Robot for installing flange bolts in limited space

Abstract

The invention relates to the technical field of intelligent equipment manufacturing industry, in particular to a flange bolt mounting robot in a limited space, comprising: a support arm for extending into the limited space reserved between two air pipes; the control end is arranged at one end of the support arm; the assembling mechanism is arranged on the end face of the control end, the flange bolt connecting pieces on the two air pipes are arranged on the assembling mechanism, and the control end provides power to lock the flange bolt connecting pieces in the limited space. According to the assembling mechanism, a flange bolt connecting piece can be locked in a limited space reserved between two adjacent air pipes, and after locking is completed, a first side plate and a second side plate in a first assembling assembly and a second assembling assembly of the assembling mechanism are subjected to demolding operation; and the bolt mounting hole positions on the air pipes can be conveniently and quickly adjusted to be subsequently locked and assembled one by one, so that the assembling efficiency is effectively improved, and the operability in a limited space between two adjacent air pipes is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment manufacturing industry, and in particular to a flange bolt installation robot in a confined space. Background Art

[0002] As robot technology matures, robots are gradually being widely used in various fields of intelligent equipment manufacturing. Because robots have multi-axis linkage and program intelligent control functions, high action repetition accuracy, stable product quality, and high production efficiency, they are suitable for application in industries with standardized characteristics.

[0003] At present, during the horizontal assembly operation of multiple square air ducts, when the distance between two adjacent air ducts is too close, the air ducts themselves will block the operating space, resulting in a small operating space. In addition, the operator's visibility is poor, which makes it difficult for the operator to install and connect the flange bolts on the two adjacent air ducts due to the limited space and viewing angle when manually operating the wrench when assembling the bolts.

[0004] Therefore, it is necessary to design a flange bolt installation robot in a confined space in the intelligent equipment manufacturing industry.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention, and do not constitute an admission that the above contents are the closest prior art. Summary of the invention

[0006] The object of the present invention is to solve the above-mentioned deficiencies and provide a flange bolt installation robot in a confined space.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solution: a flange bolt installation robot in a confined space, comprising:

[0008] The support arm is used to extend into the restricted space left between two air ducts;

[0009] A control end, arranged on one end of the support arm;

[0010] The assembly mechanism is arranged on the end surface of the control end, and the flange bolt connectors on the two air ducts are respectively arranged on the assembly mechanism. The control end provides power to lock the flange bolt connectors in the confined space.

[0011] Furthermore, the assembly mechanism includes:

[0012] A first assembly component, located above one side of the control end, is used to lock the flange bolt connector along the upper air duct of the two air ducts in the confined space;

[0013] The second assembly component is located below one side of the control end and is used to lock the flange bolt connector along the lower air duct in the confined space.

[0014] Furthermore, the first assembly component and the second assembly component have the same structure, and both include:

[0015] A first side plate, removable to receive bolts in the flange bolt connector;

[0016] A second side plate, which is adjustable in interval and arranged on the side of the first side plate where the bolts are arranged, and a fixing groove for detachably placing nuts in the flange bolt connector is arranged on the side close to the first side plate;

[0017] The screw-in unit is arranged on the control end and is rotatably connected to the first side plate, and is used to drive the bolt to rotate and push the first side plate toward the second side plate during the rotation process.

[0018] Furthermore, a clamping unit for clamping or releasing the bolts in the flange bolt connector is rotatably arranged in the through hole penetrating the first side plate;

[0019] The clamping unit includes a supporting round block rotatably arranged in a through-opening on the first side plate, a screw rod horizontally arranged on the supporting round block, clamping blocks with limited positions in cavities corresponding to those opened on the supporting round block are movably arranged at both ends of the screw rod, a gear 1 is arranged in the middle section of the screw rod, and a gear 2 driven by a motor is meshed with the side of the gear 1.

[0020] Further, the screw-in unit comprises a rotating shaft which is spaced apart on the supporting round block and rotates under the driving of the control end, a sleeve rod which is slidably sleeved on the inner ring of the rotating shaft, a supporting plate is movably provided on the external thread opened on the rotating shaft, two abutment plates fixed on the first side plate are symmetrically provided at both ends of the supporting plate, and a guide rod is provided on the supporting plate;

[0021] One end of the guide rod is fixed to the end surface of the control end.

[0022] Furthermore, the second side plate is adjustable in intervals on the first side plate in the following manner:

[0023] Two symmetrical connecting rods 1 are arranged on one side of the end surface of the second side plate, a supporting sleeve sleeved on the connecting rod 1 is passed through the first side plate, a connecting rod 2 sleeved with a spring is fixed in the supporting sleeve and at the end of the connecting rod 1, and a horizontal plate is fixed on the top of the two connecting rods 2.

[0024] Furthermore, the end of the transverse plate is provided with a telescopic power unit for driving the first side plate and the second side plate to have an adjustable distance;

[0025] The telescopic power unit comprises a cylinder sleeve 2 and a piston plate 2 which are used together. A piston rod 2 which penetrates the end of the cylinder sleeve 2 and is used for fixed connection with the cross plate is arranged on one surface of the piston plate 2.

[0026] Furthermore, a suction mechanism is provided between the first assembly component and the second assembly component for linkage adjustment of the distance between the first side plate and the second side plate and for collecting dust and impurities in the installation areas on the two air ducts;

[0027] The suction mechanism includes a support block arranged between the first assembly component and the second assembly component and connected by two telescopic shafts, a cylinder sleeve 1 arranged on the support block, an end block connected to one side of the support block is arranged inside the cylinder sleeve 1, two conduits 1 are connected to the end block, the end of the conduit 1 is provided with an interface fixed on the corresponding second side plate, and the lower end of the cylinder sleeve 1 is provided with two symmetrical conduits 2 that are connected to the upper and lower cylinder sleeves 2.

[0028] Furthermore, a piston plate is arranged in the cylinder sleeve, a piston rod is arranged on one side of the piston plate, the piston rod penetrates the cylinder sleeve and extends into the control end, and a dust filter is arranged in the cylinder sleeve and close to the end block.

[0029] Furthermore, a sliding block is provided at the lower side of the end where the support arm and the control end are connected, and a slide rail for matching is provided on the sliding block.

[0030] Compared with the prior art, the present invention has the following beneficial effects: the present invention can lock the flange bolt connector in the limited space reserved between two adjacent air ducts through the support arm and the control end, assembly mechanism, telescopic shaft, slider and slide rail combined on the support arm, and the demoulding operation of the first assembly component, the first side plate and the second side plate included in the assembly mechanism after the locking is completed is convenient for rapid adjustment to carry out the subsequent locking assembly of the bolt installation holes on the air ducts one by one, effectively improving the assembly efficiency and the operability in the limited space between the two adjacent air ducts; and the suction mechanism can be provided to Pre-clean impurities at the installation holes in the confined space between the adjacent air ducts to ensure that there are no impurities in the threads of the bolt installation area, thereby ensuring that uniform torque is applied subsequently, effectively preventing the bolts from loosening or being damaged; the provided suction mechanism and the telescopic power unit can be used in conjunction with each other to produce a negative pressure suction effect on the one hand, thereby achieving an impurity cleaning effect on the threads of the bolt installation area; on the other hand, through the connection of the second conduit, the second side plate and the nut fixed on the second side plate can be driven to approach the bolt clamped by the clamping unit while the pre-cleaning operation is being performed, thereby producing a clamping effect, thereby locking the flange bolt connection along the confined space. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 A three-dimensional structural diagram of an overall perspective of an embodiment of the present invention;

[0033] Figure 2 A three-dimensional structural diagram of an assembly mechanism according to an embodiment of the present invention from one viewing angle;

[0034] Figure 3 A three-dimensional structural diagram of an assembly component according to an embodiment of the present invention from one perspective;

[0035] Figure 4 A three-dimensional structural diagram of the upper structure of an assembly component according to an embodiment of the present invention from one perspective;

[0036] Figure 5 for Figure 4 The enlarged structural diagram at A in the middle;

[0037] Figure 6 A three-dimensional structural diagram of the upper structure of an assembly component according to an embodiment of the present invention from another perspective;

[0038] Figure 7 A three-dimensional structural diagram of a suction mechanism according to an embodiment of the present invention from one viewing angle;

[0039] Figure 8 It is a front view partial cross-sectional plan view of an assembly mechanism according to an embodiment of the present invention;

[0040] Fig. 9 A three-dimensional structural diagram showing a state in which an embodiment of the present invention is installed between two adjacent square air ducts;

[0041] Fig.10 It is a schematic plan view of the overall structure of an embodiment of the present invention when it is installed between two adjacent square air ducts.

[0042] In the figure: 1, support arm; 2, control end; 3, assembly mechanism; 4, suction mechanism; 5, telescopic shaft; 6, slider; 7, slide rail;

[0043] 31. First assembly component; 32. Second assembly component;

[0044] 301, first side plate; 302, second side plate; 303, clamping unit; 304, screwing unit; 306, telescopic power unit; 307, fixing slot;

[0045] 3021, interface;

[0046] 3031, supporting round block; 3032, screw rod; 3033, clamping block; 3034, gear 1; 3035, gear 2; 3036, motor;

[0047] 3041, rotating shaft; 3042, sleeve rod; 3043, supporting plate; 3044, abutment plate; 3045, guide rod;

[0048] 3051, connecting rod 1; 3052, supporting sleeve; 3053, spring; 3054, connecting rod 2; 3055, cross plate;

[0049] 3061, cylinder sleeve 2; 3062, piston plate 2; 3063, piston rod 2;

[0050] 401, support block; 402, cylinder sleeve 1; 403, end block; 404, conduit 1; 405, conduit 2; 406, dust filter;

[0051] 4021. Piston plate one; 4022. Piston rod one. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0053] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0054] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that A and B meet at the same time. In addition, "multiple" refers to more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0055] like Figure 1-10 As shown, the present invention provides a flange bolt installation robot in a confined space, comprising:

[0056] The support arm 1 is used to extend into the restricted space between two air ducts;

[0057] A control end 2, arranged on one end of the support arm 1;

[0058] The assembly mechanism 3 is arranged on the end surface of the control end 2, and the flange bolt connectors on the two air ducts are respectively arranged on the assembly mechanism 3, and the control end 2 provides power to lock the flange bolt connectors in the confined space.

[0059] In a specific implementation, through the support arm 1, as Fig. 9 , Fig.10 As shown, the device for connecting flange bolts in this embodiment is extended into the confined space reserved between two adjacent air ducts; wherein the control end 2 connected by a snap-fit ​​at one end of the support arm 1 and the assembly mechanism 3 installed on the upper end surface of the control end 2 can successively realize the positioning, adjustment, mold closing, locking, demolding, and locking assembly of the flange bolts on the air duct in the confined space and the installation holes on each air duct after demolding.

[0060] It should be noted that a power device is provided in the control end 2 to cooperate with the power transmission of the assembly mechanism 3 and the suction mechanism 4, and an image acquisition module such as a camera component adopted by conventional technology is installed on the end face of the control end 2, and the electrical output end of the camera is electrically connected to the MCU chip of the installation robot connected to the support arm 1. The image of the position of the bolt installation hole in the confined space captured by the camera can be sent to the MCU chip for identification and processing, and then an electrical signal is sent to start the power device in this embodiment, so that the bolt installation tool of this embodiment can be moved to the installation hole position of the flange bolt on the air duct, thereby realizing the locking function of the flange bolt connection of this embodiment along the confined space, and then realizing the overall construction process of the bolt locking operation of this embodiment in the intelligent equipment manufacturing industry.

[0061] In one embodiment, the assembly mechanism 3 comprises:

[0062] The first assembly component 31 is located above one side of the control end 2 and is used to lock the flange bolt connector along the upper air duct of the two air ducts in the confined space;

[0063] The second assembly component 32 is located below one side of the control end 2 and is used to lock the flange bolt connector along the lower air duct in the confined space. With this design, the flange bolt connectors on two adjacent air ducts can be locked and assembled sequentially or synchronously in the confined space by means of the first assembly component 31 and the second assembly component 32 distributed up and down or left and right on the assembly mechanism 3.

[0064] In one embodiment, the first assembly component 31 and the second assembly component 32 have the same structure, and both include:

[0065] The first side plate 301 is removable to hold bolts in the flange bolt connector;

[0066] The second side plate 302 is adjustable in interval and arranged on the side where the bolts are arranged on the first side plate 301, and a fixing groove 307 for detachably placing nuts in the flange bolt connector is arranged on the side close to the first side plate 301;

[0067] The screw-in unit 304 is arranged on the control end 2 and is rotatably connected to the first side plate 301, and is used to drive the bolts to rotate and push the first side plate 301 toward the second side plate 302 during the rotation process. In this design, the bolts and nuts in the flange bolt connector are detachably placed on the two adjacent end surfaces of the first side plate 301 and the second side plate 302 with adjustable intervals, and the screw-in unit 304 rotatably connected to the first side plate 301 on the control end 2 can rotate the bolts to be installed fixed on the first side plate 301 while pushing the first side plate 301 toward the second side plate 302, thereby realizing the operation of screwing the bolts into the nuts, and completing the locking assembly of the flange bolt connector on the air duct.

[0068] In one embodiment, a clamping unit 303 for clamping or releasing the bolts in the flange bolt connector is rotatably arranged in the through opening on the first side plate 301;

[0069] The clamping unit 303 includes a supporting round block 3031 rotatably set in a through opening on the first side plate 301, a screw rod 3032 horizontally set on the supporting round block 3031, and clamping blocks 3033 with limited positions in cavities corresponding to the support round block 3031 are movably set at both ends of the screw rod 3032. A gear 1 3034 is set in the middle section of the screw rod 3032, and the side of the gear 1 3034 is engaged with a gear 2 3035 driven by a motor 3036. With this design, by using the support block 3031 rotatably assembled with the bearing ring in the through-hole passing through the first side plate 301 and the screw rod 3032 horizontally installed on the support block 3031, the power generated by the rotation of the motor 3036 can be transmitted to the screw rod 3032 mounted on the center of the end face of the gear 1 3034 through the transmission of the gear 2 3035 mounted on the output shaft of the motor 3036 and the gear 1 3034 meshingly connected to the gear 2 3035, thereby driving the clamping blocks 3033 with rotating threads on both sides of the screw rod 3032 to perform linear motion toward or away from each other under the limit of the corresponding groove turned on the support block 3031, thereby realizing the fixed clamping and release of the bolts to be installed.

[0070] It should be noted that the screw rod 3032 is provided with two sections of threads with opposite directions.

[0071] In one embodiment, the screw-in unit 304 includes a rotating shaft 3041 which is spaced apart on the supporting round block 3031 and rotates under the drive of the control end 2, a sleeve rod 3042 which is slidably sleeved on the inner ring of the rotating shaft 3041, and a supporting plate 3043 is movably provided on the external thread opened on the rotating shaft 3041, and two abutment plates 3044 fixed on the first side plate 301 are symmetrically provided at both ends of the supporting plate 3043, and a guide rod 3045 is provided on the supporting plate 3043;

[0072] One end of the guide rod 3045 is fixed to the end face of the control end 2. In this design, by slidingly sleeve-mounting the combined rotating shaft 3041 and sleeve rod 3042 on the supporting round block 3031, wherein one end of the sleeve rod 3042 is welded to the end face of the supporting round block 3031, when the power device connected to the rotating shaft 3041 and assembled by turning in the control end 2 is started, the generated power will be directly applied to the rotating shaft 3041 on the one hand, driving the bolts to be installed clamped on the clamping unit 303 below the rotating shaft 3041 to rotate, and on the other hand, due to the turning of the outer surface of the rotating shaft 3041, the rotating shaft 3041 will be directly applied to the rotating shaft 3041. The external thread drives the support plate 3043 matched with the external thread to perform linear movement in the bolt locking direction in the confined space under the guidance of the guide rod 3045, and under the support of the sleeve rod 3042 slidably sleeved in the rotating shaft 3041 and the abutment plate 3044 welded between the support plate 3043 and the first side plate 301, the first side plate 301 fixed with the bolt to be installed is pushed closer to the second side plate 302 fixed with the nut, realizing the screwing operation, thereby realizing the locking assembly of the flange bolt connection on the air duct along the confined space.

[0073] It should be noted that one end of the rotating shaft 3041 is designed with a rotating motor used in conventional technology to cooperate with the power device in the control end 2.

[0074] In one embodiment, the second side plate 302 is adjustable in intervals on the first side plate 301 in the following manner:

[0075] Two symmetrical connecting rods 3051 are arranged on one side of the end surface of the second side plate 302, and a supporting sleeve 3052 which is sleeved on the connecting rod 3051 is passed through the first side plate 301, and a connecting rod 3054 with a spring 3053 is fixed in the supporting sleeve 3052 and at the end of the connecting rod 3051, and a horizontal plate 3055 is fixed on the top of the two connecting rods 3054. With such a design, through two symmetrical connecting rods 3051 welded on the end face of the second side plate 302 and a supporting sleeve 3052 arranged outside the connecting rod 3051 and with one end slidingly guided on the end face of the first side plate 301, wherein the connecting rod 2 3054 with a spring 3053 welded on the end of the connecting rod 1 3051 extending into the supporting sleeve 3052 can drive the connecting rod 1 3051 welded on the connecting rod 2 3054 and the second side plate 302 welded on the connecting rod 1 3051 to approach the first side plate 301 when the connecting rod 2 3054 is stretched to one side by an external force, thereby realizing the mold closing of the first side plate 301 and the second side plate 302 at the bolt installation position, which is convenient for the subsequent bolt locking operation, and when the connecting rod 2 3054 is pushed to the other side by an external force, it will drive the second side plate 302 and the first side plate 301 to separate, thereby realizing the demolding operation after the locking is completed.

[0076] In one embodiment, the end of the horizontal plate 3055 is provided with a telescopic power unit 306 for driving the first side plate 301 and the second side plate 302 to have an adjustable distance;

[0077] The telescopic power unit 306 includes a second cylinder sleeve 3061 and a second piston plate 3062 that are used together. A second piston rod 3063 that penetrates the end of the second cylinder sleeve 3061 and is used to be fixedly connected to the cross plate 3055 is provided on one side of the second piston plate 3062. In this design, a piston plate 3062 for reciprocating motion is assembled in the cylinder sleeve 3061, wherein the piston rod 3063 welded on one side of the piston plate 3062 extends to the outside of the cylinder sleeve 3061 and is welded and fixed to the cross plate 3055 welded on the top of the connecting rod 3054 on both sides. When the piston plate 3062 is driven by an external force to move left and right in the cylinder sleeve 3061, a cavity separated by the piston plate 3062 in the cylinder sleeve 3061 will shrink, which will drive the piston rod 3063 welded on the piston plate 3062 and the connecting rod 3054 and the connecting rod 3051 welded in sequence on the piston rod 3063 to adjust the relative distance between the first side plate 301 and the second side plate 302, thereby providing power and generating a driving force with adjustable intervals.

[0078] In one embodiment, a suction mechanism 4 is provided between the first assembly component 31 and the second assembly component 32 for linkage adjustment of the distance between the first side plate 301 and the second side plate 302 and for collecting dust and impurities in the installation areas of the two air ducts;

[0079] The suction mechanism 4 includes a support block 401 arranged between the first assembly component 31 and the second assembly component 32 and connected by two telescopic shafts 5, and a cylinder sleeve 402 arranged on the support block 401, an end block 403 on one side of the support block 401 is connected to the cylinder sleeve 402, two conduits 404 are connected to the end block 403, and the end of the conduit 404 is provided with an interface 3021 fixed on the corresponding second side plate 302, and the lower end of the cylinder sleeve 402 is provided with two symmetrical conduits 405 that are connected to the upper and lower cylinder sleeves 3061. In this design, through the duct one 404 connected on the end block 403 and the interface 3021 which is connected to the duct one 404 and turned on one side of the second side plate 302, when external force is applied, dust and impurities at the corresponding position will be collected through the interface 3021, and the duct two 405 connected between the cylinder sleeve one 402 and the cylinder sleeve two 3061 can transmit the dynamic effect generated by the changes in the internal two side cavities of the cylinder sleeve one 402 connected on the end block 403 and bolted to the support block 401 to the cylinder sleeve two 3061, thereby achieving the corresponding technical effect, wherein the interface 3021 connected to the end of the duct one 404 can produce a negative pressure suction effect, which will collect and process the dust and impurities in the installation area of ​​the flange bolt connectors on the two air ducts in the confined space, and the duct two 405 can realize the spacing adjustment function of the first side plate 301 and the second side plate 302 in a linked manner.

[0080] Furthermore, by connecting the first assembly component 31 and the second assembly component 32 in the relative area between the first assembly component 31 and the second assembly component 32 using the support block 401 and the telescopic shaft 5 fixed with bolts at the end of the support block 401, the relative distance between the first assembly component 31 and the second assembly component 32 respectively connected on both sides of the support block 401 can be adjusted, so that the bolts and nuts clamped on the first assembly component 31 or the second assembly component 32 are moved to the installation position of the flange bolts on the air duct in the confined space, thereby achieving alignment of the bolts to be installed with the bolt holes.

[0081] It should be noted that the interface 3021 connected to the hole machined on one side of the second side plate 302 corresponds to the bolt installation hole position of the installation area, and one end of the interface 3021 is plugged and fixed to the corresponding conduit 1 404 .

[0082] It should be noted that both conduit 1 404 and conduit 2 405 are equipped with solenoid valves for opening and closing.

[0083] In one embodiment, a piston plate 4021 is provided in the cylinder sleeve 402, and a piston rod 4022 is provided on one side of the piston plate 4021, which penetrates the cylinder sleeve 402 and extends into the control end 2. A dust filter 406 is provided in the cylinder sleeve 402 and close to the end block 403. With this design, through the piston plate 4021 installed in the cylinder sleeve 402 and the piston rod 4022 welded on one side of the piston plate 4021, the piston plate 4021 welded with the piston rod 4022 can be driven by the piston rod 4022 to move linearly in the cylinder sleeve 402 installed outside the piston plate 4022 under the action of the power device connected to the outer end of the piston rod 4022 and in the control end 2, so that the cavity on one side of the cylinder sleeve 402 separated by the piston plate 4021 is expanded, and a negative pressure suction effect is generated through the conduit 404, so that dust and impurities in the installation area can be collected in a concentrated manner;

[0084] At the same time, the cavity inside the cylinder sleeve 2 3061 which is connected to one side of the cylinder sleeve 1 402 separated by the piston plate 1 4021 through the conduit 2 405 will be synchronously pulled by the power device installed in the control end 2 to pull the piston rod 2 3063 welded on the piston plate 2 3062 which moves back and forth inside the cylinder sleeve 2 3061 to move to one side, thereby realizing the adjustment of the relative distance between the first side plate 301 and the second side plate 302 through the cross plate 3055 welded on the outer end of the piston rod 2 3063 and the two symmetrically welded connecting rods 2 3054 and 1 3051 on the cross plate 3055, thereby realizing the alignment operation of the flange bolt connector and the installation hole on the two air ducts in the confined space by the installation robot of this embodiment.

[0085] It should be noted that the power device installed in the control end 2 and used in conjunction with the piston rod 4022 adopts a telescopic cylinder used in conventional technology.

[0086] It should be noted that the end block 403 adopts a detachable assembly structure on the end face of the supporting block 401, which is convenient for cleaning impurities collected in the end block 403. The dust filter 406 installed in the cylinder sleeve 402 and close to the position of the end block 403 can play a dust filtering effect and prevent impurities from entering the active area of ​​the piston plate 4021 inside the cylinder sleeve 402.

[0087] In one embodiment, a slider 6 is provided at the lower side of the end where the support arm 1 and the control end 2 are connected, and a slide rail 7 for use in conjunction with the slider 6 is provided. In this design, the slider 6 fixed by bolts at the lower side of the end where the support arm 1 and the control end 2 are connected, and the slide rail 7 for sliding on the slider 6 can be used in conjunction with the telescopic shaft 5 to achieve alignment of the bolts to be installed clamped and fixed on the first assembly component 31 or the second assembly component 32 connected to one side of the suction mechanism 4 with the installation position of the flange bolts on the air duct.

[0088] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

Claims

1. A flange bolt installation robot in a confined space, characterized in that: include: The support arm (1) is used to extend into a restricted space between two air ducts; A control end (2) is arranged on one end of the support arm (1); The assembly mechanism (3) is arranged on the end surface of the control end (2), and the flange bolt connectors on the two air ducts are respectively arranged on the assembly mechanism (3). The control end (2) provides power to lock the flange bolt connectors in the confined space.

2. A flange bolt installation robot in a confined space according to claim 1, characterized in that: The assembly mechanism (3) comprises: A first assembly component (31) is located above one side of the control end (2) and is used to lock the flange bolt connector along the upper air duct of the two air ducts in the confined space; The second assembly component (32) is located below one side of the control end (2) and is used to lock the flange bolt connection along the lower air duct in the confined space.

3. The robot for installing flange bolts in a confined space according to claim 2, characterized in that: The first assembly component (31) and the second assembly component (32) have the same structure, and both include: A first side plate (301) is detachably mounted to receive bolts in a flange bolt connector; A second side plate (302) is arranged at an adjustable interval on the side of the first side plate (301) where the bolts are arranged, and a fixing groove (307) for detachably placing nuts in the flange bolt connector is arranged on a side close to the first side plate (301); The screw-in unit (304) is arranged on the control end (2) and is rotatably connected to the first side plate (301), and is used to drive the bolt to rotate and push the first side plate (301) toward the second side plate (302) during the rotation process.

4. The robot for installing flange bolts in a confined space according to claim 3, characterized in that: A clamping unit (303) for clamping or releasing bolts in a flange bolt connector is rotatably arranged in a through hole on the first side plate (301); The clamping unit (303) comprises a supporting round block (3031) rotatably arranged in a through opening on the first side plate (301), a screw rod (3032) horizontally arranged on the supporting round block (3031), two ends of the screw rod (3032) are movably arranged with clamping blocks (3033) in cavities corresponding to those opened on the supporting round block (3031), a middle section of the screw rod (3032) is provided with a gear 1 (3034), and a side portion of the gear 1 (3034) is meshed with a gear 2 (3035) driven by a motor (3036).

5. The robot for installing flange bolts in a confined space according to claim 4, characterized in that: The screw-in unit (304) comprises a rotating shaft (3041) which is arranged at intervals on the supporting round block (3031) and rotates under the drive of the control end (2), a sleeve rod (3042) which is slidably sleeved on the inner ring of the rotating shaft (3041), a supporting plate (3043) movably arranged on the external thread provided on the rotating shaft (3041), two abutment plates (3044) fixed on the first side plate (301) are symmetrically arranged at both ends of the supporting plate (3043), and a guide rod (3045) is arranged on the supporting plate (3043); One end of the guide rod (3045) is fixed to the end surface of the control end (2).

6. The robot for installing flange bolts in a confined space according to claim 3, characterized in that: The second side plate (302) is arranged on the first side plate (301) at an adjustable interval in the following manner: Two symmetrical connecting rods (3051) are arranged on one side of the end surface of the second side plate (302); a supporting sleeve (3052) sleeved on the connecting rod (3051) is passed through the first side plate (301); a connecting rod (3054) sleeved with a spring (3053) is fixed inside the supporting sleeve (3052) and at the end of the connecting rod (3051); a horizontal plate (3055) is fixed on the top of the two connecting rods (3054).

7. The robot for installing flange bolts in a confined space according to claim 6, characterized in that: The end of the transverse plate (3055) is provided with a telescopic power unit (306) for driving the first side plate (301) and the second side plate (302) to adjust the distance between them; The telescopic power unit (306) comprises a second cylinder sleeve (3061) and a second piston plate (3062) used in conjunction with each other, and a second piston rod (3063) is provided on one side of the second piston plate (3062) and passes through the end of the second cylinder sleeve (3061) and is used to be fixedly connected to the cross plate (3055).

8. The robot for installing flange bolts in a confined space according to claim 3, characterized in that: A suction mechanism (4) is provided between the first assembly component (31) and the second assembly component (32) for linkage adjustment of the distance between the first side plate (301) and the second side plate (302) and for collecting dust and impurities in the installation areas on the two air ducts; The suction mechanism (4) comprises a support block (401) arranged between the first assembly component (31) and the second assembly component (32) and connected by two telescopic shafts (5), and a cylinder sleeve (402) arranged on the support block (401); an end block (403) arranged on one side of the support block (401) is connected inside the cylinder sleeve (402); two conduits (404) are connected on the end block (403); the end of the conduit (404) is provided with an interface (3021) fixed on the corresponding second side plate (302); and the lower end of the cylinder sleeve (402) is provided with two symmetrical conduits (405) that are connected to the interior of the upper and lower cylinder sleeves (3061).

9. The robot for installing flange bolts in a confined space according to claim 8, characterized in that: A piston plate (4021) is arranged in the cylinder sleeve (402), and a piston rod (4022) is arranged on one side of the piston plate (4021) and passes through the cylinder sleeve (402) and extends into the control end (2). A dust filter (406) is arranged in the cylinder sleeve (402) and close to the end block (403).

10. The robot for installing flange bolts in a confined space according to claim 1, characterized in that: A sliding block (6) is provided at the lower side of the end where the support arm (1) and the control end (2) are connected, and a slide rail (7) for matching is provided on the sliding block (6).

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