A flange bolt mounting robot in a confined space

Abstract

The application relates to the technical field of intelligent equipment manufacturing industry, in particular to a flange bolt mounting robot in a limited space, which comprises a supporting arm used for extending into the limited space left between two air pipes, a control end arranged at one end of the supporting arm, and an assembling mechanism arranged on the end face of the control end, wherein the flange bolt connectors on the two air pipes are arranged on the assembling mechanism, and the control end provides power to lock the flange bolt connectors in the limited space. The application can lock the flange bolt connectors in the limited space left between the two close air pipes, and after the locking is completed, the demolding operation of the first side plate and the second side plate in the first assembling component and the second assembling component included in the assembling mechanism is facilitated, the subsequent locking and assembling of the bolt mounting holes on each air pipe are quickly adjusted, the assembling efficiency is effectively improved, and the operability in the limited space between the two close air pipes is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent equipment manufacturing industry, and particularly relates to a flange bolt mounting robot in a limited space. BACKGROUND

[0002] With the increasingly mature robot technology, robots are gradually widely applied to various fields of intelligent equipment manufacturing. Robots have multi-axis linkage and program intelligent control functions, high action repetition precision, stable product quality and high production efficiency, and are suitable for application in industries with standardization characteristics.

[0003] At present, when the distance between two adjacent air ducts is too close during the operation of transverse assembly of multiple square air ducts, the operable space is small due to the shielding of the air ducts, and the visibility of the operator is poor, so that the operator is limited by space and angle of view when manually operating the wrench, thereby making it difficult to install and connect the flange bolts on the two adjacent air ducts.

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

[0005] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as the closest prior art. SUMMARY

[0006] The purpose of the present application is to solve the above problems and provide a flange bolt mounting robot in a limited space.

[0007] In order to solve the above technical problems, the present application adopts the following technical scheme: a flange bolt mounting robot in a limited space, comprising:

[0008] An arm is used to extend into a limited space between two air ducts;

[0009] A control end is arranged at one end of the arm;

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

[0011] Further, the assembly mechanism comprises:

[0012] A first assembly component is arranged above the control end on one side, and is used to lock the flange bolt connectors along the upper air duct in the limited space;

[0013] A second assembly component is arranged below the control end on one side, and is used to lock the flange bolt connectors along the lower air duct in the limited space.

[0014] Further, the first assembly component and the second assembly component are identical in structure, both comprising:

[0015] A first side plate, which is detachably placed with a bolt in a flange bolt connector;

[0016] A second side plate, which is adjustably arranged on the first side plate on the side where the bolt is arranged, and has a fixed groove for detachably placing a nut in the flange bolt connector on the side close to the first side plate;

[0017] A screwing unit, which is arranged on the control end and rotationally connected with the first side plate, and is used to drive the bolt to rotate and push the first side plate towards the second side plate during the rotation.

[0018] Further, a clamping unit for clamping or releasing the bolt in the flange bolt connector is rotationally arranged in the through hole of the first side plate;

[0019] The clamping unit comprises a supporting circular block rotationally arranged in the through hole of the first side plate, a lead screw horizontally arranged on the supporting circular block, clamping blocks movably arranged at the two ends of the lead screw in cavities correspondingly arranged on the supporting circular block, a gear one arranged at the middle segment of the lead screw, and a gear two driven by a motor and meshed with the side of the gear one.

[0020] Further, the screwing unit comprises a rotating shaft adjustably arranged on the supporting circular block and rotationally driven by the control end, a sleeve rod slidingly sleeved on the inner circle of the rotating shaft, a supporting plate movably arranged on the external thread arranged on the rotating shaft, two abutting plates symmetrically arranged at the two ends of the supporting plate and fixed on the first side plate, and a guide rod arranged on the supporting plate.

[0021] One end of the guide rod is fixed on the end face of the control end.

[0022] Further, the second side plate is adjustably arranged on the first side plate in the following manner:

[0023] The end face of the second side plate is provided with two symmetric connecting rods one, the first side plate is provided with a supporting sleeve sleeved on the connecting rod one, the connecting rod two sleeved with a spring is fixed at the end of the connecting rod one in the supporting sleeve, and the top of the two connecting rod twos is fixed with a horizontal plate.

[0024] Further, the end of the horizontal plate is provided with a telescopic power unit for driving the first side plate and the second side plate to be adjustable in distance.

[0025] The telescopic power unit comprises the cylinder sleeve two and the piston plate two used in cooperation, and the piston rod two is arranged on one side of the piston plate two and penetrates the end of the cylinder sleeve two and is fixedly connected with the transverse plate.

[0026] Further, the suction mechanism is arranged between the first assembly component and the second assembly component, and is used for linkage adjustment of the distance between the first side plate and the second side plate and gathers and collects dust and impurities in the mounting area of the two air pipes.

[0027] The suction mechanism comprises a supporting block connected through two telescopic shafts and arranged between the first assembly component and the second assembly component, a cylinder sleeve one arranged on the supporting block, an end block arranged in the cylinder sleeve one and communicated with one side of the supporting block, two guide pipes one arranged on the end block and communicated with the end block, and the ends of the guide pipes one are fixedly connected with the second side plate, and two symmetrical guide pipes two are arranged at the lower end of the cylinder sleeve one and communicated with the two cylinder sleeves two.

[0028] Further, the piston plate one is arranged in the cylinder sleeve one, one side of the piston plate one is provided with the piston rod one penetrating the cylinder sleeve one and extending into the control end, and a dustproof filter screen is arranged in the cylinder sleeve one and close to the end block.

[0029] Further, the end of the supporting arm and the control end is provided with a sliding block on the lower side, and the sliding block is provided with a sliding rail used in cooperation.

[0030] Compared with the prior art, the present application has the following beneficial effects: through the arrangement of the supporting arm, the control end combined on the supporting arm, the assembly mechanism, the telescopic shaft, the sliding block and the sliding rail, the flange bolt connector can be locked in the limited space between the two adjacent air pipes, and after the locking is completed, the demolding operation of the first side plate and the second side plate in the first assembly component and the second assembly component included in the assembly mechanism is facilitated, the subsequent locking and assembly of the bolt mounting hole of each air pipe are quickly adjusted, the assembly efficiency is effectively improved, and the operability in the limited space between the two adjacent air pipes is improved; and through the arrangement of the suction mechanism, the impurities in the mounting hole in the limited space between the two adjacent air pipes can be pre-cleaned, the threads of the bolt mounting area are ensured to be free of impurities, the subsequent uniform torque is ensured to be applied, and the loosening or damage of the bolt is effectively prevented; through the cooperation of the suction mechanism and the telescopic power unit, on the one hand, the negative pressure suction effect is generated, the impurities in the threads of the bolt mounting area are cleaned, and on the other hand, through the communication of the guide pipes two, the second side plate and the nut fixed on the second side plate are driven to approach the bolt clamped by the clamping unit during the pre-cleaning operation, the mold closing effect is generated, and then the flange bolt connector is locked along the limited space. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an implementation of the application and, together with the description, serve to explain the application. In the drawings:

[0032] Figure 1 A perspective view of the overall structure of an embodiment of the application;

[0033] Figure 2 A perspective view of the assembly mechanism of an embodiment of the application;

[0034] Figure 3 A perspective view of the assembly component of an embodiment of the application;

[0035] Figure 4 A perspective view of the upper part structure of the assembly component of an embodiment of the application;

[0036] Figure 5 A perspective view of the upper part structure of the assembly component of an embodiment of the application; Figure 4 An enlarged structural view of A in the middle;

[0037] Figure 6 A perspective view of the upper part structure of the assembly component of an embodiment of the application;

[0038] Figure 7 A perspective view of the suction mechanism of an embodiment of the application;

[0039] Figure 8 A perspective view of the assembly mechanism of an embodiment of the application;

[0040] Figure 9 A perspective view of the overall structure of an embodiment of the application in the installed state between two adjacent square air ducts;

[0041] Figure 10 A perspective view of the overall structure of an embodiment of the application in the installed state between two adjacent square air ducts;

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

[0043] 31, first assembly component; 32, second assembly component;

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

[0045] 3021, interface;

[0046] 3031, support block; 3032, screw rod; 3033, clamping block; 3034, gear one; 3035, gear two; 3036, motor;

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

[0048] 3051, connecting rod one; 3052, support sleeve; 3053, spring; 3054, connecting rod two; 3055, cross plate;

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

[0050] 401, support block; 402, cylinder sleeve one; 403, end block; 404, guide pipe one; 405, guide pipe two; 406, dustproof filter screen;

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

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0053] It should be noted that if the embodiments of the present application 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 condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0054] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, "multiple" refers to more than two. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0055] As shown in the figure, the flange bolt mounting robot in the limited space of the present application comprises: Figures 1-10

[0056] The arm 1 is used to extend into the limited space between two air pipes;

[0057] The control end 2 is arranged at one end of the arm 1;

[0058] The assembly mechanism 3 is arranged on the end face of the control end 2, and the flange bolt connectors on the two air pipes are arranged on the assembly mechanism 3, and the power provided by the control end 2 is used to lock the flange bolt connectors in the limited space.

[0059] In the specific implementation, the device for connecting the flange bolt in the embodiment is extended into the limited space between the two adjacent air pipes, as shown in the figure. Figure 9 Figure 10 The control end 2 buckled on one end of the arm 1 and the assembly mechanism 3 installed on the end face of the control end 2 can realize the positioning, adjustment, clamping, locking, demolding and locking assembly of the mounting hole on each air pipe after demolding of the flange bolt on the air pipe in the limited space in turn.

[0060] ​​It should be noted that the control end 2 is provided with a matching assembly mechanism 3, a suction mechanism 4 power transmission power device, and the end face of the control end 2 is installed with an image acquisition module such as a camera component used in conventional technology, and the electrical output end of the camera is electrically connected with the MCU chip of the mounting robot connected on the support arm 1, which can send the image of the bolt mounting hole position in the limited space collected by the camera to the MCU chip for identification and processing, and then send the electrical signal to start the power device in this embodiment, realize the bolt mounting tool in this embodiment to move to the bolt mounting hole position of the flange on the air pipe, and then realize the locking function of the flange bolt connector in the limited space, and then realize the overall construction process of the bolt locking operation in the intelligent equipment manufacturing industry in this embodiment.

[0061] In an 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 for locking the flange bolt connector along the upper air pipe of the two air pipes in the limited space;

[0063] The second assembly component 32 is located below one side of the control end 2, and is used for locking the flange bolt connector along the lower air pipe in the limited space. In this way, by including the first assembly component 31 and the second assembly component 32 distributed upward and downward or left and right on the assembly mechanism 3, the locking assembly of the flange bolt connector on the two air pipes close to each other in the limited space can be performed in sequence or synchronously.

[0064] In an embodiment, the first assembly component 31 and the second assembly component 32 are the same in structure, and both comprise:

[0065] The first side plate 301 can detachably place the bolt in the flange bolt connector;

[0066] The second side plate 302 is adjustably arranged on one side of the first side plate 301 where the bolt is arranged, and a fixed groove 307 for detachably placing the nut in the flange bolt connector is arranged on the side close to the first side plate 301;

[0067] The screwing unit 304 is arranged on the control end 2 and is rotationally connected with the first side plate 301, and is used to drive the bolt to rotate and push the first side plate 301 to the second side plate 302 during the rotation. In this way, by arranging the bolt and the nut in the flange bolt connecting piece which is detachably arranged on the two close end faces of the first side plate 301 and the second side plate 302 with an adjustable interval, and by controlling the screwing unit 304 which is rotationally connected with the first side plate 301 on the control end 2, the bolt which is fixed on the first side plate 301 can be rotated and the first side plate 301 can be pushed to the second side plate 302 at the same time, so that the bolt is screwed into the nut, and the locking assembly of the flange bolt connecting piece on the air pipe is completed.

[0068] In an embodiment, the clamping unit 303 is rotationally arranged in the through hole of the first side plate 301, and is used to clamp or release the bolt in the flange bolt connecting piece;

[0069] The clamping unit 303 comprises a supporting circular block 3031 which is rotationally arranged in the through hole of the first side plate 301, and a lead screw 3032 which is horizontally arranged on the supporting circular block 3031. The two ends of the lead screw 3032 are movably arranged with clamping blocks 3033 which are limited in the cavities which are correspondingly formed on the supporting circular block 3031. The middle section of the lead screw 3032 is provided with a gear one 3034, and the side of the gear one 3034 is engaged with a gear two 3035 which is driven by a motor 3036. In this way, by using the supporting circular block 3031 which is rotationally assembled in the through hole of the first side plate 301 by means of a bearing ring, and the lead screw 3032 which is horizontally arranged on the supporting circular block 3031, the power generated by the rotation of the motor 3036 can be transmitted to the lead screw 3032 which is sleeved on the center of the end face of the gear one 3034 through the gear two 3035 which is sleeved on the output shaft of the motor 3036 and the gear one 3034 which is engaged with the gear two 3035, so as to drive the clamping blocks 3033 which are threadedly rotatable on the two sides of the lead screw 3032 to move linearly towards or away from each other in the corresponding grooves which are turned on the supporting circular block 3031, and the clamping and releasing of the bolt to be installed are realized.

[0070] It should be noted that the lead screw 3032 is provided with two sections with opposite thread directions.

[0071] In an embodiment, the screwing unit 304 comprises a rotating shaft 3041 which is arranged on the supporting circular block 3031 with an interval and is rotated under the driving of the control end 2, a sleeve rod 3042 which is slidably sleeved in the inner circle of the rotating shaft 3041, a supporting plate 3043 which is movably arranged on the external thread of the rotating shaft 3041, two abutting plates 3044 which are symmetrically arranged on the two ends of the supporting plate 3043 and are fixed on the first side plate 301, and a guide rod 3045 which is arranged 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, the combined rotating shaft 3041 and sleeve rod 3042 are sleeved on the support round block 3031, and one end of the sleeve rod 3042 is welded to the end face of the support round block 3031. When the power device connected to the rotating shaft 3041 and assembled by turning processing in the control end 2 is started, the generated power is directly applied to the rotating shaft 3041, driving the clamping unit 303 below the rotating shaft 3041 to rotate, and the external threads on the outer surface of the rotating shaft 3041 drive the support plate 3043 with external thread cooperation to move linearly along the bolt locking direction in the limited space under the guidance of the guide rod 3045, and the sleeve rod 3042 sleeved in the rotating shaft 3041 and the support plate 3043 are supported by the abutting plate 3044 welded between the first side plate 301 and the support plate 3043, driving the first side plate 301 with the installed bolt to push the second side plate 302 with the nut close to each other, realizing the screwing operation, and further realizing the assembly of the flange bolt connection on the air pipe along the locking direction in the limited space.

[0073] It should be noted that one end of the rotating shaft 3041 is designed with a rotating motor matched in the control end 2, which is a conventional technology.

[0074] In an embodiment, the second side plate 302 is adjustably arranged on the first side plate 301 by the following method:

[0075] The end face of the second side plate 302 is provided with two symmetrical connecting rods 3051, the first side plate 301 is provided with a support sleeve 3052 sleeved on the connecting rod 3051, the connecting rod 3054 sleeved with a spring 3053 is fixed in the support sleeve 3052 and at the end of the connecting rod 3051, and the top of the two connecting rods 3054 is fixed with a cross plate 3055. In this design, the two symmetrical connecting rods 3051 welded on the end face of the second side plate 302 and the support sleeve 3052 sleeved on the connecting rod 3051 and slidingly guided on the end face of the first side plate 301, and the connecting rod 3054 sleeved with a spring 3053 welded on the end of the connecting rod 3051 extending into the support sleeve 3052, can drive the connecting rod 3051 welded on the connecting rod 3054 and the second side plate 302 welded on the connecting rod 3051 to move close to the first side plate 301 when the connecting rod 3054 is stretched by external force to one side, realize the mold closing of the first side plate 301 and the second side plate 302 at the bolt installation position, and facilitate the subsequent bolt locking operation, and when the connecting rod 3054 is pushed out by external force to the other side, the second side plate 302 and the first side plate 301 are separated, realizing the demolding operation after the locking is completed.

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

[0077] The telescopic power unit 306 comprises a cylinder sleeve two 3061 and a piston plate two 3062 used in conjunction, the piston plate two 3062 is provided with a piston rod two 3063 on one side, which extends through the end of the cylinder sleeve two 3061 and is used for fixed connection with the horizontal plate 3055. In this way, by assembling the piston plate two 3062 for reciprocating motion in the cylinder sleeve two 3061, the piston rod two 3063 welded on one side of the piston plate two 3062 extends to the outside of the cylinder sleeve two 3061 and is welded with the horizontal plate 3055 on the top of the connecting rod two 3054 on both sides. When the piston plate two 3062 is driven to move left and right by external force in the cylinder sleeve two 3061, the cavity in the cylinder sleeve two 3061 separated by the piston plate two 3062 will shrink, which will drive the piston rod two 3063 welded on the piston plate two 3062 and the connecting rod two 3054 and the connecting rod one 3051 sequentially welded on the piston rod two 3063 to adjust the relative distance between the first side plate 301 and the second side plate 302, providing power and generating adjustable driving force.

[0078] In an embodiment, the first assembly component 31 and the second assembly component 32 are provided with a suction mechanism 4 for linkage adjustment of the distance between the first side plate 301 and the second side plate 302 and gathering of dust and impurities on the installation area of the two air pipes.

[0079] The suction mechanism 4 comprises a supporting block 401 arranged between the first assembly component 31 and the second assembly component 32 and connected by two telescopic shafts 5, a cylinder sleeve I 402 arranged on the supporting block 401, an end block 403 arranged in the cylinder sleeve I 402 on one side of the supporting block 401, two conduit Is 404 arranged in communication on the end block 403, ends of the conduit Is 404 provided with interfaces 3021 fixed on the corresponding second side plate 302, and the lower end of the cylinder sleeve I 402 provided with two symmetrical conduit IIs 405 in communication with the interiors of the upper and lower cylinder sleeves II 3061. In this way, when an external force is applied, the dust and impurities at the corresponding position can be collected by the interfaces 3021 connected by the conduit Is 404 in communication on the end block 403 and the interface 3021 machined on one side of the second side plate 302, and the power effect generated by the changes of the two side cavities in the interior of the cylinder sleeve I 402 bolted on the supporting block 401 can be transmitted to the cylinder sleeve II 3061 through the conduit IIs 405 in communication between the cylinder sleeve I 402 and the cylinder sleeve II 3061, thereby achieving the corresponding technical effects. The interface 3021 connected at the end of the conduit Is 404 can generate a negative pressure suction effect and collect and process the dust and impurities in the installation area of the flange bolt connector on the two air pipes in the limited space, and the conduit IIs 405 can linkage to realize the spacing adjustment function of the first side plate 301 and the second side plate 302.

[0080] Further, the supporting block 401 and the telescopic shaft 5 bolted at the end of the supporting block 401 are used to connect the relative areas between the first assembly component 31 and the second assembly component 32, so that the relative distance of the first assembly component 31 and the second assembly component 32 connected on the two sides of the supporting block 401 can be adjusted, and the bolt and the nut clamped on the first assembly component 31 or the second assembly component 32 can be moved to the installation position of the flange bolt on the air pipe in the limited space, thereby realizing the alignment of the to-be-installed bolt and the bolt hole.

[0081] It should be noted that the interface 3021 in communication with 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 inserted and fixed with the corresponding conduit I 404.

[0082] It should be noted that the electromagnetic valves for opening and closing are installed on the conduit I 404 and the conduit II 405.

[0083] In an embodiment, the cylinder sleeve 1 402 is provided with a piston plate 1 4021, one side of the piston plate 1 4021 is provided with a piston rod 1 4022 penetrating the cylinder sleeve 1 402 and extending into the control end 2, and a dust filter screen 406 is arranged in the cylinder sleeve 1 402 close to the end block 403. In this way, by assembling the piston plate 1 4021 in the cylinder sleeve 1 402 and welding the piston rod 1 4022 on one side of the piston plate 1 4021, the power generated by the power device connected to the outer end of the piston rod 1 4022 and in the control end 2 can drive the piston plate 1 4021 welded to the piston rod 1 4022 to move linearly in the cylinder sleeve 1 402 assembled outside, so that the cavity separated by the piston plate 1 4021 in the cylinder sleeve 1 402 is enlarged, and a negative pressure suction effect is generated through the conduit 1 404, which can collect dust and impurities in the installation area;

[0084] At the same time, the cavity in the cylinder sleeve 2 3061 communicated with the cavity separated by the piston plate 1 4021 in the cylinder sleeve 1 402 through the conduit 2 405 will be synchronously moved to one side by the piston rod 2 3063 welded to the piston plate 2 3062 reciprocating in the cylinder sleeve 2 3061 under the action of the power device installed in the control end 2, realizing the adjustment of the relative distance between the horizontal plate 3055 welded to the outer end of the piston rod 2 3063 and the horizontal plate 3055, and the two symmetrical connecting rods 2 3054 and connecting rods 1 3051 welded to the horizontal plate 3055, and further realizing the alignment operation of the flange bolt connector and the installation hole position on the two air pipes in the limited space by the installation robot of the embodiment.

[0085] It should be noted that the power device installed in the control end 2 and used in cooperation with the piston rod 1 4022 is a telescopic cylinder used in conventional technology.

[0086] It should be noted that the end block 403 is detachably assembled on the end face of the supporting block 401, which is convenient for cleaning the impurities collected in the end block 403. The dust filter screen 406 installed in the cylinder sleeve 1 402 close to the end block 403 can play a dust filtering effect, avoiding impurities entering the active area of the piston plate 1 4021 in the cylinder sleeve 1 402.

[0087] In an embodiment, the lower side of the end portion where the supporting arm 1 and the control end 2 are connected is provided with a sliding block 6, and the sliding block 6 is provided with a sliding rail 7 used in cooperation. In this way, by bolt-fastening the sliding block 6 on the lower side of the end portion where the supporting arm 1 and the control end 2 are connected, and sliding the sliding rail 7 on the sliding block 6, the alignment of the installation position of the flange bolt on the air pipe and the bolt to be installed clamped and fixed on one side of the first assembly component 31 or the second assembly component 32 of the suction mechanism 4 can be realized in cooperation with the use of the telescopic shaft 5.

[0088] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A flange bolting robot in a confined space, characterized by, The utility model relates to a kind of flange bolt connection locking device, including: Supporting arm (1) for extending into the limited space between two air pipes; Control end (2) is arranged on one end of the supporting arm (1); Assembly mechanism (3) is arranged on the end face of the control end (2), and the flange bolt connection on two air pipes is arranged on the assembly mechanism (3) respectively, and the flange bolt connection in the limited space is locked by providing power to the control end (2); The assembly mechanism (3) includes: First assembly component (31) is located above one side of control end (2), and is used to lock the flange bolt connection along the upper air pipe in the limited space between two air pipes; Second assembly component (32) is located below one side of control end (2), and is used to lock the flange bolt connection along the lower air pipe in the limited space between two air pipes; The first assembly component (31) and the second assembly component (32) are the same structure, and all include: First side plate (301) can detachably place bolt in flange bolt connection; Second side plate (302) is arranged on the side of the first side plate (301) with bolt with adjustable interval, and fixed groove (307) for detachably placing nut in flange bolt connection is arranged on the side close to the first side plate (301); Screw-in unit (304) is arranged on the control end (2) and is rotatably connected with the first side plate (301), and is used to drive bolt to rotate and push the first side plate (301) to the second side plate (302) in the process of rotation; The through hole in the first side plate (301) is rotatably arranged with clamping unit (303) for clamping or releasing bolt in flange bolt connection; The clamping unit (303) includes support round block (3031) rotatably arranged in the through hole in the first side plate (301), screw rod (3032) horizontally arranged on the support round block (3031), clamping block (3033) movably arranged at both ends of the screw rod (3032) in the cavity corresponding to the opening in the support round block (3031), gear one (3034) arranged at the middle segment of the screw rod (3032), and gear two (3035) driven by motor (3036) is engaged on the side of the gear one (3034); The screw-in unit (304) includes rotating shaft (3041) arranged with interval on the support round block (3031) and rotated under the drive of the control end (2), sleeve rod (3042) slidably sleeved in the inner circle of the rotating shaft (3041), support plate (3043) movably arranged with external thread opened in the rotating shaft (3041), two resistance plates (3044) fixed on the first side plate (301) are symmetrically arranged at both ends of the support plate (3043), and guide rod (3045) is arranged on the support plate (3043); One end of the guide rod (3045) is fixed on the end face of the control end (2).

2. The flange bolting robot in a confined space according to claim 1, characterized in that: The second side plate (302) is arranged on the first side plate (301) with adjustable interval by the following way: The end face side of the second side plate (302) is provided with two symmetrical connecting rods I (3051), the first side plate (301) is provided with a supporting sleeve (3052) sleeved on the connecting rod I (3051), the supporting sleeve (3052) is fixed with a connecting rod II (3054) sleeved with a spring (3053) in the connecting rod I (3051) end, and the top of the two connecting rod II (3054) is fixed with a cross plate (3055).

3. A flange bolting robot for use in a confined space according to claim 2, characterised in that: The end of the cross plate (3055) is provided with a telescopic power unit (306) for driving the adjustable distance between the first side plate (301) and the second side plate (302); The telescopic power unit (306) comprises a cylinder sleeve II (3061) and a piston plate II (3062) used in cooperation, and the piston plate II (3062) is provided with a piston rod II (3063) penetrating the cylinder sleeve II (3061) and used for fixed connection with the cross plate (3055).

4. The flange bolting robot in confined space according to claim 1, characterized in that: The first assembly component (31) and the second assembly component (32) are provided with a suction mechanism (4) for linkage adjustment of the distance between the first side plate (301) and the second side plate (302) and the gathering collection of dust and impurities on the two air pipe mounting areas; The suction mechanism (4) comprises a supporting block (401) provided between the first assembly component (31) and the second assembly component (32) and connected by two telescopic shafts (5), a cylinder sleeve I (402) provided on the supporting block (401), an end block (403) provided in the cylinder sleeve I (402) and on one side of the supporting block (401), two guide pipes I (404) provided on the end block (403), an interface (3021) provided at the end of the guide pipe I (404) and fixed on the second side plate (302), and two symmetrical guide pipes II (405) provided at the lower end of the cylinder sleeve I (402) and communicated with the inside of the upper and lower cylinder sleeve II (3061).

5. A flange bolting robot for use in a confined space according to claim 4, characterised in that: The cylinder sleeve I (402) is provided with a piston plate I (4021), one side of the piston plate I (4021) is provided with a piston rod I (4022) penetrating the cylinder sleeve I (402) and extending into the control end (2), and a dustproof filter screen (406) is provided in the cylinder sleeve I (402) and close to the end block (403).

6. The flange bolting robot in confined space according to claim 1, characterized in that: The end of the supporting block (401) is provided with a sliding block (6), and the sliding block (6) is provided with a sliding rail (7) used in cooperation.

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