Bolt fastening robot for crown block track

Abstract

The invention relates to the technical field of robots, in particular to a bolt fastening robot of a crown block track, a moving trolley moving in the extending direction of the crown block track is arranged on the crown block track, and the bolt fastening robot comprises a robot body, a bolt fastening device and a bolt fastening device, the robot body moves in the extending direction of the crown block track through a walking crawler device. The front end of the fixed clamping jaw is connected to the robot body, and the rear end of the fixed clamping jaw is detachably connected to the moving trolley; the rear end of the mechanical arm is connected to the robot body; and the electric wrench is mounted at the front end of the mechanical arm in a lifting manner, and the electric wrench is used for fastening a bolt on the crown block track. According to the bolt fastening robot for the crown block track, the bolt fastening efficiency and safety are improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a bolt tightening robot for an overhead crane track. Background Art

[0002] Overhead cranes are common large equipment in workshops. The bolts on the overhead crane tracks need regular maintenance. Currently, the bolt tightening of overhead crane tracks is mainly done manually. Due to physical differences, each person's tightening torque is different, resulting in different bolt tightening degrees. At the same time, since the overhead crane is located high up in the workshop, personnel are working at high altitudes near the edge. The vertical distance between the overhead crane track and the ground is 5-15 meters. Personnel need to tighten with one hand and perform repetitive operations, which is labor-intensive, resulting in low operating efficiency and high safety risks. Summary of the invention

[0003] The purpose of the present invention is to provide a bolt tightening robot for an overhead crane track, so as to improve the efficiency and safety of bolt tightening.

[0004] In order to achieve the above object, the present invention provides a bolt tightening robot for an overhead crane track, wherein the overhead crane track is provided with a moving trolley that moves along the extension direction of the overhead crane track, comprising:

[0005] The robot body has a walking crawler device, and the robot body moves along the extension direction of the overhead crane track through the walking crawler device;

[0006] A fixed clamping claw, the front end of which is connected to the robot body, and the rear end of which is detachably connected to the mobile vehicle;

[0007] A mechanical arm, the rear end of which is connected to the robot body; and

[0008] An electric wrench is installed at the front end of the mechanical arm in a liftable manner, and is used to tighten the bolts on the overhead travelling crane track.

[0009] In some embodiments, the fixed clamp includes a connecting arm and a clamp body, the front end of the connecting arm is mounted on the robot body, the rear end of the connecting arm is connected to the clamp body, and the clamp body is detachably connected to the mobile vehicle.

[0010] In some embodiments, the fixed clamp includes an articulated seat, the front end of the connecting arm is hinged in the articulated seat, the front end of the connecting arm rotates around the articulated seat to adjust the upper and lower positions of the rear end of the connecting arm, and the articulated seat is installed at the rear end of the robot body.

[0011] In some embodiments, the robotic arm includes a cantilever and a driving unit disposed on the cantilever, the rear end of the cantilever is mounted on the robot body, the front end of the cantilever has a mounting hole, the electric wrench is disposed in the mounting hole, and the driving unit is configured to drive the electric wrench to move up and down.

[0012] In some embodiments, the driving unit includes a first motor, a gear and a rack. The first motor is arranged on the cantilever, the gear is installed on the power output end of the first motor, the rack is arranged in the mounting hole, and the rack is fixed to the side wall of the electric wrench, and the gear is meshingly connected with the rack.

[0013] In some embodiments, the robotic arm includes a pad and a rotating pin, the pad is mounted on the robot body, the rear end of the cantilever is mounted on the pad through the rotating pin, and the rear end of the cantilever rotates around the rotating pin to adjust the horizontal position of the front end of the cantilever.

[0014] In some embodiments, the electric wrench includes a second motor and a wrench body disposed below the second motor, the wrench body includes a connecting rod and a sleeve disposed at the lower end of the connecting rod, the power output end of the second motor is connected to the upper end of the connecting rod, and the sleeve is used to tighten the bolts on the overhead crane track.

[0015] In some embodiments, the electric wrench includes a gear transmission disposed between the second motor and the wrench body, the power output end of the second motor is connected to the input end of the gear transmission, and the upper end of the connecting rod is connected to the output end of the gear transmission.

[0016] In some embodiments, the electric wrench includes a limiting claw installed at the bottom of the gear transmission, and the limiting claw is provided with two and distributed on both sides of the overhead travelling crane track.

[0017] In some embodiments, a camera is included, which is installed at the front end of the robot body and is used to identify the bolts on the overhead crane track.

[0018] The present invention provides a bolt tightening robot for a crane track. Compared with the prior art, the present invention has the following beneficial effects:

[0019] The robot body is provided with a walking track device, and the robot body moves along the extension direction of the overhead crane track through the walking track device to ensure that the overall structure can move flexibly. The front end of the fixed clamp is connected to the robot body, and the rear end of the fixed clamp is detachably connected to the moving trolley, so that the overall structure can move with the moving trolley; the rear end of the provided mechanical arm is connected to the robot body, and the electric wrench can be lifted and installed at the front end of the mechanical arm. The electric wrench is used to tighten the bolts on the overhead crane track, thereby improving the efficiency and safety of bolt tightening. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the axial structure of a bolt tightening robot for an overhead travelling crane track provided in some embodiments of the present invention.

[0021] Figure 2 A schematic diagram of the enlarged structure of the fixed clamping jaws of the bolt tightening robot for the overhead travelling crane track provided in some embodiments of the present invention.

[0022] Figure 3 A schematic diagram of the enlarged structure of a mechanical arm and an electric wrench of a bolt tightening robot for an overhead travelling crane track provided in some embodiments of the present invention.

[0023] Figure 4 A schematic diagram of the enlarged structure of an electric wrench of a bolt tightening robot for an overhead crane track provided in some embodiments of the present invention.

[0024] In the figure: 1. overhead crane track; 2. mobile trolley; 3. robot body; 31. walking crawler device; 4. fixed clamp; 41. connecting arm; 42. clamp body; 43. hinged seat; 5. robot arm; 51. cantilever; 511. mounting hole; 52. drive unit; 521. first motor; 522. gear; 523. rack; 53. pad; 54. rotating pin; 6. electric wrench; 61. second motor; 62. wrench body; 621. connecting rod; 622. sleeve; 63. gear transmission; 7. camera. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0026] It should be understood that, in the description of the present application, the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0027] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0028] like Figure 1-Figure 4 As shown, the bolt tightening robot for the overhead crane track provided by the embodiment of the present invention has a movable trolley 2 which moves along the extension direction of the overhead crane track 1 and includes a robot body 3, a fixed clamp 4, a mechanical arm 5 and an electric wrench 6. The robot body 3 moves on the overhead crane track 1, and the position of the electric wrench 6 is adjusted by the mechanical arm 5 to realize the tightening operation of the bolts on the overhead crane track 1.

[0029] The robot body 3 has a walking crawler device 31, and the robot body 3 moves along the extension direction of the overhead crane track 1 through the walking crawler device 31. Specifically, the walking crawler device 31 is provided with two groups and is correspondingly distributed on both sides of the robot body 3, which is used to provide traction to enable the robot body 3 to move smoothly on the overhead crane track 1.

[0030] The front end of the fixed clamp 4 is connected to the robot body 3, and the rear end of the fixed clamp 4 is detachably connected to the mobile trolley 2. When in use, if the robot body 3 uses the walking crawler device 31 to provide traction, the fixed clamp 4 is removed from the mobile trolley 2; if the robot body 3 uses the mobile trolley 2 to provide traction, the fixed clamp 4 is clamped and installed on the mobile trolley 2. In this way, two ways can be realized to make the robot body 3 move on the overhead crane track 1, thereby improving the fault tolerance of the operation of the robot body 3.

[0031] The rear end of the mechanical arm 5 is connected to the robot body 3. Specifically, the front end of the mechanical arm 5 extends out of the robot body 3, which is conducive to the installation and use of the electric wrench 6.

[0032] The electric wrench 6 can be raised and lowered and installed at the front end of the mechanical arm 5, and the electric wrench 6 is used to tighten the bolts on the overhead traveling vehicle track 1. When in use, when the electric wrench 6 is needed to tighten the bolts on the overhead traveling vehicle track 1, the position of the electric wrench 6 is adjusted downward by the mechanical arm 5 so that the electric wrench 6 is aligned with the bolt for tightening. When the robot body 3 is moving for position adjustment, the position of the electric wrench 6 is adjusted upward by the mechanical arm 5 so that the robot body 3 moves smoothly.

[0033] Based on the above structural arrangement, the bolts on the overhead travelling crane track 1 can be tightened by cooperating with the electric wrench 6 through the structure of the robot body 3 , the fixed clamp 4 and the robot arm 5 , thereby improving the efficiency and safety of the bolt tightening.

[0034] like Figure 2 As shown, in some embodiments, the fixed clamp 4 includes a connecting arm 41 and a clamp body 42, the front end of the connecting arm 41 is mounted on the robot body 3, the rear end of the connecting arm 41 is connected to the clamp body 42, and the clamp body 42 is detachably connected to the mobile vehicle 2. Exemplarily, the clamp body 42 adopts a pneumatic clamp or a hydraulic clamp, which facilitates the clamp body 42 to be clamped and fixed on the mobile vehicle 2 or to be loosened and disassembled.

[0035] Specifically, in some embodiments, the fixed clamp 4 includes an articulated seat 43, the front end of the connecting arm 41 is articulated in the articulated seat 43, the front end of the connecting arm 41 rotates around the articulated seat 43, and is used to adjust the up and down position of the rear end of the connecting arm 41, and the articulated seat 43 is installed at the rear end of the robot body 3. In this way, the up and down position of the rear end of the connecting arm 41 is adjusted to adjust the up and down position of the clamp body, which is conducive to adjusting the position of the clamp body 42 to clamp on the mobile vehicle 2.

[0036] like Figure 3 As shown, in some embodiments, the mechanical arm 5 includes a cantilever 51 and a driving unit 52 disposed on the cantilever 51, the rear end of the cantilever 51 is mounted on the robot body 3, the front end of the cantilever 51 has a mounting hole 511, the electric wrench 6 is disposed in the mounting hole, and the driving unit 52 is configured to drive the electric wrench 6 to move up and down. In this way, the electric wrench 6 is driven up and down in the mounting hole 511 by the driving unit 52, and the position of the electric wrench 6 can be adjusted. Specifically, when the electric wrench 6 is required to tighten the bolts on the overhead traveling vehicle track 1, the position of the electric wrench 6 is adjusted downward by the mechanical arm 5, so that the electric wrench 6 is aligned with the bolts for tightening operation, and when the robot body 3 is moving to adjust the position, the position of the electric wrench 6 is adjusted upward by the mechanical arm 5, so that the robot body 3 moves smoothly.

[0037] Specifically, in some embodiments, the driving unit 52 includes a first motor 521, a gear 522 and a rack 523. The first motor 521 is disposed on the cantilever 51, the gear 522 is mounted on the power output end of the first motor 521, the rack 523 is disposed in the mounting hole 511, and the rack 523 is fixed to the side wall of the electric wrench 6, and the gear 522 is meshed and connected with the rack 523. In this way, the gear 522 is driven to rotate by the first motor 521, thereby driving the rack 523 to move up and down, and finally causing the electric wrench 6 to move up and down in the mounting hole 511.

[0038] like Figure 3 As shown, in some embodiments, the robot arm 5 includes a pad 53 and a rotating pin 54, the pad 53 is mounted on the robot body 3, the rear end of the cantilever 51 is mounted on the pad 53 through the rotating pin 54, and the rear end of the cantilever 51 rotates around the rotating pin 54 to adjust the horizontal position of the front end of the cantilever 51. In this way, by adjusting the horizontal position of the front end of the cantilever 51, the horizontal position of the electric wrench 6 can be adjusted, which is conducive to aligning the electric wrench 6 with the bolts on the overhead crane track 1.

[0039] like Figure 4 As shown, in some embodiments, the electric wrench 6 includes a second motor 61 and a wrench body 62 disposed below the second motor 61, the wrench body 62 includes a connecting rod 621 and a sleeve 622 disposed at the lower end of the connecting rod 621, the power output end of the second motor 61 is connected to the upper end of the connecting rod 621, and the sleeve 622 is used to tighten the bolts on the overhead traveling vehicle track 1. In this way, starting the second motor 61 drives the sleeve 622 at the lower end of the connecting rod 621 to rotate, and when the sleeve 622 is sleeved on the bolts of the overhead traveling vehicle track 1, the bolts can be tightened.

[0040] Further, in some embodiments, the electric wrench 6 includes a gear transmission 63 disposed between the second motor 61 and the wrench body 62, the power output end of the second motor 61 is connected to the input end of the gear transmission 63, and the upper end of the connecting rod 621 is connected to the output end of the gear transmission 63. The output torque of the second motor 61 can be increased by the gear transmission 63, so that the wrench body 62 can better tighten the bolts.

[0041] like Figure 4 As shown, in some embodiments, the electric wrench 6 includes a limit claw 64 installed at the bottom of the gear transmission 63, and the limit claw 64 has two limit claws and is distributed on both sides of the overhead traveling track 1. Specifically, the limit claws 64 are arranged at intervals on both sides of the overhead traveling track 1 to ensure that the robot body 3 can accurately move along the extension direction of the overhead traveling track 1.

[0042] like Figure 1As shown, in some embodiments, a camera 7 is included, and the camera 7 is installed at the front end of the robot body 3, and the camera 7 is used to identify the bolts on the overhead traveling vehicle track 1. In this way, the position of the bolts is identified by the camera 7, which is conducive to the electric wrench 6 being accurately mounted on the bolts for tightening operations.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A bolt tightening robot for an overhead crane track, wherein the overhead crane track is provided with a movable trolley that moves along the extension direction of the overhead crane track, characterized in that: include: The robot body has a walking crawler device, and the robot body moves along the extension direction of the overhead crane track through the walking crawler device; A fixed clamping claw, the front end of which is connected to the robot body, and the rear end of which is detachably connected to the mobile vehicle; A mechanical arm, the rear end of which is connected to the robot body; and An electric wrench is installed at the front end of the mechanical arm in a liftable manner, and is used to tighten the bolts on the overhead travelling crane track.

2. The bolt tightening robot for overhead travelling crane track according to claim 1, characterized in that: The fixed clamp comprises a connecting arm and a clamp body, the front end of the connecting arm is mounted on the robot body, the rear end of the connecting arm is connected to the clamp body, and the clamp body is detachably connected to the mobile vehicle.

3. The bolt tightening robot for overhead travelling crane track according to claim 2, characterized in that: The fixed clamp includes an articulated seat, the front end of the connecting arm is hinged in the articulated seat, the front end of the connecting arm rotates around the articulated seat to adjust the up and down position of the rear end of the connecting arm, and the articulated seat is installed at the rear end of the robot body.

4. The bolt tightening robot for overhead travelling crane track according to claim 1, characterized in that: The robot arm includes a cantilever and a driving unit arranged on the cantilever, the rear end of the cantilever is installed on the robot body, the front end of the cantilever has a mounting hole, the electric wrench is arranged in the mounting hole, and the driving unit is configured to drive the electric wrench to move up and down.

5. The bolt tightening robot for overhead travelling crane track according to claim 4, characterized in that: The driving unit includes a first motor, a gear and a rack. The first motor is arranged on the cantilever, the gear is installed on the power output end of the first motor, the rack is arranged in the mounting hole, and the rack is fixed to the side wall of the electric wrench. The gear is meshed and connected with the rack.

6. The bolt tightening robot for overhead travelling crane track according to claim 4, characterized in that: The robotic arm includes a pad and a rotating pin, wherein the pad is mounted on the robot body, and the rear end of the cantilever is mounted on the pad via the rotating pin, and the rear end of the cantilever rotates around the rotating pin to adjust the horizontal position of the front end of the cantilever.

7. The bolt tightening robot for overhead travelling crane track according to claim 1, characterized in that: The electric wrench includes a second motor and a wrench body arranged below the second motor, the wrench body includes a connecting rod and a sleeve arranged at the lower end of the connecting rod, the power output end of the second motor is connected to the upper end of the connecting rod, and the sleeve is used to tighten the bolts on the overhead crane track.

8. The bolt tightening robot for overhead travelling crane track according to claim 7, characterized in that: The electric wrench includes a gear transmission arranged between the second motor and the wrench body, the power output end of the second motor is connected to the input end of the gear transmission, and the upper end of the connecting rod is connected to the output end of the gear transmission.

9. The bolt tightening robot for overhead travelling crane track according to claim 8, characterized in that: The electric wrench comprises a limiting claw installed at the bottom of the gear transmission, and the limiting claw is provided with two and distributed on both sides of the overhead travelling vehicle track.

10. The bolt tightening robot for overhead travelling crane track according to claim 1, characterized in that: It includes a camera, which is installed at the front end of the robot body and is used to identify the bolts on the overhead traveling vehicle track.

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