Bolt dismounting execution device and bolt dismounting operation platform

Abstract

The invention provides a bolt disassembly and assembly execution device and a bolt disassembly and assembly operation platform, and belongs to the technical field of machines for tightening or loosening screws or nuts. The bolt disassembly and assembly execution device comprises a fixing frame and a sleeve frame, at least two nut sleeves and bolt sleeves in one-to-one correspondence are installed on the sleeve frame, and the nut sleeves and the bolt sleeves are installed on the sleeve frame in the axial direction in a guiding mode. The rotation stopping control device is used for being matched with the nut sleeves in a rotation stopping mode and can drive the nut sleeves to move in the axial direction, the rotation control device is used for driving the bolt sleeves to rotate and can drive the bolt sleeves to move in the axial direction, and the sleeve frame is installed on the fixing frame in a guiding mode in the arrangement direction of the nut sleeves. During use, the disassembled bolts and nuts are temporarily stored in the corresponding sleeves, and the bolts and nuts to be mounted are also mounted in the corresponding sleeves in advance, so that the time for replacing a clamping tool by a mechanical arm and the time for clamping and transferring the bolts and the nuts by the mechanical arm are saved, and the operation efficiency of disassembling and assembling the bolts can be improved.

Description

Technical Field

[0001] The invention relates to a bolt disassembly and assembly execution device and a bolt disassembly and assembly operation platform, belonging to the technical field of machinery for tightening or loosening screws or nuts. Background Art

[0002] In the field of high-voltage live working, bolt disassembly and assembly are common tasks. For example, when a hardware bolt is loose, it needs to be tightened. When a bolt is severely corroded, the old bolt needs to be removed and replaced with a new one. Because high-altitude live working is dangerous, aerial work platforms are generally used to automatically perform bolt disassembly and assembly operations using the bolt disassembly and assembly actuator on the aerial work platform.

[0003] For example, the Chinese invention patent application with application publication number CN118720709A discloses a hardware bolt disassembly and assembly device and a hardware bolt equipotential disassembly and assembly composite working platform, wherein the working platform includes a base, a longitudinal moving mechanism installed on the base, a pitch angle adjustment structure installed on the longitudinal moving mechanism, an up and down moving mechanism installed on the pitch angle adjustment structure, a transverse moving mechanism installed on the up and down moving mechanism, and a hardware bolt disassembly and assembly device installed on the transverse moving mechanism. The base is installed on the platform plate through a rotating chassis, so that the hardware bolt disassembly and assembly device has five degrees of freedom: rotation around the vertical axis, longitudinal translation, front and rear pitching, up and down lifting, and transverse translation. Therefore, the rotating chassis, longitudinal moving mechanism, pitch angle adjustment structure, up and down moving mechanism and transverse moving mechanism constitute a multi-axis motion drive mechanism.

[0004] The hardware bolt disassembly and assembly device includes a mounting frame, a nut rack, and a bolt rack mounted on the mounting frame. The nut rack is equipped with a nut sleeve for retaining the nut, and the bolt rack is equipped with a bolt sleeve for retaining the bolt head. Both the nut sleeve and the nut sleeve are equipped with a magnetic attraction structure. The bolt rack is also equipped with a rotary power mechanism that is connected to the bolt sleeve to drive its rotation. The bolt sleeve drives the rotation of the hardware bolt, and combined with the backward movement of the bolt rack, the bolt can be removed. A magazine is installed on the nut rack below the bolt sleeve. An air valve is installed behind the nut sleeve. The air valve blows the removed nut into the magazine, collecting the old nut and allowing the nut sleeve to retain the next nut. The removed old bolt is then removed by an auxiliary robotic arm on the work platform. When the auxiliary robotic arm is connected to the second bolt clamping tool, it is specifically used to clamp the old bolt. When installing a new bolt, the auxiliary robotic arm is connected to the first bolt clamping tool, which is specifically used to clamp the new bolt. When installing new nuts, the auxiliary robot arm is connected to a nut gripping tool specifically designed to grip new nuts. The removed old bolts, new bolts to be installed, and new nuts are all placed on a bolt and nut storage rack.

[0005] The above-mentioned hardware bolt disassembly and assembly device has only one nut sleeve and one bolt sleeve. The removed old bolt must be clamped away, otherwise the next old bolt cannot be disassembled. After all the old bolts and old nuts are removed (there are at least two sets of bolts and nuts on a hardware), when installing new bolts and new nuts, the auxiliary robotic arm is required to switch to different clamping tools so that the new bolts and new nuts on the bolt and nut storage rack can be clamped into the corresponding sleeves respectively. The auxiliary robotic arm must perform the same operation every time a new set of nuts and new nuts is installed. During the entire bolt disassembly and assembly process, the auxiliary robotic arm needs to frequently clamp and transfer bolts and nuts, and the auxiliary robotic arm can only be connected to one clamping tool at a time, so the clamping tool needs to be frequently replaced, resulting in very low efficiency of the bolt disassembly and assembly operation. Summary of the Invention

[0006] The purpose of the present invention is to provide a bolt disassembly and assembly execution device to solve the problem of low efficiency of bolt disassembly and assembly operations in the prior art; the purpose of the present invention is also to provide a bolt disassembly and assembly operation platform to solve the above-mentioned problem.

[0007] To achieve the above objectives, the bolt disassembly and assembly execution device of the present invention adopts the following technical solutions: A bolt disassembly and assembly execution device includes a fixed frame and a sleeve frame installed on the fixed frame, the sleeve frame is equipped with at least two nut sleeves arranged in a row for locking and adsorbing nuts, and a bolt sleeve corresponding to the nut sleeve one-to-one for locking and adsorbing the bolt head, each nut sleeve and each bolt sleeve is installed on the sleeve frame along the axial guide, the fixed frame is equipped with a rotation-stop control device for cooperating with the nut sleeve and capable of driving the nut sleeve to move axially, the fixed frame is also equipped with a rotation control device for driving the bolt sleeve to rotate and capable of driving the bolt sleeve to move axially, the rotation-stop control device and the rotation control device are installed on the fixed frame along the arrangement direction of the nut sleeve, or the sleeve frame is installed on the fixed frame along the arrangement direction of the nut sleeve.

[0008] The beneficial effects of the above technical solution are: the present invention is a pioneering invention, which provides a new bolt disassembly and assembly execution device, which includes a fixed frame and a sleeve frame, and the sleeve frame is equipped with at least two nut sleeves arranged in a row for locking and adsorbing nuts, and bolt sleeves corresponding to the nut sleeves one by one for locking and adsorbing the bolt head, and each nut sleeve and each bolt sleeve is installed on the sleeve frame along the axial guide and can move along the sleeve frame, and at the same time, a rotation-stopping control device and a rotation control device are installed on the fixed frame, and the rotation-stopping control device and the rotation control device are installed on the fixed frame. The nut sleeve is installed on the fixing frame along the arrangement direction of the nut sleeve, or the sleeve frame is installed on the fixing frame along the arrangement direction of the nut sleeve. In this way, when in use, if the old bolt is to be removed, the anti-rotation control device can cooperate with the nut sleeve to stop the rotation and move the nut sleeve until the nut sleeve is stuck with the old nut. At the same time, the rotation control device can drive the bolt sleeve to move until the bolt sleeve is stuck with the head of the old bolt. At the same time, the rotation control device can control the rotation of the bolt sleeve, and then the bolt sleeve drives the old bolt to rotate, thereby realizing the removal of the old bolt and the old nut. After removing a set of old bolts and old nuts, since there are other nut sleeves and bolt sleeves that can be used, the removed old nut can be adsorbed and fixed in the nut sleeve, and the old bolt can be adsorbed and fixed on the bolt sleeve without being clamped away, thereby realizing the continuous removal of the old bolt and the old nut, which can improve the disassembly efficiency.

[0009] If a new bolt and nut are to be installed, a new nut can be installed in each nut sleeve in advance, and a new bolt can be installed in each bolt sleeve. Then, the anti-rotation control device cooperates with the nut sleeve to stop rotation and moves the nut sleeve until the nut sleeve is attached to the component. At the same time, the rotation control device can drive the bolt sleeve to move until the new bolt passes through the mounting hole on the component and docks with the new nut in the nut sleeve. Then, the rotation control device controls the rotation of the bolt sleeve to achieve the installation of the new bolt and nut. After installing a set of new bolts and nuts, since there are new nuts in other nut sleeves and new bolts in other bolt sleeves, the next set of new bolts and nuts can be installed. There is no need to place the new bolts and nuts in the corresponding sleeves by the robotic arm after installing one set.

[0010] Therefore, when using the bolt disassembly and assembly execution device of the present invention, it is only necessary to ensure that the number of nut sleeves and bolt sleeves is consistent with the number of bolts and nuts installed on the component. In the disassembly and assembly process, there is no need for the robotic arm to participate in clamping. The removed old bolts and old nuts are temporarily stored in the corresponding sleeves, and the new bolts and new nuts to be installed are also pre-installed in the corresponding sleeves, which saves the time of the robotic arm to replace the clamping tooling and the time of the robotic arm to clamp and transfer the bolts and nuts, and can improve the efficiency of the bolt disassembly and assembly.

[0011] Furthermore, the rotation control device includes a linear motion output mechanism, a rotational power source connected to the output end of the linear motion output mechanism, and a transmission wheel that cooperates with the output end of the rotational power source. A protrusion is provided on one of the opposite ends of the transmission wheel and the bolt sleeve, and the other is provided with a slot for inserting the protrusion to achieve anti-rotation cooperation between the transmission wheel and the bolt sleeve.

[0012] Furthermore, there are more than two slots spaced apart along the circumferential direction, bosses are formed between adjacent slots, and a magnet is mounted on at least one of the boss end face, the slot bottom and the convex block end face.

[0013] Furthermore, the slot width is greater than the width of the protrusion, and two side walls of the slot are inclined outwards to guide the protrusion to be inserted.

[0014] Furthermore, a positioning shaft is provided at the center of the transmission wheel, and a positioning hole for inserting the positioning shaft is provided at the center of the bolt sleeve.

[0015] Furthermore, the anti-rotation control device includes a linear motion output device and an anti-rotation push frame connected to the output end of the linear motion output device. The nut sleeve is installed on the sleeve frame along the axial guide through the mounting frame. In the axial direction of the nut sleeve, the nut sleeve is located at one end of the mounting frame, and the other end of the mounting frame is provided with a baffle for cooperating with the anti-rotation push frame when it retreats to the extreme position.

[0016] Furthermore, the fixing frame includes a fixing plate, and the sleeve frame includes a top plate arranged above the fixing plate. Both the fixing plate and the top plate are provided with U-shaped openings to form an operating space for the components to be disassembled and assembled with bolts to enter and exit. A guide rail is provided on the top surface of the fixing plate, and a slider is connected to the lower side of the top plate to slide with the guide rail. A driving device is also installed on the fixing plate, which is connected to the slider or the top plate to drive the sleeve frame to move along the arrangement direction of the nut sleeve.

[0017] Furthermore, anti-collision plates are installed on both side walls of the U-shaped opening on the fixing plate to prevent the fixing plate from directly colliding with the components.

[0018] Furthermore, the fixing frame includes an upper fixing plate and a lower fixing plate arranged in parallel above and below, the sleeve frame is installed on the upper side of the upper fixing plate, and the sleeve frame, the upper fixing plate and the lower fixing plate are all provided with U-shaped openings to form an operating space for the components to be disassembled and assembled with bolts to enter and exit, and a positioning frame is installed on the lower side of the lower fixing plate, and a clamping device for clamping the components is installed on the positioning frame.

[0019] To achieve the above objectives, the bolt disassembly and assembly work platform of the present invention adopts the following technical solutions: A bolt disassembly and assembly work platform includes a multi-axis motion drive mechanism and a bolt disassembly and assembly execution device installed at the end of the multi-axis motion drive mechanism, the bolt disassembly and assembly execution device includes a fixed frame and a sleeve frame installed on the fixed frame, the sleeve frame is provided with at least two nut sleeves arranged in a row for locking and adsorbing nuts, and a bolt sleeve corresponding to the nut sleeve one-to-one for locking and adsorbing the bolt head, each nut sleeve and each bolt sleeve is installed on the sleeve frame along the axial guide, the fixed frame is provided with a rotation-stop control device for cooperating with the nut sleeve and capable of driving the nut sleeve to move axially, the fixed frame is also provided with a rotation control device for driving the bolt sleeve to rotate and capable of driving the bolt sleeve to move axially, the rotation-stop control device and the rotation control device are installed on the fixed frame along the arrangement direction of the nut sleeve, or the sleeve frame is installed on the fixed frame along the arrangement direction of the nut sleeve.

[0020] The beneficial effects of the above technical solution are: the present invention is an improved invention, which improves the bolt disassembly and assembly execution device, and the execution device includes a fixed frame and a sleeve frame, and the sleeve frame is equipped with at least two nut sleeves arranged in a row for locking and adsorbing nuts, and bolt sleeves corresponding to the nut sleeves for locking and adsorbing the bolt head, and each nut sleeve and each bolt sleeve are installed on the sleeve frame along the axial guide and can move along the sleeve frame. At the same time, a rotation-stopping control device and a rotation control device are installed on the fixed frame, and the rotation-stopping control device and the rotation control device are installed on the fixed frame. The guide is installed on the fixing frame along the arrangement direction of the nut sleeve, or the sleeve frame is installed on the fixing frame along the arrangement direction of the nut sleeve. In this way, when in use, if the old bolt is to be removed, the anti-rotation control device can cooperate with the nut sleeve to stop the rotation and move the nut sleeve until the nut sleeve is stuck with the old nut. At the same time, the rotation control device can drive the bolt sleeve to move until the bolt sleeve is stuck with the head of the old bolt. At the same time, the rotation control device can control the rotation of the bolt sleeve, and then the bolt sleeve drives the old bolt to rotate, thereby realizing the removal of the old bolt and the old nut. After removing a set of old bolts and old nuts, since there are other nut sleeves and bolt sleeves that can be used, the removed old nut can be adsorbed and fixed in the nut sleeve, and the old bolt can be adsorbed and fixed on the bolt sleeve without being clamped away, thereby realizing the continuous removal of the old bolt and the old nut, which can improve the disassembly efficiency.

[0021] If a new bolt and nut are to be installed, a new nut can be installed in each nut sleeve in advance, and a new bolt can be installed in each bolt sleeve. Then, the anti-rotation control device cooperates with the nut sleeve to stop rotation and moves the nut sleeve until the nut sleeve is attached to the component. At the same time, the rotation control device can drive the bolt sleeve to move until the new bolt passes through the mounting hole on the component and docks with the new nut in the nut sleeve. Then, the rotation control device controls the rotation of the bolt sleeve to achieve the installation of the new bolt and nut. After installing a set of new bolts and nuts, since there are new nuts in other nut sleeves and new bolts in other bolt sleeves, the next set of new bolts and nuts can be installed. There is no need to place the new bolts and nuts in the corresponding sleeves by the robotic arm after installing one set.

[0022] Therefore, when using the bolt disassembly and assembly execution device of the present invention, it is only necessary to ensure that the number of nut sleeves and bolt sleeves is consistent with the number of bolts and nuts installed on the component. In the disassembly and assembly process, there is no need for the robotic arm to participate in clamping. The removed old bolts and old nuts are temporarily stored in the corresponding sleeves, and the new bolts and new nuts to be installed are also pre-installed in the corresponding sleeves, which saves the time of the robotic arm to replace the clamping tooling and the time of the robotic arm to clamp and transfer the bolts and nuts, and can improve the efficiency of the bolt disassembly and assembly.

[0023] Furthermore, the rotation control device includes a linear motion output mechanism, a rotational power source connected to the output end of the linear motion output mechanism, and a transmission wheel that cooperates with the output end of the rotational power source. A protrusion is provided on one of the opposite ends of the transmission wheel and the bolt sleeve, and the other is provided with a slot for inserting the protrusion to achieve anti-rotation cooperation between the transmission wheel and the bolt sleeve.

[0024] Furthermore, there are more than two slots spaced apart along the circumferential direction, bosses are formed between adjacent slots, and a magnet is mounted on at least one of the boss end face, the slot bottom and the convex block end face.

[0025] Furthermore, the slot width is greater than the width of the protrusion, and two side walls of the slot are inclined outwards to guide the protrusion to be inserted.

[0026] Furthermore, a positioning shaft is provided at the center of the transmission wheel, and a positioning hole for inserting the positioning shaft is provided at the center of the bolt sleeve.

[0027] Furthermore, the anti-rotation control device includes a linear motion output device and an anti-rotation push frame connected to the output end of the linear motion output device. The nut sleeve is installed on the sleeve frame along the axial guide through the mounting frame. In the axial direction of the nut sleeve, the nut sleeve is located at one end of the mounting frame, and the other end of the mounting frame is provided with a baffle for cooperating with the anti-rotation push frame when it retreats to the extreme position.

[0028] Furthermore, the fixing frame includes a fixing plate, and the sleeve frame includes a top plate arranged above the fixing plate. Both the fixing plate and the top plate are provided with U-shaped openings to form an operating space for the components to be disassembled and assembled with bolts to enter and exit. A guide rail is provided on the top surface of the fixing plate, and a slider is connected to the lower side of the top plate to slide with the guide rail. A driving device is also installed on the fixing plate, which is connected to the slider or the top plate to drive the sleeve frame to move along the arrangement direction of the nut sleeve.

[0029] Furthermore, anti-collision plates are installed on both side walls of the U-shaped opening on the fixing plate to prevent the fixing plate from directly colliding with the components.

[0030] Furthermore, the fixing frame includes an upper fixing plate and a lower fixing plate arranged in parallel above and below, the sleeve frame is installed on the upper side of the upper fixing plate, and the sleeve frame, the upper fixing plate and the lower fixing plate are all provided with U-shaped openings to form an operating space for the components to be disassembled and assembled with bolts to enter and exit, and a positioning frame is installed on the lower side of the lower fixing plate, and a clamping device for clamping the components is installed on the positioning frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A perspective view of an embodiment of a bolt disassembly and assembly work platform according to the present invention; Figure 2 A three-dimensional diagram from one perspective of the X-axis motion drive mechanism, Y-axis motion drive mechanism, pitch and swing drive mechanism, Z-axis motion drive mechanism, lifting frame, and bolt disassembly and assembly execution device in an embodiment of the bolt disassembly and assembly work platform of the present invention; Figure 3 A perspective view from another angle of view of the X-axis motion drive mechanism, Y-axis motion drive mechanism, pitch and swing drive mechanism, Z-axis motion drive mechanism, lifting frame, and bolt disassembly and assembly execution device in an embodiment of the bolt disassembly and assembly work platform of the present invention; Figure 4 A three-dimensional diagram of the rotary motion drive mechanism in the embodiment of the bolt disassembling and assembling work platform of the present invention; Figure 5 A three-dimensional diagram of the Z-direction motion drive mechanism and the lifting frame in the embodiment of the bolt disassembling and assembling work platform of the present invention; Figure 6 A perspective view of the pitch and swing drive mechanism of the bolt disassembling and assembling work platform according to the present invention; Figure 7 This is a diagram showing the coordination structure of the gear holder, the first position switch, and the second position switch in the embodiment of the bolt disassembling and assembling work platform of the present invention; Figure 8 A three-dimensional diagram of a bolt disassembly and assembly execution device in an embodiment of a bolt disassembly and assembly work platform of the present invention from one perspective; Figure 9 for Figure 8 Enlarged view of the position of the middle nut sleeve; Figure 10for Figure 8 Enlarged view of the position of the middle bolt sleeve; Figure 11 A three-dimensional diagram of the bolt disassembly and assembly execution device in the embodiment of the bolt disassembly and assembly work platform of the present invention from another perspective; Figure 12 for Figure 11 Enlarged view of the position of the middle nut sleeve; Figure 13 for Figure 11 Enlarged view of the position of the middle bolt sleeve; Figure 14 A three-dimensional view of a fixing frame of a bolt disassembly and assembly execution device in an embodiment of a bolt disassembly and assembly work platform of the present invention; Figure 15 A three-dimensional diagram of a sleeve frame of a bolt disassembly and assembly execution device in an embodiment of a bolt disassembly and assembly work platform according to the present invention, viewed from a bottom perspective; Figure 16 A bottom-view perspective view of an upper fixing plate, a rotation-stopping control device, and a rotation control device of a bolt disassembling and assembly operating platform in an embodiment of the present invention; Figure 17 This is a three-dimensional diagram of the positioning frame and clamping device of the bolt disassembly and assembly execution device in the embodiment of the bolt disassembly and assembly work platform of the present invention.

[0032] In the figure: 1. Frame assembly; 1.1. Box; 1.1.1. Top cover; 1.2. Electrical control box; 1.3. Air compressor; 1.4. Tool rack; 1.5. Equipotential rod; 1.6. Visual camera platform; 1.7. Robotic arm; 1.8. LiDAR; 1.9. Rotary motion drive mechanism; 1.9.1. Rotary drive motor; 1.9.2. Rotary table; 2. X-axis motion drive mechanism; 2.1. X-axis drive seat; 2.2. X-axis drive motor; 2.3. X-axis drive gear; 2.4. X-axis lead screw; 2.5. X-axis transmission gear; 3. Y-axis motion drive mechanism; 3.1. Y-axis drive seat; 3.2. Y-axis drive motor; 3.3. Y-axis drive gear; 3.4. Y-axis lead screw; 3.5. Y-axis Transmission gear; 4. Pitch swing drive mechanism; 4.1. Fixed seat; 4.1.1. Window; 4.2. Pitch drive motor; 4.3. Speed ​​reducer; 4.4. Pitch drive gear; 4.5. First position switch; 4.6. Second position switch; 4.7. Mounting shaft; 5. Z-axis motion drive mechanism; 5.1. Swing seat; 5.1.1. Fixing hole; 5.2. Z-axis drive motor; 5.3. Z-axis drive gear; 5.4. Z-axis lead screw; 5.5. Z-axis transmission gear; 5.6. Gear seat; 5.6.1. Mounting riser; 5.6.2. Arc tooth plate; 5.6.2.1. Transmission gear; 5.6.2.2. Trigger surface; 5.7. Limiting shaft; 6. Lifting frame; 7. Bolt disassembly and assembly actuator; 7.1. Fixed frame ;7.1.1, Upper fixed plate;7.1.1.1, First U-shaped opening;7.1.2, Lower fixed plate;7.1.2.1, Second U-shaped opening;7.1.3, Fixed side plate;7.1.4, Upper guide rail;7.1.5, Lower guide rail;7.1.6, Anti-collision plate;7.2, Sleeve holder;7.2.1, Top plate;7.2.1.1, Upper U-shaped opening;7.2.2, Nut side guide rail;7.2.3, Nut side mounting bracket;7.2.3.1, Nut side slider;7.2.3.2, Fixed block;7.2.3.2.1, Baffle plate;7.2.3.3, Connecting plate;7.2.3.4, Connecting block;7.2.4, Upper slider;7.2.5, Bolt side guide rail;7.2.6, Bolt side mounting bracket; 7.2.6.1 Bolt-side slider; 7.2.6.2 Mounting plate; 7.2.6.3 Mounting sleeve; 7.3 Nut sleeve; 7.3.1 Clamping slot; 7.4 Bolt sleeve; 7.4.1 Slot; 7.4.2 Boss; 7.4.3 First mounting hole; 7.4.4 Positioning hole; 7.5 Anti-rotation control device; 7.5.1 First cylinder; 7.5.2 Connecting bracket; 7.5.3 Anti-rotation cylinder; 7.5.3.1 Clamping block; 7.5.4 Camera bracket; 7.6 Rotation control device; 7.6.1 Second cylinder; 7.6.2 Mounting bracket; 7.6.3 Torque motor; 7.6.4 Driving pulley; 7.6.5 Positioning shaft; 7.6.6 Transmission pulley; 7.6.6.1. Bump; 7.6.6.2. Second mounting hole; 7.7. Positioning bracket; 7.7.1. Bottom plate; 7.7.1.1. Lower U-shaped opening; 7.7.2. Lower slider; 7.8. Clamping device; 7.8.1. Hardware bracket drive device; 7.8.2. Hardware bracket; 7.8.3. Clamping cylinder; 7.8.4. Clamping plate; 7.9.1. Upper motor; 7.9.2. Upper lead screw; 7.9.3. Upper nut seat; 7.9.4. Lower motor; 7.9.5. Lower lead screw; 7.9.6. Lower nut seat; 8. End-operation tooling; 9. Bolts. DETAILED DESCRIPTION

[0033] In response to the technical problems existing in the prior art, the basic concept of the present invention is to set up multiple nut sleeves and bolt sleeves to ensure that the number of nut sleeves and bolt sleeves is consistent with the number of bolts and nuts installed on the component. The removed old bolts and old nuts are temporarily stored in the corresponding sleeves, and the new bolts and new nuts to be installed are also pre-installed in the corresponding sleeves. During the disassembly and assembly process, there is no need for a robotic arm to participate in the clamping, thereby improving the efficiency of bolt disassembly and assembly.

[0034] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0035] The implementation method of the bolt disassembly and assembly work platform in the present invention is as follows: The bolt disassembly and assembly platform in this embodiment is used for live disassembly and assembly of hardware bolts. The hardware constitutes the component to be bolted. During use, the bolt disassembly and assembly platform is mounted at the end of the insulated arm of an insulated boom truck. In other embodiments, the bolt disassembly and assembly platform can also be used in other situations, such as disassembling bolts on large steel structures. In this case, the bolt disassembly and assembly platform is mounted on a conventional aerial work platform, and the component to be bolted is a steel structure column, longitudinal beam, or cross beam.

[0036] Specific as Figure 1 As shown, the bolt disassembly and assembly operation platform includes a frame assembly 1, an X-axis motion drive mechanism 2, a Y-axis motion drive mechanism 3, a pitch and swing drive mechanism 4, a Z-axis motion drive mechanism 5, a lifting frame 6, a bolt disassembly and assembly execution device 7, and an end operation tooling 8.

[0037] Among them, the X-direction motion drive mechanism 2 is installed on the frame assembly 1; the Y-direction motion drive mechanism 3 is installed on the X-direction motion drive mechanism 2, and can realize X-direction movement under the action of the X-direction motion drive mechanism 2; the pitch and swing drive mechanism 4 is installed on the Y-direction motion drive mechanism 3, and can realize Y-direction movement under the action of the Y-direction motion drive mechanism 3; the Z-direction motion drive mechanism 5 is installed on the pitch and swing drive mechanism 4, and can realize pitch and swing under the action of the pitch and swing drive mechanism 4; the lifting frame 6 is installed on the Z-direction motion drive mechanism 5, and can realize up and down lifting under the action of the Z-direction motion drive mechanism 5; the bolt disassembly and assembly actuator 7 is installed on the lifting frame 6, and can move together with the lifting frame 6.

[0038] Specifically, the frame assembly 1 comprises a housing 1.1, an electrical control box 1.2, and an air compressor 1.3 housed within the housing 1.1. The electrical control box 1.2 controls the operation of the electrical equipment, while the air compressor 1.3 provides air to the cylinders. A tool rack 1.4 is secured to the bottom side of the housing 1.1 for storing end-use tooling 8. A connecting bracket for connecting to the insulating arm is secured to the bottom surface of the housing 1.1.

[0039] Two equipotential rods 1.5 are mounted on one side of the top surface of the enclosure 1.1. Both rods are made of copper rods with high electrical conductivity. These rods are immobile and, when in use, follow the enclosure 1.1, driven by the insulating arms. The spacing between the two rods is slightly smaller than the busbar diameter, allowing them to clamp the busbar in close contact, one in front of the other. To facilitate busbar clamping, the upper ends of the two rods 1.5 are provided with bent sections extending in opposite directions, forming a bell-shaped structure that facilitates busbar entry.

[0040] Mounted on the other side of the top surface of the housing 1.1 is a six-degree-of-freedom robotic arm 1.7, used to grip the end-operation tooling 8. By replacing different end-operation tooling 8 and employing appropriate control programs, the robotic arm 1.7 can be adapted for other live-line work scenarios, such as live-line inspection, insulator cleaning, and drain wire cutting. A laser radar 1.8 is located at the end of the robotic arm 1.7, which can scan and calculate the spatial coordinates of the work object, including data such as the distance between the bolt to be removed and the bolt-removal actuator 7.

[0041] A visual camera gimbal 1.6 is also installed on the other side of the top surface of the box 1.1. The visual camera gimbal 1.6 can shoot the scene in real time and assist the robotic arm 1.7 to adjust its posture. Through the "lidar + visual camera" positioning method, it can complete the identification and positioning of electrical hardware, and then through the translation in the three directions of X / Y / Z, complete the precise adjustment of the bolt disassembly and assembly execution device 7 to meet the disassembly and assembly conditions.

[0042] Combine Figure 1 、 Figure 2 、 Figure 3 As shown, a top cover plate 1.1.1 is fixed on the top of the box body 1.1, and the box body 1.1 is installed with the following Figure 4 The rotary motion drive mechanism 1.9 shown in the figure includes a turntable 1.9.2 and a rotary drive motor 1.9.1 that drives the turntable 1.9.2 to rotate. The turntable 1.9.2 is a worm gear turntable. The rotary drive motor 1.9.1 is used to drive the worm to rotate, and then the worm drives the worm wheel to rotate. The top of the turntable connected to the worm wheel passes through the top cover plate 1.1.1 (the top cover plate 1.1.1 is provided with a through hole), extends to the upper side of the top cover plate 1.1.1 and is fixedly connected to the X-axis motion drive mechanism 2. Therefore, the rotary motion drive mechanism 1.9 can drive the X-axis motion drive mechanism 2, the Y-axis motion drive mechanism 3, the pitch and swing drive mechanism 4, the Z-axis motion drive mechanism 5, the lifting frame 6, and the bolt disassembly and assembly actuator 7 to rotate together. The rotation axis extends in the vertical direction, so that the bolt disassembly and assembly actuator 7 has five degrees of freedom. Therefore, several drive mechanisms can be collectively referred to as multi-axis motion drive mechanisms, which are five-axis in this embodiment. In other embodiments, the required driving mechanisms can be configured as needed, and the connection order between the driving mechanisms can also be changed. In short, the bolt disassembly and assembly execution device 7 is installed at the end of the multi-axis motion driving mechanism.

[0043] Combine Figure 2 and Figure 3 As shown, the X-axis motion drive mechanism 2 includes an X-axis drive base 2.1, an X-axis drive motor 2.2 mounted on the X-axis drive base 2.1, an X-axis drive gear 2.3 mounted at the output end of the X-axis drive motor 2.2, an X-axis lead screw 2.4 rotatably mounted on the X-axis drive base 2.1, and an X-axis transmission gear 2.5 mounted at the end of the X-axis lead screw 2.4. The X-axis drive base 2.1 is fixedly connected to the turntable 1.9.2 of the rotary motion drive mechanism 1.9. The X-axis transmission gear 2.5 meshes with the X-axis drive gear 2.3, enabling the X-axis drive motor 2.2 to rotate the X-axis lead screw 2.4. Furthermore, an X-axis guide rail is fixed to the X-axis drive base 2.1, on which an X-axis slider is slidably mounted. The X-axis slider is fixedly connected to the Y-axis motion drive mechanism 3. Furthermore, an X-axis nut seat is threadedly mounted on the X-axis lead screw 2.4, which is fixedly connected to the Y-axis motion drive mechanism 3, driving the Y-axis motion drive mechanism 3 to perform linear motion in the X direction.

[0044] The Y-direction motion drive mechanism 3 includes a Y-direction drive base 3.1, a Y-direction drive motor 3.2 mounted on the Y-direction drive base 3.1, a Y-direction drive gear 3.3 mounted at the output end of the Y-direction drive motor 3.2, a Y-direction lead screw 3.4 rotatably mounted on the Y-direction drive base 3.1, and a Y-direction transmission gear 3.5 mounted at the end of the Y-direction lead screw 3.4. The Y-direction drive base 3.1 is fixedly connected to each X-direction slider and the X-direction nut base. The Y-direction transmission gear 3.5 engages with the Y-direction drive gear 3.3, enabling the Y-direction drive motor 3.2 to drive the Y-direction lead screw 3.4 to rotate. Furthermore, a Y-direction guide rail is fixed to the Y-direction drive base 3.1, on which a Y-direction slider is slidably mounted. The Y-direction slider is fixedly connected to the pitch and swing drive mechanism 4. Furthermore, a Y-direction nut base is threadedly mounted on the Y-direction lead screw 3.4, which is fixedly connected to the pitch and swing drive mechanism 4, thereby driving the pitch and swing drive mechanism 4 to perform Y-direction linear motion.

[0045] Combine Figure 2 、 Figure 3 and Figure 6 As shown, the pitch-swing drive mechanism 4 includes a pitch drive base (i.e., a fixed base 4.1), which is fixedly connected to each Y-direction slider and the Y-direction nut base. Mounted on the fixed base 4.1 is a pitch drive motor 4.2 and a reducer 4.3 that drives in conjunction with the output of the pitch drive motor 4.2. The output of the reducer 4.3 is mounted on a pitch drive gear 4.4. The reducer 4.3 extends across the bottom of the fixed base 4.1. The pitch drive motor 4.2 is arranged vertically on the side of the fixed base 4.1 facing away from the Z-direction motion drive mechanism 5.

[0046] A window 4.1.1 is provided on the side panel of the mounting base 4.1 facing the Z-motion drive mechanism 5. Two position switches, a first position switch 4.5 and a second position switch 4.6, are mounted on the bottom wall of the window 4.1.1. These two position switches can be contact switches, such as micro-travel switches, direct-acting travel switches, or roller-type travel switches, or non-contact switches, such as proximity switches. In this embodiment, micro-travel switches (i.e., micro switches) are employed. The contact arms of the two micro switches extend outwardly of the window 4.1.1 in opposite directions. Rollers are mounted at the ends of the contact arms, serving as the trigger mechanism. Alternatively, a micro switch without a roller end can be employed, in which case the ends of the contact arms directly serve as the trigger mechanism.

[0047] The pitch drive motor 4.2 is equipped with a controller (in fact, all motors on the work platform are equipped with controllers). The first position switch 4.5 and the second position switch 4.6 are connected to the controller corresponding to the pitch drive motor 4.2. By feeding back detection signals to the controller, the controller controls the operation of the pitch drive motor 4.2, such as stopping or reversing.

[0048] A mounting shaft 4.7 is mounted in the center of the upper portion of the fixed base 4.1 via a bearing. This shaft is positioned above the window 4.1.1. Its rotational axis is parallel to and directly above the axis of rotation of the pitch drive gear 4.4. One end of the shaft extends outside the fixed base 4.1, facilitating a secure connection to the Z-axis motion drive mechanism 5.

[0049] Combine Figure 2 and Figure 3 As shown, the Z-direction motion drive mechanism 5 includes a Z-direction drive base (i.e., a swing base 5.1), a Z-direction drive motor 5.2 mounted on the swing base 5.1, a Z-direction drive gear 5.3 mounted at the output end of the Z-direction drive motor 5.2, a Z-direction lead screw 5.4 rotatably mounted on the swing base 5.1, and a Z-direction transmission gear 5.5 mounted at the end of the Z-direction lead screw 5.4. The Z-direction transmission gear 5.5 meshes with the Z-direction drive gear 5.3, enabling the Z-direction drive motor 5.2 to drive the Z-direction lead screw 5.4 in rotation. Furthermore, a Z-direction guide rail is fixed to the swing base 5.1, on which a Z-direction slider is slidably mounted, which is fixedly connected to the lifting frame 6. Furthermore, a Z-direction nut seat is threadedly mounted on the Z-direction lead screw 5.4, which is fixedly connected to the lifting frame 6, driving the lifting frame 6 in linear motion.

[0050] like Figure 5 As shown, a plurality of fixing holes 5.1.1 are provided on the side of the swing seat 5.1 facing the fixed seat 4.1 for fixed connection with the mounting shaft 4.7. The connection position of the mounting shaft 4.7 and the swing seat 5.1 is located at the upper middle part of the swing seat 5.1.

[0051] The lower end of the swing seat 5.1 is equipped with a gear seat 5.6. Figure 7 As shown, the gear holder 5.6 includes a mounting riser 5.6.1 and an arcuate tooth plate 5.6.2 connected to the mounting riser 5.6.1. The mounting riser 5.6.1 is fixedly connected to the swing base 5.1. The arcuate tooth plate 5.6.2 is arc-shaped, with the axis of its complete circle coaxial with the mounting shaft 4.7. The lower surface of the arcuate tooth plate 5.6.2 is provided with a transmission tooth 5.6.2.1, which meshes with the pitch drive gear 4.4. Therefore, when the pitch drive motor 4.2 drives the pitch drive gear 4.4 to rotate, the pitch drive gear 4.4 can drive the gear holder 5.6 and the swing base 5.1 to pitch and swing relative to the fixed base 4.1.

[0052] The first position switch 4.5 and the second position switch 4.6 are arranged in the swing path of the transmission gear 5.6.2.1. One end surface of each transmission gear 5.6.2.1 forms a trigger surface 5.6.2.2 that engages the two position switches. In this embodiment, rollers at the ends of the contact arms of both position switches are configured to press against the trigger surface 5.6.2.2. When in press-contact, the position switches provide a signal to the controller associated with the pitch drive motor 4.2. When the swing base 5.1 rotates to a point where either position switch disengages from the trigger surface 5.6.2.2, the position switches provide a signal to the controller, causing the controller to stop the pitch drive motor 4.2. The controller can then issue an alarm to alert the operator that the swing base 5.1 is swinging too far and needs to be controlled to swing in the opposite direction.

[0053] Alternatively, after receiving the signal, the controller directly controls the pitch drive motor 4.2 to reverse until the trigger surface 5.6.2.2 re-engages the position switch. At this point, the position switch again sends a feedback signal to the controller associated with the pitch drive motor 4.2, which then controls the pitch drive motor 4.2 to stop, thereby controlling the swing amplitude of the swing base 5.1 and preventing it from swinging excessively. Because the swing base 5.1 is originally fine-tuned, and the lifting frame 6 and bolt assembly and disassembly actuator 7 mounted on the swing base 5.1 are relatively heavy, excessive swing of the swing base 5.1 will significantly increase the load on the pitch drive motor 4.2.

[0054] Of course, if a position switch without a roller on the end of the contact arm is selected, the end of the contact arm can directly press against the trigger surface 5.6.2.2 and still provide signal feedback. In fact, regardless of whether the contact arm has a roller or not, because the two contact arms extend in opposite directions and their ends extend away from each other (assuming the two position switches are arranged on a left-right basis, the contact arm of the left position switch extends to the left, and the contact arm of the right position switch extends to the right), no matter which position switch is disengaged from the trigger surface 5.6.2.2, after the swing base 5.1 swings in the opposite direction, the contact arm of that position switch can easily reengage the trigger surface 5.6.2.2 without getting stuck.

[0055] Of course, the two position switches can also be equipped with proximity switches. In this case, the trigger surface 5.6.2.2 is not a pressure contact surface, but a sensing surface. When the trigger surface 5.6.2.2 is directly opposite the position switch, the position switch is in a triggered state and a signal is fed back to the controller. When the swing seat 5.1 swings to any position switch and disengages from the trigger surface 5.6.2.2, the position switch loses its sensing function and feeds back another signal to the controller. The control principle is the same as above.

[0056] In actual application, there is a possibility that electrical components such as position switches may malfunction. In order to avoid the swing limit of the swing seat 5.1 being out of control when the position switch malfunctions, such as Figure 5 As shown, in this embodiment, a limit shaft 5.7 is fixed to the side of the swing seat 5.1 facing the fixed seat 4.1. The limit shaft 5.7 extends into the window 4.1.1 and is used to engage the inner wall of the window 4.1.1 to mechanically limit the swing limit of the swing seat 5.1. The limit shaft 5.7 is located directly above the gear seat 5.6 and directly below the fixing hole 5.1.1. This ensures that when the swing seat 5.1 is in the neutral position, the limit shaft 5.7 is a certain distance away from both sides of the window 4.1.1 to avoid affecting the normal swing stroke of the swing seat 5.1.

[0057] In this embodiment, there is only one fixed base 4.1, and the swing base 5.1 is swingably mounted on the fixed base 4.1 via a mounting shaft 4.7 extending horizontally. The mounting shaft 4.7 is located in the upper center of the fixed base 4.1, and the connection point between the mounting shaft 4.7 and the swing base 5.1 is also located in the upper center of the swing base 5.1. The gear holder 5.6 and the pitch drive gear 4.4 are respectively located at the lower ends. Compared with the prior art, the power arm is increased, making the rotation of the swing base 5.1 more labor-saving. At the same time, the swing base 5.1 is installed in an upper hanging manner, which makes the swing base 5.1 more stable and less prone to shaking, ensuring the accuracy of assembly and disassembly operations and reducing safety hazards.

[0058] like Figure 8 and Figure 11 As shown, the bolt disassembly and assembly execution device 7 includes a fixing frame 7.1 and a sleeve frame 7.2 installed on the fixing frame 7.1. Specifically, Figure 14 As shown, the fixing frame 7.1 includes an upper fixing plate 7.1.1 and a lower fixing plate 7.1.2 arranged parallel to each other, and also includes a fixing side plate 7.1.3 fixed to one end of the upper fixing plate 7.1.1 and the lower fixing plate 7.1.2. The fixing side plate 7.1.3 is fixedly connected to the lifting frame 6 to realize the fixing of the bolt disassembly and assembly actuator 7 on the lifting frame 6.

[0059] The sleeve frame 7.2 is installed on the upper side of the upper fixing plate 7.1.1, combined with Figure 8 、 Figure 11 and Figure 15 As shown, the sleeve rack 7.2 includes a top plate 7.2.1, which is parallel to the upper fixing plate 7.1.1 and the lower fixing plate 7.1.2. The sleeve rack 7.2 is mounted with at least two nut sleeves 7.3 arranged in a row for locking and adsorbing nuts. Each nut sleeve 7.3 is mounted on the sleeve rack 7.2 along the axial direction through the nut side mounting bracket 7.2.3. Figure 9 and Figure 12As shown, a plurality of parallel and spaced nut side guide rails 7.2.2 are fixed to the bottom surface of the top plate 7.2.1. In this embodiment, there are four of them, and there are four corresponding nut side mounting brackets 7.2.3 and nut sleeves 7.3, respectively, because there are four sets of bolts and nuts installed on the hardware.

[0060] The extension direction of the nut side guide rail 7.2.2 is parallel to the axial direction of the nut sleeve 7.3, and the nut side mounting frame 7.2.3 is guided and matched with the nut side guide rail 7.2.2. Specifically, the nut side mounting frame 7.2.3 includes a nut side slider 7.2.3.1 slidably assembled on the nut side guide rail 7.2.2, a fixed block 7.2.3.2 fixedly connected to the nut side slider 7.2.3.1, a connecting plate 7.2.3.3 connected to the fixed block 7.2.3.2 at one end, and a connecting block 7.2.3.4 connected to the other end of the connecting plate 7.2.3.3. The nut sleeve 7.3 is fixed to the connecting block 7.2.3.4. Among them, the fixed block 7.2.3.2 and the connecting block 7.2.3.4 are both stacked with multiple blocks. There can be multiple connecting plates 7.2.3.3 and they are clamped between adjacent fixed blocks 7.2.3.2 and connecting blocks 7.2.3.4. By changing the number of blocks and plates, the height of the nut sleeve 7.3 can be adjusted. At the same time, the nut sleeve 7.3 is installed on the overhanging connecting block 7.2.3.4. When subjected to force, the connecting plate 7.2.3.3 can undergo appropriate elastic deformation to facilitate the cooperation between the nut sleeve 7.3 and the nut.

[0061] Combine Figure 8 、 Figure 9 、 Figure 11 、 Figure 12 、 Figure 15 and Figure 16 As shown, a rotation-stop control device 7.5 for cooperating with the nut sleeve 7.3 to stop rotation and driving the nut sleeve 7.3 to move axially is installed on the fixing frame 7.1. The rotation-stop control device 7.5 includes a linear motion output device and a rotation-stop push frame connected to the output end of the linear motion output device. The linear motion output device in this embodiment is the first cylinder 7.5.1. In other embodiments, a hydraulic cylinder, an electric push rod or a screw nut driving device can also be used.

[0062] The anti-rotation pushing frame includes a connecting frame 7.5.2 fixedly connected to the output end of the first cylinder 7.5.1 and a anti-rotation cylinder 7.5.3 fixed to the end of the connecting frame 7.5.2. In this embodiment, a clamping block 7.5.3.1 is provided at the end of the anti-rotation cylinder 7.5.3 facing the nut sleeve 7.3, and a clamping groove 7.3.1 is provided on the nut sleeve 7.3 for the clamping block 7.5.3.1 to be clamped into. In other embodiments, the clamping block can be set on the nut sleeve and the clamping groove can be set on the anti-rotation cylinder. When in use, the first cylinder 7.5.1 controls the connecting frame 7.5.2 and the anti-rotation cylinder 7.5.3 to move horizontally until the block 7.5.3.1 is inserted into the card slot 7.3.1, thereby realizing the anti-rotation cooperation between the anti-rotation cylinder 7.5.3 and the nut sleeve 7.3. After that, when the anti-rotation cylinder 7.5.3 continues to move horizontally, it can push the nut sleeve 7.3 and the nut side mounting frame 7.2.3 to move along the extension direction of the nut side guide rail 7.2.2, so that the nut sleeve 7.3 can clamp the old nut to be removed, or can bring the new nut close to the hardware for the installation of the new nut.

[0063] A camera bracket 7.5.4 is fixed on the frame of the first cylinder 7.5.1. The camera bracket 7.5.4 is used to install a visual camera. The visual camera is located on the rear side of the anti-rotation cylinder 7.5.3 and can take real-time pictures so that the operator can observe whether the anti-rotation cylinder 7.5.3 is in anti-rotation cooperation with the nut sleeve 7.3, and whether the nut sleeve 7.3 has successfully clamped the nut.

[0064] In the axial direction of the nut sleeve 7.3, the nut sleeve 7.3 is located at one end of the nut side mounting bracket 7.2.3, and the other end of the nut side mounting bracket 7.2.3 is provided with a baffle 7.2.3.2.1 for blocking and cooperating with the anti-rotation cylinder 7.5.3 when it retreats to the extreme position. The baffle 7.2.3.2.1 is connected to the lowest fixed block 7.2.3.2. Of course, in other embodiments, the fixed block 7.2.3.2, the connecting plate 7.2.3.3, and the connecting block 7.2.3.4 can all be only one. In this case, the baffle 7.2.3.2.1 is connected to the fixed block 7.2.3.2 and can be fixed separately or connected as one. Of course, in other embodiments, the nut side mounting bracket 7.2.3 can be a plate, one end of which fixes the nut sleeve 7.3 and the other end fixes the nut side slider 7.2.3.1. In this case, the baffle 7.2.3.2.1 is connected to the other end of this plate.

[0065] When the nut sleeve 7.3 completes the removal of an old nut or the installation of a new nut, the first cylinder 7.5.1 controls the connecting frame 7.5.2 and the anti-rotation cylinder 7.5.3 to retreat until the anti-rotation cylinder 7.5.3 is stopped by the baffle 7.2.3.2.1. After that, the nut side mounting frame 7.2.3 and the nut sleeve 7.3 can be retreated together, so that the nut sleeve 7.3 takes the old nut away from the hardware, or the empty nut sleeve 7.3 is away from the hardware, which is convenient for the movement of the actuator, and then convenient for the removal of the next old nut or the installation of the next new nut.

[0066] It should be noted that the nut sleeve 7.3 is provided with a receiving hole that can accommodate the old nut and the new nut, and the receiving hole cooperates with the nut anti-rotation to achieve the locking of the nut. At the same time, the nut sleeve 7.3 is equipped with a magnet that can attract and fix the nut, so the old nut can be temporarily stored in the nut sleeve 7.3 after being removed, and the new nut to be installed can also be pre-installed in the nut sleeve 7.3.

[0067] Combine Figure 8 、 Figure 10 、 Figure 11 、 Figure 13 、 Figure 15 As shown, the sleeve frame 7.2 is also mounted with bolt sleeves 7.4, which correspond one-to-one with the nut sleeves 7.3 and are used to retain and absorb the heads of the bolts 9. Each bolt sleeve 7.4 is axially guided and mounted on the sleeve frame 7.2 via a bolt-side mounting frame 7.2.6. Specifically, a plurality of parallel and spaced bolt-side guide rails 7.2.5 are fixed to the bottom surface of the top plate 7.2.1. The bolt-side guide rails 7.2.5 correspond one-to-one with the nut-side guide rails 7.2.2. There are four bolt-side guide rails 7.2.5 and the corresponding bolt-side guide rails 7.2.5 and nut-side guide rails 7.2.2 are aligned in a straight line.

[0068] The bolt side mounting frame 7.2.6 is guided and matched with the bolt side guide rail 7.2.5. Specifically, the bolt side mounting frame 7.2.6 includes a bolt side slider 7.2.6.1 slidably assembled on the bolt side guide rail 7.2.5, a mounting plate 7.2.6.2 fixedly connected to the bolt side slider 7.2.6.1 at one end, and a mounting sleeve 7.2.6.3 fixedly connected to the other end of the mounting plate 7.2.6.2. The bolt sleeve 7.4 is rotatably assembled on the mounting sleeve 7.2.6.3 to realize the rotatable assembly of the bolt sleeve 7.4 on the bolt side mounting frame 7.2.6. The specific rotational assembly method can be through a rolling bearing or a sliding bearing. Of course, the bolt sleeve 7.4 can also directly rotatably cooperate with the inner hole wall of the mounting sleeve 7.2.6.3.

[0069] Combine Figure 8 、 Figure 10 、 Figure 11 、 Figure 13 、 Figure 15 and Figure 16 As shown, the fixing frame 7.1 is also mounted with a rotation control device 7.6 for driving the bolt sleeve 7.4 in rotation and axial movement. The rotation control device 7.6 includes a linear motion output mechanism, a rotary power source connected to the output end of the linear motion output mechanism, and a transmission wheel 7.6.6 that engages with the output end of the rotary power source. The linear motion output mechanism in this embodiment is a second cylinder 7.6.1. In other embodiments, a hydraulic cylinder, an electric push rod, or a screw-nut drive device may also be used.

[0070] The output end of the second air cylinder 7.6.1 is fixedly connected to a mounting bracket 7.6.2. The rotational power source is a torque motor 7.6.3 fixed to the mounting bracket 7.6.2. In other embodiments, a pneumatic motor or a hydraulic motor may also be used as the rotational power source. A driving wheel 7.6.4 is mounted on the output end of the torque motor 7.6.3. The driving wheel 7.6.4 and the transmission wheel 7.6.6 are intermeshing gears, so that the torque motor 7.6.3 can drive the transmission wheel 7.6.6 to rotate. Furthermore, a positioning shaft 7.6.5 is fixed to the mounting bracket 7.6.2. The transmission wheel 7.6.6 is rotatably mounted on the positioning shaft 7.6.5 via a bearing. In other words, the positioning shaft 7.6.5 is located at the center of the transmission wheel 7.6.6.

[0071] In this embodiment, the end of the transmission wheel 7.6.6 facing the bolt sleeve 7.4 is provided with a protrusion 7.6.6.1, and the end of the bolt sleeve 7.4 facing the transmission wheel 7.6.6 is provided with a slot 7.4.1 for inserting the protrusion 7.6.6.1 to achieve anti-rotation cooperation between the transmission wheel 7.6.6 and the bolt sleeve 7.4. In other embodiments, the protrusion can also be provided on the bolt sleeve 7.4 and the slot can be provided on the transmission wheel 7.6.6. When in use, the second cylinder 7.6.1 controls the mounting bracket 7.6.2 and the torque motor 7.6.3 to translate until the protrusion 7.6.6.1 is inserted into the slot 7.4.1. Thereafter, when the mounting bracket 7.6.2 and the torque motor 7.6.3 continue to translate, the bolt sleeve 7.4 and the bolt side mounting bracket 7.2.6 can be driven to move along the extension direction of the bolt side guide rail 7.2.5, so that the bolt sleeve 7.4 approaches the hardware bolt and clamps the head of the old bolt, or brings the new bolt close to the hardware and passes the bolt through the mounting hole on the hardware until it hits the nut. Thereafter, under the action of the torque motor 7.6.3, the transmission wheel 7.6.6 and the bolt sleeve 7.4 rotate together, thereby realizing the removal of the old bolt or the installation of the new bolt.

[0072] Furthermore, the slots 7.4.1 are provided with two or more circumferentially spaced apart, with bosses 7.4.2 formed between adjacent slots 7.4.1. A magnet is mounted on at least one of the boss end face, the slot bottom, and the boss end face. This allows the drive wheel 7.6.6 and the bolt sleeve 7.4 to engage in rotational locking while also being fixed by adsorption. When the bolt sleeve 7.4 has completed the removal of an old bolt or the installation of a new bolt, the second cylinder 7.6.1 controls the mounting bracket 7.6.2 and the torque motor 7.6.3 to retract, and the drive wheel 7.6.6 and the bolt sleeve 7.4 to retract together until the bolt-side mounting bracket 7.2.6 retracts to its limit position. Thereafter, as the drive wheel 7.6.6 continues to retract, the drive wheel 7.6.6 disengages from the bolt sleeve 7.4. This arrangement allows the bolt sleeve 7.4 to be moved away from the hardware after removing an old bolt or installing a new one, facilitating movement of the actuator and facilitating the removal of the next old bolt or installation of the next new bolt.

[0073] It should be noted that the bolt sleeve 7.4 is provided with a receiving hole that can accommodate the bolt head, and the receiving hole cooperates with the bolt head to prevent rotation, thereby locking the bolt head. At the same time, the bolt sleeve 7.4 is equipped with a magnet that can attract and fix the bolt. Therefore, the old bolt can be temporarily retained in the bolt sleeve 7.4 after removal, and the new bolt to be installed can also be pre-installed in the bolt sleeve 7.4.

[0074] Furthermore, to ensure the adsorption and fixing effect between the transmission wheel 7.6.6 and the bolt sleeve 7.4, and to ensure that the transmission wheel 7.6.6 can successfully retract the bolt sleeve 7.4, in this embodiment, first mounting holes 7.4.3 are provided at the bottom of the slot 7.4.1 and the end surface of the boss 7.4.2, and each first mounting hole 7.4.3 is installed with a magnet. Furthermore, second mounting holes 7.6.6.2 are provided on the end surface of the protrusion 7.6.6.1, and each second mounting hole 7.6.6.2 is also installed with a magnet. In other embodiments, mounting holes may be provided only on the end surface of the boss and the bottom of the slot, or only on the bottom of the slot and the end surface of the protrusion, or only on the end surface of the boss and the end surface of the protrusion, or of course, mounting holes may be provided only on the end surface of the boss, only on the bottom of the slot, or only on the end surface of the protrusion, and magnets may be installed.

[0075] Furthermore, since the bolt sleeve 7.4 can rotate freely, the position of the slot 7.4.1 will change, and it is impossible to ensure that the protrusion 7.6.6.1 and the slot 7.4.1 can be accurately aligned. In order to facilitate the insertion of the protrusion 7.6.6.1 into the slot 7.4.1, in this embodiment, the slot 7.4.1 is provided with a slot width greater than the width of the protrusion 7.6.6.1, and the two slot side walls of the slot 7.4.1 are tilted outward to guide the insertion of the protrusion 7.6.6.1. If this does not align, the transmission wheel 7.6.6 can be controlled to rotate a certain angle first, and then cooperate with the bolt sleeve 7.4. Of course, in other embodiments, the size of the protrusion 7.6.6.1 and the slot 7.4.1 can be adapted. At this time, in order to facilitate the insertion, a visual camera can be installed on a fixing frame or a mounting bracket. According to the state of the bolt sleeve 7.4 captured, the rotation angle of the transmission wheel 7.6.6 is adjusted in time so that the protrusion 7.6.6.1 can be inserted into the slot 7.4.1.

[0076] In addition, in order to facilitate the insertion of the protrusion 7.6.6.1 into the slot 7.4.1, a positioning hole 7.4.4 for inserting the positioning shaft 7.6.5 is provided in the center of the bolt sleeve 7.4. The end of the positioning shaft 7.6.5 is tapered, and the end of the positioning hole 7.4.4 is provided with a bell mouth to guide the insertion of the positioning shaft 7.6.5.

[0077] In this embodiment, the sleeve frame 7.2 is installed on the upper fixing plate 7.1.1 along the arrangement direction of the nut sleeve 7.3. Figure 14 As shown, two upper guide rails 7.1.4 are provided on the top surface of the upper fixing plate 7.1.1. Figure 15 As shown, the lower side of the top plate 7.2.1 is connected to an upper slider 7.2.4, which slides in a guided manner with the upper guide rail 7.1.4. At the same time, the upper fixed plate 7.1.1 is provided with a first U-shaped opening 7.1.1.1, and the upper guide rails 7.1.4 are located on both sides of the first U-shaped opening 7.1.1.1; the top plate 7.2.1 is provided with an upper U-shaped opening 7.2.1.1, and the upper sliders 7.2.4 are located on both sides of the upper U-shaped opening 7.2.1.1.

[0078] like Figure 11As shown, the upper fixed plate 7.1.1 is equipped with an upper driving device connected to the upper slider 7.2.4 to drive the sleeve frame 7.2 to move along the arrangement direction of the nut sleeves 7.3. The upper driving device includes an upper motor 7.9.1, an upper screw 7.9.2 connected to the output end of the upper motor 7.9.1, and an upper nut seat 7.9.3 threadedly assembled on the upper screw 7.9.2. The upper nut seat 7.9.3 is fixedly connected to the upper slider 7.2.4. Of course, in other embodiments, it can also be fixedly connected to the top plate 7.2.1. When a nut sleeve 7.3 completes the removal of an old nut, the upper screw 7.9.2 is controlled by the upper motor 7.9.1 to rotate, thereby causing the upper nut seat 7.9.3 to drive the sleeve frame 7.2 to move, so that the next nut sleeve 7.3 corresponds to the next nut to be removed, completing the removal of the next old nut. At the same time, the movement of the sleeve holder 7.2 causes the next bolt sleeve 7.4 to align with the next bolt to be removed, thereby completing the removal of the next old bolt together with the nut sleeve 7.3. Similarly, all old nuts and bolts on the hardware can be removed. If a new bolt and nut are to be installed, after the new nut is installed in one nut sleeve 7.3 and the new bolt is installed in one bolt sleeve 7.4, the movement of the sleeve holder 7.2 switches to the next set of nut sleeves 7.3 and bolt sleeves 7.4, completing the installation of the next set of new bolts and nuts.

[0079] Combine Figure 8 、 Figure 11 、 Figure 14 、 Figure 17 As shown, a positioning frame 7.7 is installed on the lower side of the lower fixed plate 7.1.2, and the positioning frame 7.7 is installed on the lower fixed plate 7.1.2 along the arrangement direction of the nut sleeve 7.3. Specifically, the positioning frame 7.7 includes a base plate 7.7.1 and a lower slider 7.7.2 fixed to the top surface of the base plate 7.7.1. Two lower guide rails 7.1.5 are provided on the bottom surface of the lower fixed plate 7.1.2, and the lower sliders 7.7.2 slide and guide with the lower guide rails 7.1.5. In addition, a second U-shaped opening 7.1.2.1 is provided on the lower fixed plate 7.1.2, and the lower guide rails 7.1.5 are located on both sides of the second U-shaped opening 7.1.2.1; the base plate 7.7.1 is provided with a lower end U-shaped opening 7.7.1.1, and the lower sliders 7.7.2 are located on both sides of the lower end U-shaped opening 7.7.1.1.

[0080] like Figure 11 and Figure 17As shown, the lower fixed plate 7.1.2 is equipped with a lower driving device connected to the base plate 7.7.1 to drive the positioning frame 7.7 to move along the arrangement direction of the nut sleeve 7.3. The lower driving device includes a lower motor 7.9.4, a lower screw 7.9.5 connected to the output end of the lower motor 7.9.4, and a lower nut seat 7.9.6 threadedly assembled on the lower screw 7.9.5. The lower nut seat 7.9.6 is fixedly connected to the base plate 7.7.1.

[0081] like Figure 8 、 Figure 11 and Figure 17 As shown, clamping devices 7.8 are respectively installed on both sides of the U-shaped opening 7.7.1.1 at the lower end of the base plate 7.7.1. The clamping device 7.8 includes a hardware bracket driving device 7.8.1 installed on the base plate 7.7.1. The hardware bracket driving device 7.8.1 can adopt a screw nut driving device, a cylinder, a hydraulic cylinder or an electric push rod, and a hardware bracket 7.8.2 is installed at its output end. The hardware bracket 7.8.2 is used to support the hardware. At the same time, the clamping device 7.8 also includes a clamping cylinder 7.8.3 installed on the base plate 7.7.1, and a splint 7.8.4 is installed at the output end of the clamping cylinder 7.8.3. The splints 7.8.4 on both sides move toward each other to clamp the hardware. Especially before the last set of old bolts and old nuts are removed, it is necessary to control the rotation of the lower lead screw 7.9.5 by the lower motor 7.9.4, so that the lower nut seat 7.9.6 drives the positioning frame 7.7 to move, and adjust the position of the hardware bracket 7.8.2 and the clamping cylinder 7.8.3 so that the splint 7.8.4 can clamp the fixture. When the splint 7.8.4 is loosened, the hardware bracket 7.8.2 can support the hardware to prevent the hardware from falling, and then the hardware is removed manually.

[0082] The upper U-shaped opening 7.2.1.1 of the top plate 7.2.1, the first U-shaped opening 7.1.1.1 of the upper fixing plate 7.1.1, the second U-shaped opening 7.1.2.1 of the lower fixing plate 7.1.2, and the lower U-shaped opening 7.7.1.1 of the bottom plate 7.7.1 collectively form an operating space for the entry and exit of components (i.e., hardware) to be installed and removed with bolts. Specifically, the rows of nut sleeves 7.3 and bolt sleeves 7.4 are located on either side of this operating space. To prevent the upper fixing plate 7.1.1 from striking the hardware and causing damage, anti-collision plates 7.1.6 are installed on both sides of the first U-shaped opening 7.1.1.1 to prevent the upper fixing plate 7.1.1 from directly striking the hardware.

[0083] The working principle of the bolt disassembly and assembly platform of the present invention is as follows: Taking the installation and removal of drain line hardware as an example, the insulated boom truck's boom controls the bolt removal and installation platform to rise. This allows the equipotential rod 1.5, driven by the insulated arm, to rapidly translate and contact the live busbar, achieving equipotential balance. The LiDAR 1.8 and visual camera gimbal 1.6 at the end of the robotic arm 1.7 assist in adjusting the mechanical structure's position. The spatial position of bolts (or bolt holes) on-site varies. Smooth installation and removal requires sufficient concentricity between the tightening shaft (drive wheel 7.6.6) and the bolt (or bolt hole). Ensuring parallelism between the tightening shaft and the bolt (or bolt hole) axis is the first step, requiring a bolt removal and installation actuator. First, a rotary table ensures that the actuator's length is as parallel as possible to the busbar axis. Second, pitch adjustment ensures that the tightening shaft and the bolt (or bolt hole) axis are as parallel as possible. Finally, based on the visual and LiDAR recognition results, translation in the X, Y, and Z axes precisely adjusts the concentricity to achieve the desired installation and removal conditions. During this process, the anti-collision plate 7.1.6 can prevent the bolt disassembly and assembly actuator from directly hitting the electrical hardware.

[0084] When removing the old bolt, the first cylinder 7.5.1 controls the nut sleeve 7.3 to extend forward and cover the old nut. At the same time, the second cylinder 7.6.1 controls the bolt sleeve 7.4 to extend forward and cover the head of the old bolt. Then, the torque motor 7.6.3 controls the bolt sleeve 7.4 to rotate. Under the action of the thread, the old bolt rotates and retreats at the same time, completing the removal of the old bolt and the old nut. The removed old bolt and old nut are adsorbed in the corresponding sleeve and driven back by the corresponding cylinder. Then, the upper drive device controls the sleeve holder 7.2 to move outward to complete the switching between the empty sleeve and the sleeve containing the nut and bolt. Then, according to the visual recognition results, the concentricity adjustment with the second bolt is completed through translation in the X / Y / Z directions for removal. Continue this process by removing the bolts diagonally, first from upper right to lower left, then from upper left to lower right. Complete all automated operations. When removing the last bolt, extend hardware bracket 7.8.2 to support the drain plate and secure the hardware with clamping plate 7.8.4. Once the work platform is lowered to the ground, ground personnel will remove the removed bolts, nuts, and hardware.

[0085] When installing a new bolt, ground personnel securely place the hardware on the extended hardware bracket, which is then held in place by a clamping plate. The work platform is then raised to the working height, and the bolt assembly and disassembly actuator is adjusted to the desired position. The first cylinder 7.5.1 then controls the nut sleeve 7.3 to extend forward, carrying the new nut inside it, into the hardware and aligning it with the bolt hole in the hardware. Simultaneously, the second cylinder 7.6.1 controls the bolt sleeve 7.4 to extend forward, passing the new bolt through the bolt hole in the hardware and aligning it with the nut behind the guide plate. Torque motor 7.6.3 then applies torque to bolt sleeve 7.4, completing the installation of the new bolt and nut. The empty sleeve is retracted by the corresponding cylinder, and the upper drive unit then controls the sleeve holder 7.2 to move outward, switching between the empty sleeve and the sleeve containing the nut and bolt. Based on the visual recognition results, the system then adjusts the concentricity with the second bolt hole through translation in the X, Y, and Z directions, allowing the next set of bolts and nuts to be installed. Similarly, follow the steps of installing diagonally from "lower right - upper left" first and then "lower left - upper right" to complete all automatic operations.

[0086] After the operation task is completed, under the guidance of the laser radar positioning system, the bolt disassembly and assembly execution device returns to its initial position, controls the working platform to descend, drives the equipotential rod to separate from the busbar, releases the equipotential state, safely leaves the working space, and the entire vehicle returns to the folded state.

[0087] When using the bolt disassembly and assembly execution device of the present invention, it is only necessary to ensure that the number of nut sleeves and bolt sleeves is consistent with the number of bolts and nuts installed on the component. In this way, there is no need for the robotic arm to participate in clamping during the disassembly and assembly process. The removed old bolts and old nuts are temporarily stored in the corresponding sleeves, and the new bolts and new nuts to be installed are also pre-installed in the corresponding sleeves, which saves the time of the robotic arm to replace the clamping tooling and the time of the robotic arm to clamp and transfer the bolts and nuts, and can improve the efficiency of the bolt disassembly and assembly operation.

[0088] In other embodiments of the bolt disassembly and assembly work platform: all devices or mechanisms that output linear motion can use screw nut driving devices, hydraulic cylinders, air cylinders or electric push rods; all devices that output rotational motion can use electric motors, hydraulic motors or pneumatic motors.

[0089] In other embodiments of the bolt disassembly and assembly work platform, the positioning frame and the clamping device may not be provided, and the hardware may be clamped by a manipulator.

[0090] In other embodiments of the bolt disassembling and assembling work platform, the anti-collision plate may no longer be provided.

[0091] In other embodiments of the bolt disassembly and assembly work platform: the sleeve rack can be fixedly installed on the fixed frame and its position cannot be changed. At this time, the anti-rotation control device and the rotation control device are installed on the fixed frame along the arrangement direction of the nut sleeve to realize the switching between the empty sleeve and the sleeve containing bolts and nuts.

[0092] In other embodiments of the bolt disassembly and assembly work platform: the way in which the anti-rotation control device drives the nut sleeve to retract can be the same as that of the rotation control device, through magnetic attraction. Of course, the way in which the rotation control device drives the bolt sleeve to retract can also be the same as that of the anti-rotation control device, through cooperation with the baffle.

[0093] In other embodiments of the bolt disassembly and assembly operation platform: a positioning shaft may no longer be provided at the center of the transmission wheel, and a positioning hole may no longer be provided at the center of the bolt sleeve, and the position of the bolt sleeve may be adjusted using a visual system.

[0094] In other embodiments of the bolt disassembling and assembling work platform, the number of the protrusion and the number of the slot can be one each.

[0095] In other embodiments of the bolt disassembly and assembly work platform: a driving wheel may no longer be provided, and the torque motor directly drives the transmission wheel to rotate, and since gear transmission is no longer required at this time, there is no need to provide teeth on the transmission wheel; of course, in other embodiments, the transmission wheel can also be replaced by a transmission sleeve, which is directly installed at the output end of the torque motor, or the torque motor is equipped with a reducer, and the transmission sleeve is installed at the output end of the reducer.

[0096] In other embodiments of the bolt disassembly and assembly work platform: depending on the number of bolts and nuts on the component, two, three, six or more bolt sleeves and nut sleeves can also be configured respectively.

[0097] The embodiment of the bolt disassembly and assembly execution device in the present invention is as follows: The specific structure of the bolt disassembly and assembly execution device is the same as the bolt disassembly and assembly execution device in the above-mentioned bolt disassembly and assembly work platform embodiment, and will not be repeated here.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be based on the claims. Any equivalent structural changes made using the description and drawings of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A bolt disassembly and assembly actuator, characterized in that: The invention comprises a fixing frame and a sleeve frame installed on the fixing frame, the sleeve frame is provided with at least two nut sleeves arranged in a row for locking and adsorbing nuts and a bolt sleeve corresponding to the nut sleeve one by one for locking and adsorbing the bolt head, each nut sleeve and each bolt sleeve is installed on the sleeve frame along the axial guide, the fixing frame is provided with a rotation-stop control device for cooperating with the nut sleeve and capable of driving the nut sleeve to move axially, the fixing frame is also provided with a rotation control device for driving the bolt sleeve to rotate and capable of driving the bolt sleeve to move axially, the rotation-stop control device and the rotation control device are installed on the fixing frame along the arrangement direction of the nut sleeve or the sleeve frame is installed on the fixing frame along the arrangement direction of the nut sleeve.

2. The bolt disassembly and assembly actuator according to claim 1, characterized in that: The rotation control device includes a linear motion output mechanism, a rotational power source connected to the output end of the linear motion output mechanism, and a transmission wheel that cooperates with the output end of the rotational power source. A protrusion is provided on one of the opposite ends of the transmission wheel and the bolt sleeve, and a slot is provided on the other end for the protrusion to be inserted to achieve anti-rotation cooperation between the transmission wheel and the bolt sleeve.

3. The bolt disassembly and assembly execution device according to claim 2, characterized in that: More than two slots are arranged at intervals along the circumferential direction, bosses are formed between adjacent slots, and a magnet is installed on at least one of the boss end face, the slot bottom and the convex block end face.

4. The bolt disassembly and assembly execution device according to claim 2, characterized in that: The slot width is greater than the width of the protrusion, and two slot side walls of the slot are inclined outwards to guide the protrusion to be inserted.

5. The bolt disassembly and assembly execution device according to claim 2, characterized in that: A positioning shaft is arranged at the center of the transmission wheel, and a positioning hole for inserting the positioning shaft is arranged at the center of the bolt sleeve.

6. The bolt assembly and disassembly actuator according to any one of claims 1 to 5, characterized in that: The anti-rotation control device includes a linear motion output device and an anti-rotation push frame connected to the output end of the linear motion output device. The nut sleeve is installed on the sleeve frame along the axial guide through the mounting frame. In the axial direction of the nut sleeve, the nut sleeve is located at one end of the mounting frame, and the other end of the mounting frame is provided with a baffle for cooperating with the anti-rotation push frame when it retreats to the extreme position.

7. The bolt disassembly and assembly execution device according to any one of claims 1 to 5, characterized in that the fixing frame It includes a fixed plate, and the sleeve rack includes a top plate arranged above the fixed plate. Both the fixed plate and the top plate are provided with U-shaped openings to form an operating space for the components to be disassembled and assembled with bolts to enter and exit. A guide rail is provided on the top surface of the fixed plate, and a slider that slides with the guide rail is connected to the lower side of the top plate. A driving device is also installed on the fixed plate, which is connected to the slider or the top plate to drive the sleeve rack to move along the arrangement direction of the nut sleeve.

8. The bolt disassembly and assembly actuator according to claim 7, characterized in that: Anti-collision plates for preventing the fixing plate from directly colliding with the components are installed on both side walls of the U-shaped opening on the fixing plate.

9. The bolt disassembly and assembly actuator according to any one of claims 1 to 5, characterized in that: The fixing frame includes an upper fixing plate and a lower fixing plate arranged in parallel above and below, the sleeve frame is installed on the upper side of the upper fixing plate, the sleeve frame, the upper fixing plate and the lower fixing plate are all provided with U-shaped openings to form an operating space for the components to be disassembled and assembled with bolts to enter and exit, and a positioning frame is installed on the lower side of the lower fixing plate, and a clamping device for clamping the components is installed on the positioning frame.

10. A bolt disassembly and assembly work platform, comprising a multi-axis motion drive mechanism and a bolt disassembly and assembly execution device installed at the end of the multi-axis motion drive mechanism, characterized in that: The bolt disassembly and assembly execution device is the bolt disassembly and assembly execution device according to any one of claims 1 to 9.

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