Electric power iron tower bolt fastening robot

Abstract

The invention discloses an electric iron tower bolt fastening robot, and relates to the field of bolt fastening robots, the electric iron tower bolt fastening robot comprises a bottom plate, a first side plate, a second side plate and a lifting frame, the outer surface of the lifting frame is provided with a third motor, and the output end of the third motor is connected with a third lead screw extending into the lifting frame; the outer wall of the third lead screw is sleeved with a movable frame, a brushless motor is installed on the movable frame, and an adjusting assembly is arranged at the output end of the brushless motor. By arranging the adjusting assembly, a worker can determine the size of the sleeve to be used according to the size of the bolt, when the large-size bolt needs to be fastened, the first sleeve needs to be used, the second sleeve is used for the medium-size bolt, and the third sleeve is used for the small-size bolt, so that the applicability of the robot is improved; therefore, bolts of three types can be fastened, and the situation that only bolts of a single size can be fastened is avoided.

Description

Technical Field

[0001] The invention relates to the field of bolt tightening robots, in particular to a power tower bolt tightening robot. Background Art

[0002] Transmission line towers are tower-shaped buildings used for power transmission. Their structural characteristics are that all types of towers belong to space truss structures. The rods are mainly composed of single equilateral angle steel or combined angle steel. The materials generally used are Q235 (A3F) and Q345 (16Mn). Rough bolts are used to connect the rods, and the shear force is connected by the bolts. The whole tower is composed of angle steel, connecting steel plates and bolts. Individual parts such as tower feet are welded from several steel plates into an assembly. Therefore, hot-dip galvanizing, anti-corrosion, transportation and construction are extremely convenient. In addition, the tightness of the bolts must be strictly controlled during the installation, inspection and maintenance process to eliminate safety hazards. When tightening the bolts, a bolt tightening robot will be used to tighten the bolts.

[0003] According to a Chinese patent with the announcement number CN114799845A, a transmission tower bolt tightening robot is disclosed. The invention realizes the movement of the robot moving forward and crossing the foot nails by sequentially lifting, moving and lowering the front foot mechanism, the middle foot mechanism and the rear foot mechanism, and can realize the functions of climbing obstacles and tightening bolts on the tower. In each action process, there are always two pairs of electromagnetic suction cups simultaneously adsorbed on the surface of the tower angle steel to provide sufficient adsorption force to ensure that the machine will not overturn or slide. It has the characteristics of simple structure and easy operation; it solves the problems of high risk and heavy labor in manual operation.

[0004] In response to the above-mentioned disclosed patent content, the invention is provided with a wrench socket and a brushless motor. When the wrench socket is sleeved on the bolt, the brushless motor can be driven to drive the wrench socket to rotate, and then drive the bolt to rotate, thereby facilitating the tightening of the bolt. However, since the size of the socket is fixed, it can only tighten bolts of a single size, thereby reducing the applicability of the socket and reducing the use effect of the robot. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a power tower bolt tightening robot to solve the technical problem that the sleeve can only tighten bolts of a single size.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bolt tightening robot for an electric power tower, comprising a base plate, a first side plate, a second side plate and a lifting frame, a third motor is installed on the outer surface of the lifting frame, and the output end of the third motor is connected to a third screw rod extending into the interior of the lifting frame, a movable frame is sleeved on the outer wall of the third screw rod, a brushless motor is installed on the movable frame, and an adjustment component is provided at the output end of the brushless motor, and the adjustment component comprises a mounting plate installed at the output end of the brushless motor, a third sleeve is installed at the middle position of the bottom of the mounting plate, a first electric push rod and a second electric push rod are respectively installed on the top of the mounting plate, a first sleeve is installed at the output end of the first electric push rod through a piston rod, a second sleeve is installed at the output end of the second electric push rod through a piston rod, first slide grooves are provided on both sides of the second sleeve, and a first slider is provided inside the first slide groove, second slide grooves are provided on both sides of the third sleeve, and a second slider is provided inside the second slide groove, and a battery is installed inside the mounting plate.

[0007] By adopting the above technical solution, the staff can determine which size of sleeve to use according to the size of the bolt. When a large bolt needs to be tightened, the first sleeve needs to be used, while the second sleeve is used for medium-sized bolts, and the third sleeve is used for small bolts.

[0008] Furthermore, one side of the first slider is connected to the first sleeve, and one side of the second slider is connected to the second sleeve.

[0009] By adopting the above technical solution, when the first sleeve moves, it will drive the first sliding block to slide inside the first sliding groove, thereby improving the stability of the first sleeve when moving.

[0010] Furthermore, a servo motor is installed on the top of the base plate, an output end of the servo motor is connected to a turntable, and a cross frame is installed on the top of the turntable.

[0011] By adopting the above technical solution, when the horizontal frame needs to be rotated, the servo motor can be started, and the servo motor can drive the turntable to rotate, and then drive the horizontal frame to rotate.

[0012] Furthermore, bases are installed on both sides of the bottom of the bottom plate, and a first electromagnet suction cup is installed on the bottom of the base.

[0013] By adopting the above technical solution, when the first electromagnet suction cup is energized, it will generate magnetism and can be adsorbed on the surface of the iron tower angle steel.

[0014] Furthermore, a first groove is formed on one side of the first side plate and one side of the second side plate, a first motor is installed on the top of the first side plate and the top of the second side plate, and an output end of the first motor is connected to a first screw rod extending into the first groove.

[0015] By adopting the above technical solution, when the position of the first electromagnet suction cup needs to be adjusted, the first motor can be started, and the first motor can drive the first screw rod to rotate, so as to drive the first threaded seat to move.

[0016] Furthermore, a first threaded seat is sleeved on the outer wall of the first screw rod, and the first threaded seat is connected to the cross frame.

[0017] By adopting the above technical solution, when the first screw rod rotates, it will drive the first threaded seat to move, and the movement of the first threaded seat will drive the cross frame to move, so as to adjust the position of the cross frame.

[0018] Furthermore, a second electromagnet suction cup is installed at the bottom of the first side plate, and a third electromagnet suction cup is installed at the bottom of the second side plate.

[0019] By adopting the above technical solution, the second electromagnet suction cup and the third electromagnet suction cup will generate magnetism after being energized, so as to be adsorbed on the surface of the tower angle steel, thereby improving the stability of the robot.

[0020] Furthermore, a second groove is formed on the other side of the second side plate, a second motor is installed on the top of the second side plate, and an output end of the second motor is connected to a second screw rod extending into the second groove.

[0021] By adopting the above technical solution, when the height of the lifting frame needs to be adjusted, the second motor can be started, and the second motor can drive the second screw rod to rotate, thereby driving the second threaded seat to move.

[0022] Furthermore, a second threaded seat is sleeved on the outer wall of the second screw rod, a lifting frame is installed on one side of the second threaded seat, and the outer wall of the second threaded seat is in contact with the inner wall of the second groove.

[0023] By adopting the above technical solution, when the second screw rod rotates, it will drive the second threaded seat to move, and the second threaded seat will drive the lifting frame to move, and drive the adjustment component to move.

[0024] Furthermore, a movable groove is provided on the top of the bottom plate, a plurality of movable blocks are arranged inside the movable groove, and a rotating rod is installed on the top of the movable block.

[0025] By adopting the above technical solution, the rotating disk can drive the rotating rod to rotate when it rotates, and the rotating rod drives the movable block to slide inside the movable groove, thereby improving the stability of the rotating disk when it rotates.

[0026] In summary, the present invention mainly has the following beneficial effects:

[0027] 1. The present invention is provided with an adjustment component, so that the staff can determine which size of sleeve to use according to the size of the bolt. When a large-sized bolt needs to be tightened, the first sleeve needs to be used, while the second sleeve is used for the medium-sized bolt, and the third sleeve is used for the small-sized bolt, thereby improving the applicability of the robot, so that three types of bolts can be tightened, avoiding the situation where only a single-sized bolt can be tightened;

[0028] 2. When the second sleeve is needed to tighten the screw, the first electric push rod can be started to make the piston rod contract and drive the first sleeve to move upward, so that the second sleeve leaks out, which is convenient for tightening medium-sized bolts through the second sleeve. When the third sleeve is used, the first electric push rod and the second electric push rod are started at the same time, so that the first sleeve and the second sleeve are both moved toward the mounting plate, which is convenient for the third sleeve to leak out for use. In this way, the position of the first sleeve or the second sleeve can be quickly adjusted to improve the use effect;

[0029] 3. When the first sleeve moves, it will drive the first slider to slide inside the first slide groove, thereby improving the stability of the first sleeve when moving, and when the second sleeve moves, it will drive the second slider to slide inside the second slide groove, thereby improving the stability of the second sleeve when moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the overall front section structure of the present invention;

[0032] Figure 3 It is a schematic diagram of the side structure of the second side plate of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the turntable of the present invention;

[0034] Figure 5 It is a schematic diagram of the side structure of the first side plate of the present invention;

[0035] Figure 6 It is a schematic diagram of the side structure of the lifting frame of the present invention;

[0036] Figure 7 It is a schematic diagram of the side cross-section structure of the mounting plate of the present invention;

[0037] Figure 8 It is a bottom view of the partial structure of the first sleeve of the present invention;

[0038] Fig. 9 For the present invention Figure 7 Schematic diagram of the enlarged structure at point A in the middle.

[0039] In the figure: 1, bottom plate; 2, turntable; 3, servo motor; 4, base; 5, first electromagnet suction cup; 6, first side plate; 7, second side plate; 8, first groove; 9, adjustment assembly; 901, mounting plate; 902, storage battery; 903, first electric push rod; 904, second electric push rod; 905, first sleeve; 906, second sleeve; 907, third sleeve; 908, first slide groove; 909, first slider; 910, second slide groove; 911 1. Second slider; 10. First motor; 11. First screw rod; 12. First threaded seat; 13. Horizontal frame; 14. Second electromagnet suction cup; 15. Third electromagnet suction cup; 16. Second motor; 17. Second groove; 18. Second screw rod; 19. Second threaded seat; 20. Lifting frame; 21. Third motor; 22. Third screw rod; 23. Movable frame; 24. Brushless motor; 25. Rotating rod; 26. Movable groove; 27. Movable block; 28. Camera. DETAILED DESCRIPTION

[0040] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] The following describes an embodiment of the present invention based on its overall structure.

[0042] Embodiment 1:

[0043] A power tower bolt tightening robot, such as Figure 1-Figure 9 As shown, it includes a bottom plate 1, a first side plate 6, a second side plate 7 and a lifting frame 20. A third motor 21 is installed on the outer surface of the lifting frame 20, and the output end of the third motor 21 is connected to a third screw rod 22 extending to the inside of the lifting frame 20. The outer wall of the third screw rod 22 is sleeved with a movable frame 23. The movable frame 23 is threadedly connected to the third screw rod 22. One side of the movable frame 23 is in contact with the inner wall of the lifting frame 20. When the third motor 21 is working, it can drive the third screw rod 22 to rotate, and then drive the movable frame 23 to move, so as to adjust the position of the movable frame 23. A brushless motor 24 is installed, and an adjustment component 9 is provided at the output end of the brushless motor 24. A servo motor 3 is installed on the top of the base plate 1. The output end of the servo motor 3 is connected to a turntable 2, and a cross frame 13 is installed on the top of the turntable 2. When the cross frame 13 needs to be rotated, the servo motor 3 can be started. The servo motor 3 can drive the turntable 2 to rotate, and then drive the cross frame 13 to rotate. Bases 4 are installed on both sides of the bottom of the base plate 1. A first electromagnet suction cup 5 is installed at the bottom of the base 4. When the first electromagnet suction cup 5 is energized, it will generate magnetism and can be adsorbed on the surface of the iron tower angle steel.

[0044] See also Figure 1 , Figure 2, Figure 3 and Figure 5 A first groove 8 is provided on one side of the first side plate 6 and one side of the second side plate 7. A first motor 10 is installed on the top of the first side plate 6 and the top of the second side plate 7, and the output end of the first motor 10 is connected to a first screw rod 11 extending into the first groove 8. When the position of the first electromagnet suction cup 5 needs to be adjusted, the first motor 10 can be started. The first motor 10 can drive the first screw rod 11 to rotate so as to drive the first threaded seat 12 to move. The outer wall of the first screw rod 11 is sleeved with the first threaded seat 12, and the first threaded seat 12 is connected to the cross frame 13. The movement of the first threaded seat 12 will drive the cross frame 13 to move so as to adjust the position of the cross frame 13. A second electromagnet suction cup 14 is installed at the bottom of the first side plate 6, and a third electromagnet suction cup 15 is installed at the bottom of the second side plate 7. The second electromagnet suction cup 14 and the third electromagnet suction cup 15 will generate magnetism after being energized, so as to be adsorbed on the surface of the iron tower angle steel, thereby improving the stability of the robot.

[0045] Specifically, the adjustment component 9 includes a mounting plate 901 mounted on the output end of the brushless motor 24, a third sleeve 907 is mounted at the middle position of the bottom of the mounting plate 901, a first electric push rod 903 and a second electric push rod 904 are respectively mounted on the top of the mounting plate 901, a first sleeve 905 is mounted on the output end of the first electric push rod 903 through a piston rod, and a second sleeve 906 is mounted on the output end of the second electric push rod 904 through a piston rod. The staff can determine which size of sleeve to use according to the size of the bolt. When tightening large bolts, the first sleeve 905 is required, while the second sleeve 906 is used for medium-sized bolts, and the third sleeve 907 is used for small bolts. The third sleeve 907 is located inside the second sleeve 906, and the second sleeve 906 is located inside the first sleeve 905. First slide grooves 908 are provided on both sides of the second sleeve 906, and a first slider 909 is provided inside the first slide groove 908. A camera 28 is also installed on one side of the bottom of the mounting plate 901, and the camera 28 can take pictures and upload images.

[0046] Specifically, second slide grooves 910 are provided on both sides of the third sleeve 907, and a second slider 911 is provided inside the second slide groove 910. A battery 902 is installed inside the mounting plate 901. One side of the first slider 909 is connected to the first sleeve 905. When the first sleeve 905 moves, it will drive the first slider 909 to slide inside the first slide groove 908, thereby improving the stability of the first sleeve 905 when moving. One side of the second slider 911 is connected to the second sleeve 906. When the second sleeve 906 moves, it will drive the second slider 911 to slide in the second slide groove 910, so as to improve the stability of the second sleeve 906 when moving. The battery 902 is electrically connected to the first electric push rod 903 and the second electric push rod 904 respectively, and the battery 902 can power the first electric push rod 903 and the second electric push rod 904.

[0047] Embodiment 2:

[0048] On the basis of the above-mentioned embodiment 1, in order to facilitate the adjustment of the position of the adjustment component 9, the following structure is provided.

[0049] Specifically, a second groove 17 is opened on the other side of the second side plate 7, and a second motor 16 is also installed on the top of the second side plate 7. The output end of the second motor 16 is connected to a second screw rod 18 extending into the second groove 17. When the height of the lifting frame 20 needs to be adjusted, the second motor 16 can be started. The second motor 16 can drive the second screw rod 18 to rotate, thereby driving the second threaded seat 19 to move. The outer wall of the second screw rod 18 is sleeved with the second threaded seat 19, and the lifting frame 20 is installed on one side of the second threaded seat 19. The outer wall of the second threaded seat 19 is in contact with the inner wall of the second groove 17. The second threaded seat 19 will drive the lifting frame 20 to move, and drive the adjusting component 9 to move, so that the position of the adjusting component 9 can be adjusted.

[0050] Embodiment three:

[0051] On the basis of the above-mentioned embodiment 1, in order to improve the stability of the turntable 2 during rotation, the following structure is provided.

[0052] See also Figure 1-Figure 4 A movable groove 26 is also provided at the top of the bottom plate 1, and a plurality of movable blocks 27 are arranged inside the movable groove 26, and a rotating rod 25 is installed on the top of the movable block 27. The top of the rotating rod 25 is connected to the bottom of the turntable 2. The movable groove 26 is in a ring array shape, and the movable block 27 is slidably connected to the movable groove 26, so that when the turntable 2 rotates, the rotating rod 25 can be driven to rotate, and the rotating rod 25 drives the movable block 27 to slide inside the movable groove 26, and improves the stability of the turntable 2 when it rotates.

[0053] The working principle of the present invention is as follows: first, when the robot is used, the first electromagnet suction cup 5 can be made to fit with the surface of the iron tower angle steel, and the first electromagnet suction cup 5 can be started to generate magnetism when it is energized, and then it can be adsorbed on the surface of the iron tower angle steel. If the first electromagnet suction cup 5, the second electromagnet suction cup 14 and the third electromagnet suction cup 15 are all required to fit with the surface of the iron tower angle steel in order to improve the stability of the robot, the first motor 10 can be started, and the first motor 10 can drive the first screw rod 11 to rotate, so as to drive the first threaded seat 12 to move, and the first threaded seat 12 moves. The movement will drive the cross frame 13 to move, and then drive the bottom plate 1 and the first electromagnetic suction cup 5 to move. When the first electromagnetic suction cup 5, the second electromagnetic suction cup 14 and the third electromagnetic suction cup 15 are on the same horizontal line, the first motor 10 is turned off, and then the first electromagnetic suction cup 5, the second electromagnetic suction cup 14 and the third electromagnetic suction cup 15 are attached to the surface of the iron tower angle steel, and the first electromagnetic suction cup 5, the second electromagnetic suction cup 14 and the third electromagnetic suction cup 15 are started, so that they are energized to generate magnetism, and then they can be adsorbed on the surface of the iron tower angle steel, thereby improving the stability of the robot;

[0054] Then, the size of the sleeve to be used is determined according to the size of the bolt. When a large-sized bolt needs to be tightened, the first sleeve 905 needs to be used, while the second sleeve 906 is used for a medium-sized bolt, and the third sleeve 907 is used for a small-sized bolt. When the second sleeve 906 is needed to tighten the screw, the first electric push rod 903 can be started to cause the piston rod to contract and then drive the first sleeve 905 to move upward, so that the second sleeve 906 leaks out, which is convenient for tightening the medium-sized bolt through the second sleeve 906. When the third sleeve 907 is used, the first electric push rod 903 and the second electric push rod 904 are started at the same time, so that the first sleeve 905 and the second sleeve 906 are both moved toward the mounting plate 901, so that the third sleeve 907 leaks out for use;

[0055] Then start the third motor 21. When the third motor 21 is working, it can drive the third screw rod 22 to rotate, and then drive the movable frame 23 to move, and drive the first sleeve 905, the second sleeve 906 and the third sleeve 907 to move, so that the corresponding sleeve is mounted on the bolt of the corresponding model. Then start the brushless motor 24. When the brushless motor 24 is working, it can drive the mounting plate 901 to rotate, and drive the sleeve to rotate, thereby driving the bolt to rotate, so as to tighten the bolt.

[0056] Although an embodiment of the present invention has been shown and described, this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contribution as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A power tower bolt tightening robot, comprising a base plate (1), a first side plate (6), a second side plate (7) and a lifting frame (20), characterized in that: A third motor (21) is mounted on the outer surface of the lifting frame (20), and the output end of the third motor (21) is connected to a third screw rod (22) extending into the interior of the lifting frame (20), the outer wall of the third screw rod (22) is sleeved with a movable frame (23), a brushless motor (24) is mounted on the movable frame (23), and an adjustment component (9) is provided at the output end of the brushless motor (24), and the adjustment component (9) includes a mounting plate (901) mounted on the output end of the brushless motor (24), a third sleeve (907) is mounted at the middle position of the bottom of the mounting plate (901), and a first electric push rod (907) is mounted on the top of the mounting plate (901). A rod (903) and a second electric push rod (904), the output end of the first electric push rod (903) is installed with a first sleeve (905) through a piston rod, the output end of the second electric push rod (904) is installed with a second sleeve (906) through a piston rod, both sides of the second sleeve (906) are provided with a first slide groove (908), and the first slide groove (908) is provided with a first slider (909) inside, both sides of the third sleeve (907) are provided with a second slide groove (910), and the second slide groove (910) is provided with a second slider (911), and a battery (902) is installed inside the mounting plate (901).

2. The power tower bolt tightening robot according to claim 1, characterized in that: One side of the first slider (909) is connected to the first sleeve (905), and one side of the second slider (911) is connected to the second sleeve (906).

3. The power tower bolt tightening robot according to claim 1, characterized in that: A servo motor (3) is installed on the top of the base plate (1), the output end of the servo motor (3) is connected to a turntable (2), and a cross frame (13) is installed on the top of the turntable (2).

4. The power tower bolt tightening robot according to claim 1, characterized in that: Bases (4) are installed on both sides of the bottom of the bottom plate (1), and a first electromagnet suction cup (5) is installed on the bottom of the base (4).

5. The power tower bolt tightening robot according to claim 3, characterized in that: A first groove (8) is provided on one side of the first side plate (6) and one side of the second side plate (7); a first motor (10) is installed on the top of the first side plate (6) and the top of the second side plate (7); and an output end of the first motor (10) is connected to a first screw rod (11) extending into the first groove (8).

6. The power tower bolt tightening robot according to claim 5, characterized in that: A first threaded seat (12) is sleeved on the outer wall of the first screw rod (11), and the first threaded seat (12) is connected to the cross frame (13).

7. The power tower bolt tightening robot according to claim 1, characterized in that: A second electromagnet suction cup (14) is installed at the bottom of the first side plate (6), and a third electromagnet suction cup (15) is installed at the bottom of the second side plate (7).

8. The power tower bolt tightening robot according to claim 1, characterized in that: A second groove (17) is provided on the other side of the second side plate (7), a second motor (16) is also installed on the top of the second side plate (7), and an output end of the second motor (16) is connected to a second screw rod (18) extending into the second groove (17).

9. The power tower bolt tightening robot according to claim 8, characterized in that: The outer wall of the second screw rod (18) is sleeved with a second threaded seat (19), a lifting frame (20) is installed on one side of the second threaded seat (19), and the outer wall of the second threaded seat (19) is in contact with the inner wall of the second groove (17).

10. The power tower bolt tightening robot according to claim 1, characterized in that: The top of the bottom plate (1) is also provided with a movable groove (26), a plurality of movable blocks (27) are arranged inside the movable groove (26), and a rotating rod (25) is installed on the top of the movable block (27).

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