A power transmission line inspection robot guide plate fastening device based on torque setting

Abstract

The application discloses a power transmission line operation and inspection robot drainage plate fastening device based on torque setting and relates to the technical field of power transmission line robots.The device comprises an H-shaped electric clamping mechanism, a reciprocating torque transmission mechanism and a protection circuit.The H-shaped electric clamping mechanism is matched with a slide rail through a movable clamping rod to realize bidirectional clamping of both ends of a bolt and prevent a screw rod from rotating with a nut.The reciprocating torque transmission mechanism comprises a torque wrench, a worm gear reduction motor and a normally closed switch, can automatically stop fastening according to a preset torque and avoids damaging an aluminum drainage plate due to over-tightening.The protection circuit is used for controlling the start and stop of a motor and signal transmission.The device has the functions of adjustable torque, bidirectional clamping and automatic power-off protection, effectively improves the safety, stability and working efficiency of bolt fastening of a drainage plate and is suitable for the automatic operation and maintenance of a power transmission line robot.

Description

Technical Field

[0001] This invention relates to the field of power transmission line robot technology, specifically to a torque-based diverter plate fastening device for power transmission line operation and maintenance robots; used for diverter plate fastening operations by power transmission line operation and maintenance robots. Background Technology

[0002] The current-carrying plate of an overhead transmission line is a crucial connection between the current-carrying wire and the tension clamp, bearing the responsibility of carrying current through the line. Loosening of the current-carrying plate connecting bolts will obstruct current flow, cause severe overheating of the current-carrying plate, and may even lead to melting and breakage, resulting in a power outage and tripping accident. Currently, with the rise of transmission line operation and maintenance robots, using robotic arms to perform live-line tightening of current-carrying plate connecting bolts effectively avoids the safety risks of personnel directly entering the conductor side of the transmission line, becoming a future trend in intelligent operation and maintenance of transmission lines. However, current transmission line operation and maintenance robots primarily tighten current-carrying plate connecting bolts by directly tightening the nuts using an electric socket wrench operated by the robotic arm. Because the current-carrying plate is made of aluminum, if the electric socket wrench is not stopped promptly when the robotic arm directly tightens the nuts, it can easily cause excessive torque, damaging the aluminum current-carrying plate, and in severe cases, even causing it to break. Meanwhile, when the robotic arm operates the electric socket wrench, it only tightens the nut at one end of the bolt, which can easily cause the bolt to rotate with the nut, resulting in incomplete tightening. Moreover, when the electric socket wrench rotates, it is subjected to instantaneous torque, which can easily cause the socket wrench to be thrown out of the bolt, seriously affecting the stability and working efficiency of the power transmission and maintenance robot.

[0003] In existing technologies, when the robotic arm of a power transmission line maintenance robot directly tightens the nut on the drain plate using an electric socket wrench, the wrench may not stop in time, easily resulting in excessive torque, damaging the aluminum drain plate, and in severe cases, even causing it to break. Furthermore, when the robotic arm operates the electric socket wrench, it only tightens the nut on one end of the bolt, easily causing the bolt to rotate with the nut, resulting in incomplete tightening. Moreover, the instantaneous torque applied when the electric socket wrench rotates can easily cause it to fly off the bolt, severely affecting the stability and working efficiency of the power transmission line maintenance robot. Therefore, there is an urgent need to propose a drain plate tightening device for power transmission line maintenance robots based on torque settings to solve the above problems.

[0004] In the prior art, Chinese Patent Publication No. CN114473469A discloses a bolt fastening device, robot, and method for overhead transmission line diverter plates: including a feeding part, a flexible sleeve part, and a nut fastening part; the flexible sleeve part is located on the bolt side of the diverter plate, and the nut fastening part is located on the nut side of the diverter plate, with the flexible sleeve part and the nut fastening part installed opposite to each other on both sides of the feeding part; the feeding part is used to drive the flexible sleeve part and the nut fastening part to move simultaneously towards the center, respectively approaching the head of the diverter plate bolt and the nut to be fastened, so as to achieve the purpose of fastening the diverter plate bolt. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by disclosing a torque-based fastening device for the diversion plate of a power transmission line inspection robot, which solves the problem of fastening the bolts of the diversion plate of the power transmission line inspection robot.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a power transmission line operation and maintenance robot diversion 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 includes a movable clamping rod on the left, a slide rail, and a fixed pulley; the 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. The upper end of the movable clamping rod is equipped with a first sleeve, and the first sleeve is fixed and 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, and includes 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 gear, an electric gear, and a fixed chuck. The movable clamping rod transmission gear is meshed with the electric gear, and the fixed bracket is connected to the fixed chuck below.

[0010] The reciprocating torque transmission device is fixed to the right side of the electric clamping mechanism by the fixed bracket;

[0011] The reciprocating torque transmission device includes a torque wrench, a normally closed switch, a torque assembly, and a worm gear reducer motor; the torque wrench is provided at the upper end of the reciprocating torque transmission device, and the upper end of the torque wrench is fixedly connected to the second sleeve through a sleeve power shaft; the protection circuit is provided with a power interface, the worm gear reducer motor, a signal switch, and the normally closed switch.

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

[0013] When the torque wrench reaches the set torque, it automatically opens the normally closed switch and disconnects the protection circuit.

[0014] The torque assembly includes a second connecting shaft, a first connecting rod, a third connecting shaft, and a fixed connecting rod;

[0015] 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 worm gear reducer motor.

[0016] Furthermore:

[0017] There is a 30° rotation margin between the first sleeve and the movable clamping rod, and the first sleeve adopts a dodecagonal design.

[0018] Furthermore:

[0019] The ratchet wrench head assembly includes a ratchet, and a pawl is provided at the lower end of the ratchet; the ratchet wrench head assembly is fixed to the torque wrench by a pin.

[0020] Furthermore:

[0021] The fixed bracket is a solid steel structure.

[0022] Furthermore:

[0023] The protection circuit is used to send command signals to the inspection robot and simultaneously start the worm gear reducer motor.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] This invention achieves bidirectional clamping of the screw and nut through the design of the "H"-shaped electric clamping mechanism, which prevents the screw from rotating with the nut when tightening the bolt. The bidirectional clamping mechanism also increases the stability of the power transmission and maintenance robot during bolt tightening, thereby improving work efficiency.

[0026] This invention uses a torque setting knob to pre-set the torque required for tightening different types of bolts. When the electric socket wrench reaches the set torque, it automatically opens the normally closed switch to disconnect the circuit, thus preventing the aluminum drain plate from being damaged or broken due to overtightening of the bolts.

[0027] This invention utilizes a reciprocating torque transmission mechanism to integrate a torque wrench into a fastening device, thereby enabling the fastening device to have a torque setting function. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the reciprocating torque transmission device of the present invention;

[0030] Figure 3 This is a schematic diagram of the protection circuit of the present invention;

[0031] Figure 4 This is a schematic diagram of the rotating mechanism of the upper sleeve of the movable clamping rod according to the present invention:

[0032] Figure 5 This is a schematic diagram of the structure of the twelve-sided sleeve of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of the torque wrench and normally closed switch of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1-Modible clamping rod, 2-Slide rail, 3-Fixed pulley, 4-First connecting shaft, 5-First sleeve, 6-Modible clamping rod transmission gear, 7-Electric gear, 8-Fixed chuck, 9-Fixed bracket, 10-Second sleeve, 11-Bearing, 12-Sleeve power 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-Worm gear reducer motor, 22-Shaft rotation mechanism, 23-Sleeve twelve-sided structure, 24-Ratchet wrench head assembly, 25-Pin, 26-Hollow metal tube end slot, 27-Pivot block, 28-Spacer block. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] like Figures 1-6 As shown, it illustrates specific embodiments of the present invention.

[0038] like Figure 1 As shown, it illustrates the overall structure of the present invention, including: an "H"-shaped electric clamping mechanism, a reciprocating torque transmission device, and a protection circuit;

[0039] The “H” type electric clamping mechanism adopts an “H” type structure design. The “H” type electric clamping mechanism includes a movable clamping rod 1 on the left and a slide rail 2. The movable clamping rod 1 on the left cooperates with the slide rail 2. The movable clamping rod 1 is controlled by a motor to move left and right along the slide rail 2, thereby realizing the clamping and loosening of both ends of the drain plate bolt.

[0040] The movable clamp 1 has a first sleeve 5 at its upper end, and the first sleeve 5 is fixed and rotated on the movable clamp 1 through a first connecting shaft 4.

[0041] The right side of the "H"-shaped 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"-shaped electric clamping mechanism includes a movable clamping rod transmission gear 6, an electric gear 7 and a fixed chuck 8, the movable clamping rod transmission gear 6 is gear-connected to the electric gear 7, and the fixed bracket 9 on the right side of the "H"-shaped electric clamping mechanism is connected to the lower fixed chuck 8;

[0042] Specifically, the fixed bracket 9 is a solid steel structure, mainly used for fixing and installing the reciprocating torque transmission device and the protection circuit. The upper end of the fixed bracket 9 is also equipped with 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, together with the sleeve design at the upper end of the bracket, can smoothly realize the bidirectional clamping function of the screw and the nut, avoid the screw from rotating with the nut when the bolt is tightened, and increase the stability of the device during bolt tightening.

[0043] like Figure 2The reciprocating torque transmission device shown is fixed on the right-side fixed bracket of the electric clamping mechanism and includes the reciprocating transmission mechanism, the worm gear reducer motor 21, and a torque wrench 13 with the normally closed switch 15. The reciprocating transmission mechanism consists 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 worm gear reducer motor 21. One end of the torque wrench 13 is connected to the end with the normally closed switch 15, thereby causing the worm gear reducer motor 21 to drive the torque wrench with the normally closed switch to perform reciprocating motion. The torque wrench 13 has a ratchet 14 inside its upper end, and a pawl on the ratchet 14. The pawl allows the torque wrench 13 to tighten the bolt when rotated clockwise, and to rotate only the torque wrench 13 when rotated counterclockwise. This ensures that the bolt is continuously tightened when the worm gear reducer motor 21 drives the normally closed switch 15 to perform reciprocating motion of the torque wrench 13. Simultaneously, the torque wrench 13 with the normally closed switch 15 can be pre-set with the required torque value for tightening the drain plate bolts according to the standard torque required for different bolt tightening. When the torque wrench reaches the set torque value during its reciprocating motion, the normally closed switch on the torque wrench is opened, the worm gear reducer motor 21 is turned off, and it stops running. This effectively avoids damage and breakage of the aluminum drain plate caused by overtightening the bolts.

[0044] like Figure 3 The protection circuit shown includes the power interface, the worm gear reducer motor 21, the signal switch, and the normally closed switch 15 on the torque wrench connected in series to form a series circuit.

[0045] 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 closes, the worm gear reducer motor 21 starts, and drives the torque wrench 13 to tighten the drain plate bolts through the reciprocating transmission mechanism. When the drain plate bolts are tightened to the set torque value, the normally closed switch 15 on the torque wrench 13 is opened, the series circuit closes, and the worm gear reducer motor 21 stops automatically to avoid damage and breakage of the aluminum drain plate due to overtightening of the bolts.

[0046] like Figure 4 , 5 The diagram shows a schematic diagram of the rotating shaft mechanism at the upper end of the movable clamping rod and a schematic diagram of the dodecagonal sleeve of the present invention. The upper end of the movable clamping rod 1 is equipped with the first sleeve 5, which is used to fix one end of the bolt. The first sleeve 5 adopts a dodecagonal design and has a 30° rotation margin with the movable clamping rod 1, so that the first sleeve 5 can be smoothly fitted into the bolt.

[0047] like Figure 6 The diagram shows the structure of the torque wrench and normally closed switch of the present invention. The specific cooperation process is as follows: The power line maintenance robot on the right aligns the "H"-shaped electric clamping mechanism with the corresponding bolt to be tightened via its robotic arm. Then, by controlling the motor, it drives the electric gear 7 to rotate in both directions, causing the movable clamping rod transmission gear 6 to move. This allows the movable clamping rod 1 to slide along the slide rail 2, thereby achieving clamping and loosening of both ends of the drain plate bolt. The fixed bracket 9 is a solid steel structure. The second sleeve 10 above the fixed bracket 9 on the right side of the "H"-shaped electric clamping mechanism is connected to the ratchet 14 on the ratchet wrench head assembly 24 of the reciprocating torque transmission device via the bearing 11 and the sleeve power shaft 12. The ratchet 14 has a pawl at its lower end, which prevents the ratchet 14 from rotating when the wrench tightens the bolt clockwise, thus driving the sleeve power shaft 12 to tighten the bolt. However, when rotating counterclockwise, the ratchet will only slide past the pawl. The sleeve drive shaft 12 cannot bear force, thus ensuring that the bolt is constantly tightened when the worm gear reducer motor 21 drives the torque wrench with a normally closed switch to reciprocate. The ratchet wrench head assembly 24 is fixed to the hollow metal tube inside the torque wrench by a pin 25. Because the end slot 26 of the hollow metal tube inside the torque wrench is connected to the spacer block 28 through a pivot block 27, once the torque setting knob 16 is set to 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 impact to the right because the pivot block 27 cannot withstand the eccentric force, triggering the right normally closed switch 15 to open; because the normally closed switch 15 is connected in series with the power interface, the worm gear reducer motor 21, and the signal switch in the protection circuit. When the normally closed switch 15 on the torque wrench 13 is opened, the series circuit will be broken, and the worm gear reducer motor 21 will automatically stop. This can effectively prevent the aluminum drain plate from being damaged or broken due to overtightening of the bolts.

[0048] Since this invention uses a torque wrench as a bolt tightening tool, a reciprocating transmission mechanism is employed in its design. This reciprocating transmission mechanism consists of a second connecting shaft 17, a first connecting rod 18, a third connecting shaft 19, a fixed connecting rod 20, and a worm gear reducer motor 21. One end of the first connecting rod 18 is connected to the end of the torque wrench without the sleeve via the second connecting shaft 17, and can rotate around the second connecting shaft 17. The other end of the first connecting rod 18 is connected to the fixed connecting rod 20 of the worm gear reducer motor via the third connecting shaft 19, and the third connecting shaft 19 can also rotate around the second connecting shaft 17. The fixed connecting rod 20 and the worm gear reducer motor 21 are fixedly connected. When the worm gear reducer motor 21 drives the fixed connecting rod 20 of the worm gear reducer motor to rotate, it can drive the torque wrench with a normally closed switch to perform a reciprocating tightening motion, similar to a person tightening a bolt by manually rotating the torque wrench back and forth. In this way, the worm gear reducer motor 21 can drive the torque wrench to tighten the bolt, and the diversion plate fastening device can also have a torque setting function.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A torque-based fastening device for the diverter plate of a power transmission line operation and maintenance robot. Its features are: Includes an "H"-type electric clamping mechanism, a reciprocating torque transmission device, and a protection circuit; The "H"-shaped electric clamping mechanism includes a movable clamping rod (1) on the left, a slide rail (2) and a fixed pulley (3); the movable clamping rod (1) is slidably connected to the slide rail (2) through the fixed pulley (3), and the movable clamping rod (1) moves left and right along the slide rail (2) under the control of the motor. The upper end of the movable clamping rod (1) is equipped with a first sleeve (5), and the first sleeve (5) is fixed and 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, 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"-shaped 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 meshed with the electric gear (7), and the fixed bracket (9) is connected to the fixed chuck (8) below. The reciprocating torque transmission device is fixed to the right side of the electric clamping mechanism by the fixed bracket (9); The reciprocating torque transmission device includes a torque wrench (13), a normally closed switch (15), a torque assembly, and a worm gear reducer motor (21). The torque wrench (13) is provided 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) through a sleeve power shaft (12). The protection circuit is provided with a power interface, the worm gear reducer motor (21), a signal switch, and the normally closed switch (15). The upper end of the torque wrench (13) also includes a ratchet wrench head assembly (24) and a torque setting knob (16). When the torque wrench (13) reaches the set torque, it automatically opens the normally closed switch (15) and disconnects the protection circuit; The torque assembly includes a second connecting shaft (17), a first connecting rod (18), a third connecting shaft (19), and a fixed connecting rod (20). 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 worm gear reducer motor (21).

2. The current-drainage plate fastening device for a power transmission line maintenance robot based on torque setting, as described in claim 1. Its features are: There is a 30° rotation margin between the first sleeve (5) and the movable clamp (1), and the first sleeve (5) adopts a dodecagonal design.

3. The current-drainage plate fastening device for a power transmission line operation and maintenance robot based on torque setting, as described in claim 1. Its features are: The ratchet wrench head assembly (24) includes a ratchet (14) with a pawl at the lower end of the ratchet; the ratchet wrench head assembly (24) is fixed to the torque wrench (13) by a pin (25).

4. The current-drainage plate fastening device for a power transmission line operation and maintenance robot based on torque setting, as described in claim 1. Its features are: The fixed bracket (9) is a solid steel structure.

5. The current-drainage plate fastening device for a transmission line operation and maintenance robot based on torque setting, as described in claim 1. Its features are: The protection circuit is used to send command signals to the inspection robot and simultaneously start the worm gear reducer motor.

Images