim 3, a power transmission line inspection robot drain plate fastening device based on torque setting, Features: The lower end of the torque wrench (13) is connected to the second connecting shaft (17), the second connecting shaft (17) is connected to the upper end of the first connecting rod (18), the lower end of the first connecting rod (18) is connected to the third connecting shaft (19), the upper end of the fixed connecting rod (20) is fixedly connected to the third connecting shaft (19), and the lower end of the fixed connecting rod (20) is fixedly connected to the turbine reduction motor (21).

5. According to claim 1, a power transmission line inspection robot drain plate fastening device based on torque setting, Features: The ratchet wrench head assembly (24) comprises the ratchet (14), and a pawl is arranged at the lower end of the ratchet; the ratchet wrench head assembly (24) is fixed to the torque wrench (13) via a pin (25).

6. The power transmission line inspection robot drain plate fastening device based on torque setting according to claim 1, Features: The torque component and the normally closed switch can be replaced by a torque sensor circuit.

7. The power transmission line inspection robot drain plate fastening device based on torque setting according to claim 1, Features: The fixing bracket (9) is a solid steel structure.

8. The power transmission line inspection robot drain plate fastening device based on torque setting according to claim 1, Features: The protection circuit is provided with a power supply interface, the turbine reduction motor (21), a signal switch and the normally closed switch (15); The protection circuit is used to send a command signal to the inspection robot and start the turbine reduction motor to move at the same time.

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