A power tower bolt tightening robot

Abstract

The present invention discloses a power tower bolt tightening robot, which relates to the field of bolt tightening robots. The present invention comprises a base plate, a first side plate, a second side plate, and a lifting frame. A third motor is mounted on the outer surface of the lifting frame, and the output end of the third motor is connected to a third screw extending into the interior of the lifting frame. A movable frame is sleeved on the outer wall of the third screw, and a brushless motor is mounted on the movable frame. The output end of the brushless motor is provided with an adjustment assembly. By providing the adjustment assembly, the present invention allows a worker to determine which size of sleeve to use based on the size of the bolt. When tightening a large bolt, the first sleeve is used, while for medium-sized bolts, the second sleeve is used, and for small bolts, the third sleeve is used. This improves the applicability of the robot, allowing it to tighten three types of bolts, avoiding the problem of being able to tighten only bolts of a single size.

Description

Technical Field

[0001] The present 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 tower types are spatial 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 applied by the bolts. The entire tower is composed of angle steel, connecting steel plates and bolts. Individual components such as the tower foot are welded from several steel plates into an assembly. Therefore, hot-dip galvanizing is used for corrosion protection, and transportation and construction and erection 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 Chinese patent publication number CN114799845A, a transmission tower bolt tightening robot is disclosed. This invention realizes the robot's forward movement and straddling foot spikes by sequentially lifting, moving, and lowering the front, mid, and rear foot mechanisms. This allows the robot to climb obstacles and tighten bolts on the tower. During each movement, two pairs of electromagnetic suction cups are simultaneously attached to the surface of the tower angle steel to provide sufficient suction force to prevent the machine from overturning or sliding. The invention has the characteristics of simple structure and easy operation, and solves the problems of high risk and heavy labor in manual operations.

[0004] In response to the above-mentioned disclosed patent content, this 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 objectives, the present invention provides the following technical solutions: a power tower bolt tightening robot, 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, the outer wall of the third screw rod is sleeved with a movable frame, a brushless motor is installed on the movable frame, and the output end of the brushless motor is provided with an adjustment assembly, and the adjustment assembly includes a mounting plate installed on 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, the output end of the first electric push rod is installed with a first sleeve through a piston rod, the output end of the second electric push rod is installed with a second sleeve through a piston rod, a first slide groove is provided on both sides of the second sleeve, and a first slider is provided inside the first slide groove, a second slide groove is 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 drives the first slider 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 tower angle steel.

[0014] Furthermore, a first groove is provided on one side of the first side panel and one side of the second side panel, a first motor is installed on the top of the first side panel and the top of the second side panel, and the 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 drives the first threaded seat to move, and the movement of the first threaded seat drives 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 and third electromagnetic suction cups 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, and a second motor is installed on the top of the second side plate. The 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 operation of 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 drives the second threaded seat to move, and the second threaded seat drives the lifting frame to move, and drives the adjusting component to move.

[0024] Furthermore, a movable groove is provided on the top of the bottom plate, a plurality of movable blocks are provided 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 operator can determine which size of sleeve to use according to the size of the bolt. When tightening a large bolt, the first sleeve is used, while the second sleeve is used for a medium-sized bolt, and the third sleeve is used for a small bolt. This improves the applicability of the robot, so that it can tighten three types of bolts, avoiding the problem of being limited to tightening bolts of a single size.

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

[0029] 3. When the first sleeve moves, it drives the first slider to slide inside the first sliding groove, thereby improving the stability of the first sleeve when moving, and when the second sleeve moves, it drives the second slider to slide inside the second sliding 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 cross-sectional structure of the present invention;

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

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

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

[0035] Figure 6 This 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 This is a schematic diagram of the partial structure of the first sleeve of the present invention when viewed from above;

[0038] Figure 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, battery; 903, first electric push rod; 904, second electric push rod; 905, first sleeve; 906, second sleeve; 907, third sleeve; 908, first slide; 909, first slider; 910, second slide; 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 slot; 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 should not be understood as limiting the present invention.

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

[0042] Example 1:

[0043] A power tower bolt tightening robot, such as Figures 1-9 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. It is equipped with a brushless motor 24, and the output end of the brushless motor 24 is provided with an adjustment component 9. 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 the 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 tower angle steel.

[0044] See Figure 1 、 Figure 2、 Figure 3 and Figure 5 , a first groove 8 is provided on one side of the first side panel 6 and one side of the second side panel 7, and a first motor 10 is installed on the top of the first side panel 6 and the top of the second side panel 7, and the output end of the first motor 10 is connected to the 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, 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. 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 panel 6, and a third electromagnet suction cup 15 is installed at the bottom of the second side panel 7. The second electromagnet suction cup 14 and the third electromagnet suction cup 15 will generate magnetism when energized, so as to adsorb 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 installed at the middle position of the bottom of the mounting plate 901, and a first electric push rod 903 and a second electric push rod 904 are respectively installed on the top of the mounting plate 901. The output end of the first electric push rod 903 is installed with a first sleeve 905 through a piston rod, and the output end of the second electric push rod 904 is installed with a second sleeve 906 through a piston rod. The staff can determine which size of sleeve to use according to the size of the bolt. When it is needed, 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, a second slide groove 910 is 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 during movement. 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 during movement. 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] Example 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 provided 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] Example 3:

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

[0052] See Figure 1-Figure 4 A movable groove 26 is also provided on the top of the base plate 1. 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. 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. 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 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 to generate magnetism when they are energized, so that they can be adsorbed on the surface of the tower angle steel, thereby improving the stability of the robot;

[0054] Then, the size of the socket to be used is determined according to the size of the bolt. When a large bolt needs to be tightened, the first socket 905 is used, and the second socket 906 is used for a medium-sized bolt. The third socket 907 is used for a small-sized bolt. When the second socket 906 is needed to tighten the screw, the first electric push rod 903 can be started to cause the piston rod to contract and thereby drive the first sleeve 905 to move upward, so that the second sleeve 906 leaks out, making it convenient to tighten the medium-sized bolt through the second sleeve 906. When using the third sleeve 907, 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, making it convenient for the third sleeve 907 to leak 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 invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in an appropriate 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 embodiment 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 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 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 installed on the movable frame (23), and the output end of the brushless motor (24) is provided with an adjustment component (9), 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 installed at the middle position of the bottom of the mounting plate (901), and a first electric push rod (903) and a second electric push rod (904) are respectively installed on the top of the mounting plate (901), the output end of the first electric push rod (903) is installed with a first sleeve (905) through a piston rod, and the output end of the second electric push rod (904) is installed with a second sleeve (906) through a piston rod. The sleeve (906) is provided with a first slide groove (908) on both sides of the second sleeve (906), and a first slider (909) is provided inside the first slide groove (908), the third sleeve (907) is provided with a second slide groove (910) on both sides, 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), and one side of the second slider (911) is connected to the second sleeve (906), a servo motor (3) is installed on the top of the bottom plate (1), the output end of the servo motor (3) is connected to the turntable (2), and a cross frame (13) is installed on the top of the turntable (2), a base (4) is installed on both sides of the bottom of the bottom plate (1), and a first electromagnet suction cup (5) is installed at the bottom of the base (4).

2. The power tower bolt tightening robot according to claim 1, 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).

3. The power tower bolt tightening robot according to claim 2, 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).

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

5. 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), and a second motor (16) is mounted 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).

6. The power tower bolt tightening robot according to claim 5, 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).

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

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