Bolt tightening device matched with mechanical arm

Abstract

The invention relates to the field of bolt tightening equipment, in particular to a bolt tightening device matched with a mechanical arm, which comprises a first position adjusting mechanism, a second position adjusting mechanism, a third position adjusting mechanism, a fourth position adjusting mechanism, a fifth position adjusting mechanism and a sixth position adjusting mechanism, the joint mechanism comprises a clamping assembly arranged at the end of the feeding assembly and a bolt joint assembly fixed to the outer portion of the clamping assembly. Through mutual cooperation of the telescopic rotating mechanism and the joint mechanism, the bolt tightening device can be actively fed, internal and external air pressure can be balanced in the feeding process, and bolt connectors of different models can be replaced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bolt tightening equipment, in particular to a bolt tightening device suitable for a mechanical arm. BACKGROUND

[0002] With the development of the power industry, the expansion of the power grid and the increase in the complexity of power equipment, the maintenance and repair of power equipment are becoming increasingly demanding; as an important part of power equipment maintenance and repair, the reliability of bolt tightening strength is directly related to the reliability and safety of the equipment; however, traditional manual bolt tightening methods have many problems, such as time-consuming, labor-intensive, inability to accurately estimate tightening strength, and potential safety risks.

[0003] In view of these problems, technicians have developed some tools and techniques, such as fixed torque wrenches; fixed torque wrenches can control the tightening torque to ensure that the bolts are fully tightened, and have the advantages of simple operation, accurate tightening force, etc.; however, fixed torque wrenches also have some limitations, such as being unable to adapt to different specifications and types of bolts, and being unable to work in complex environments, etc.

[0004] In recent years, robot technology has begun to be widely used in the maintenance and repair of power equipment; compared with fixed torque wrenches, robot technology has higher flexibility and adaptability; by mounting various sensors and actuators on the end of the mechanical arm, the tightening force, angle, and other parameters can be accurately controlled, improving the efficiency and quality of the tightening work; in addition, the mechanical arm can also make intelligent adjustments according to the actual situation, adapting to different environments and the needs of different work tasks.

[0005] Although robot technology has many advantages, it still faces some challenges; in particular, in the power grid operating environment, due to the complexity of the environment and the high requirements for work, higher requirements are placed on the tools at the end of the mechanical arm; although there are many tools for manually tightening bolts on the market, there are still few robot bolt tightening tools that are suitable for power grid operations; this makes it difficult for robots to cope with various complex environments and special requirements in power grid operations in actual applications; therefore, developing a robot bolt tightening tool suitable for power grid operations has become an urgent need.

[0006] The existing bolt tightening mechanical arm needs the mechanical arm to actively feed during the tightening process, which requires high flexibility of the mechanical arm, such as wide application, and the cost of the mechanical arm is large. SUMMARY

[0007] In view of the above or existing problems in the prior art, the present application is proposed.

[0008] Therefore, the application aims to provide a bolt tightening device for a mechanical arm, which can solve the problems of the existing bolt tightening device, such as the inability to actively feed, the inability to balance the internal and external air pressure during feeding, and the inability to replace different types of bolt joints.

[0009] To solve the above technical problems, the application provides the following technical solutions: a bolt tightening device for a mechanical arm, which comprises a telescopic rotating mechanism, a main shaft assembly installed at the end of the mechanical arm, and a feeding assembly arranged at the end of the main shaft assembly; and an engaging mechanism, which comprises a clamping assembly arranged at the end of the feeding assembly and a bolt engaging assembly fixed outside the clamping assembly.

[0010] As a preferred scheme of the bolt tightening device for a mechanical arm, the main shaft assembly comprises a main shaft, a spring member arranged at the end of the main shaft close to the mechanical arm, and a dismounting member arranged at the end of the main shaft away from the mechanical arm.

[0011] As a preferred scheme of the bolt tightening device for a mechanical arm, the main shaft is provided with a first pin hole at the end close to the mechanical arm, a second pin hole at the end away from the mechanical arm, a connecting hole in the center of the main shaft, a first air hole connected to the connecting hole, a second air hole connected to the end of the first air hole, and a gas guide groove connected to the second air hole and arranged on the outer ring surface of the main shaft.

[0012] As a preferred scheme of the bolt tightening device for a mechanical arm, the spring member comprises a first pin block clamped in the first pin hole, a spring seat clamped outside the first pin block and in contact with the outer ring surface of the main shaft, and a feeding spring with two ends respectively in contact with the spring seat and the feeding assembly; the spring seat is provided with a third pin hole in the inner ring surface, and the first pin block is clamped in the third pin hole.

[0013] As a preferred scheme of the bolt tightening device for a mechanical arm, the feeding assembly comprises a feeding shaft sleeved outside the main shaft and a second pin block clamped in the second pin hole; the inner wall of the feeding shaft covers the gas guide groove; the feeding shaft is provided with a fourth pin hole in the inner ring surface, and the second pin block is arranged in the second pin hole and the fourth pin hole at two ends respectively; the fourth pin hole is wider than the second pin block.

[0014] As a preferred scheme of the bolt tightening device for a mechanical arm, the feeding shaft is provided with an unlocking groove and a clamping hole at the bottom of the unlocking groove; the dismounting member comprises a gas blocking block slidingly arranged in the first air hole, a connecting column fixed to the side wall of the gas blocking block and slidingly arranged in the connecting hole, an extension plate fixed to the end of the connecting column, an unlocking ring slidingly arranged in the unlocking groove and fixed to the end of the extension plate, and a first spring with two ends respectively in contact with the side wall of the gas blocking block and the end of the first air hole.

[0015] As a preferred scheme of the bolt tightening device of the adaptive mechanical arm, the feeding shaft is further provided with a third air hole communicated with the air guide groove, a fourth air hole communicated with the inner wall and the outer wall of the feeding shaft, and a connecting air hole communicated with the third air hole and the fourth air hole, and the fourth air hole is located on the side of the third air hole away from the main shaft.

[0016] As a preferred scheme of the bolt tightening device of the adaptive mechanical arm, the clamping assembly comprises a clamping seat, the clamping seat is provided with a clamping block hole, the clamping assembly comprises a clamping block slidingly arranged in the clamping block hole, and the second spring is arranged at two ends of the clamping block and contacts the clamping block and the clamping block hole, respectively, the edge of the clamping block close to the main shaft is rounded, and the clamping block is clamped in the clamping hole.

[0017] As a preferred scheme of the bolt tightening device of the adaptive mechanical arm, the bolt clamping assembly comprises a bolt clamping shaft, and the clamping seat is fixed to the inner wall of the bolt clamping shaft.

[0018] As a preferred scheme of the bolt tightening device of the adaptive mechanical arm, the bolt clamping shaft is provided with a bolt clamping hole at the end, and the bolt clamping hole is glued with a gasket at the bottom.

[0019] The bolt tightening device of the adaptive mechanical arm has the advantages that the bolt tightening device is actively fed, the internal and external air pressures are balanced during feeding, and different types of bolt joints can be replaced through the cooperation of the telescopic rotating mechanism and the clamping mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0021] Figure 1 It is a schematic diagram of the overall structure of the bolt tightening device of the adaptive mechanical arm.

[0022] Figure 2 It is a schematic diagram of the structure of the main shaft and the dismounting part.

[0023] Figure 3 It is a sectional view of the main shaft.

[0024] Figure 4 It is a schematic diagram of the structure of the spring part.

[0025] Figure 5 It is a sectional view of the feeding shaft.

[0026] Figure 6 is a sectional view of the feeding assembly;

[0027] Figure 7 is a structural schematic view of the dismounting part;

[0028] Figure 8 is an exploded view of the engaging mechanism;

[0029] Figure 9 is a sectional view of the bolt tightening device of the adaptive mechanical arm. DETAILED DESCRIPTION

[0030] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0031] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details given herein, that the present application can be practiced with other than the described implementations, and that the present application can be practiced with different or additional components. Thus, the present application is not limited to the implementations disclosed herein but include all implementations falling within the scope of the present application.

[0032] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. The "in one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments.

[0033] Embodiment 1

[0034] Reference Figures 1-9 For the first embodiment of the present application, the embodiment provides a bolt tightening device of an adaptive mechanical arm, specifically comprising a telescopic rotating mechanism 100, which includes a main shaft assembly 101 installed at the end of the mechanical arm, and a feeding assembly 102 arranged at the end of the main shaft assembly 101; an engaging mechanism 200, which includes a clamping assembly 201 arranged at the end of the feeding assembly 102, and a bolt engaging assembly 202 fixed outside the clamping assembly 201.

[0035] Further, the main shaft assembly 101 comprises a main shaft 101a, a spring member 101b arranged at the end of the main shaft 101a close to the mechanical arm, and a dismounting member 101c arranged at the end of the main shaft 101a away from the mechanical arm; the end of the main shaft 101a close to the mechanical arm is provided with a first pin hole W-1, the end of the main shaft 101a away from the mechanical arm is provided with a second pin hole W-2, a connecting hole W-3 located at the center of the main shaft 101a, a first gas hole W-4 communicated with the connecting hole W-3, a second gas hole W-5 communicated with the end of the first gas hole W-4, and a gas guide groove W-6 communicated with the second gas hole W-5 and located on the outer ring surface of the main shaft 101a.

[0036] Preferably, the feeding assembly 102 comprises a feeding shaft 102a sleeved on the outside of the main shaft 101a, and a second pin block 102b clamped in the second pin hole W-2; the clamping assembly 201 comprises a clamping seat 201a, and the clamping seat 201a is provided with a clamping block hole H-1; the clamping assembly 201 further comprises a clamping block 201b slidingly arranged in the clamping block hole H-1, and a second spring 201c contacting the clamping block 201b and the clamping block hole H-1 at both ends, respectively; the bolt clamping assembly 202 comprises a bolt clamping shaft 202a, and the clamping seat 201a is fixed on the inner wall of the bolt clamping shaft 202a.

[0037] In this embodiment, after the mechanical arm clamps the bolt clamping assembly 202 on the bolt and moves a distance along the bolt axis, the main shaft assembly 101 can be rotated clockwise and the bolt clamping assembly 202 can be tightened on the bolt through the feeding assembly 102.

[0038] Embodiment 2

[0039] Reference Figures 1-9 This is the second embodiment of the present application, which is based on the previous embodiment.

[0040] Specifically, the spring member 101b comprises a first pin block 101b-1 clamped in the first pin hole W-1, a spring seat 101b-2 clamped on the outside of the first pin block 101b-1 and contacting the outer ring surface of the main shaft 101a, and a feeding spring 101b-3 contacting the spring seat 101b-2 and the feeding assembly 102 at both ends, respectively; the inner ring surface of the spring seat 101b-2 is provided with a third pin hole W-7, and the first pin block 101b-1 is clamped in the third pin hole W-7.

[0041] It should be noted that during the rotation of the main shaft 101a, the main shaft 101a can transmit torque to the spring seat 101b-2 through the first pin block 101b-1, so that the spring seat 101b-2 rotates synchronously with the main shaft 101a.

[0042] Further, the inner wall of the feeding shaft 102a covers the air guide groove W-6; the fourth pin hole K-1 is arranged on the inner annular surface of the feeding shaft 102a, the second pin block 102b is arranged in the second pin hole W-2 and the fourth pin hole K-1 respectively; the fourth pin hole K-1 is wider than the second pin block 102b; the unlocking groove K-2 and the clamping hole K-3 at the bottom of the unlocking groove K-2 are arranged on the feeding shaft 102a.

[0043] It should be pointed out that, as shown in Figure 9 , when the feeding shaft 102a slides along the outer wall of the main shaft 101a, the inner wall of the feeding shaft 102a can always cover the air guide groove W-6; the unlocking groove K-2 is an annular groove, and the clamping hole K-3 is a square hole and has a depth deeper than the unlocking groove K-2.

[0044] Further, the dismounting piece 101c includes the air blocking block 101c-1 slidingly arranged in the first air hole W-4, the connecting column 101c-2 fixed on the side wall of the air blocking block 101c-1 and slidingly arranged in the connecting hole W-3, the extension plate 101c-3 fixed on the end of the connecting column 101c-2, the unlocking ring 101c-4 slidingly arranged in the unlocking groove K-2 and fixed on the end of the extension plate 101c-3, and the first spring 101c-5 contacting the side wall of the air blocking block 101c-1 and the end of the first air hole W-4 respectively; the air blocking block 101c-1 and the first air hole W-4 have good air tightness; the elastic force of the first spring 101c-5 is much smaller than that of the second spring 201c.

[0045] Further, the feeding shaft 102a is also provided with the third air hole K-4 communicating with the air guide groove W-6, the fourth air hole K-5 communicating the inner wall and the outer wall of the feeding shaft 102a, and the connecting air hole K-6 communicating the third air hole K-4 and the fourth air hole K-5, and the fourth air hole K-5 is located on the side of the third air hole K-4 away from the main shaft 101a.

[0046] It should be pointed out that, when the bolt is installed, the main shaft 101a rotates clockwise, the air guide groove W-6 can communicate with the third air hole K-4 as shown in Figure 9 , when it is necessary to replace the bolt joint shaft 202a to adapt to different types of bolts, the operator needs to rotate the bolt joint shaft 202a counterclockwise, which will make the second pin block 102b rotate from the state of adhering to the left side wall of the fourth pin hole K-1 as shown in Figure 6 to the state of adhering to the right side wall of the fourth pin hole K-1, and the bolt joint shaft 202a also rotates relative to the main shaft 101a, after that, the air guide groove W-6 is misaligned with the third air hole K-4, and the gas in the air guide groove W-6 and the third air hole K-4 no longer flows.

[0047] Preferably, the edge of the engaging block 201b close to the main shaft 101a is rounded, and the engaging block 201b is clamped in the clamping hole K-3; the end of the bolt joint shaft 202a is provided with a bolt joint hole H-2, and the bottom of the bolt joint hole H-2 is glued with a gasket 202b.

[0048] It should be pointed out that the gasket 202b is made of elastic rubber material, which can provide cushioning for the bolt after the bolt joint shaft 202a is pressed, preventing the bolt from being damaged due to extrusion of the bolt joint shaft 202a.

[0049] In this embodiment, when the mechanical arm tightens the bolt, the mechanical arm first aligns the bolt joint hole H-2 with the bolt head through the main shaft 101a, and moves axially towards the bolt when the axis of the bolt joint shaft 202a coincides with the axis of the bolt; in this process, the bolt head is first clamped into the bolt joint hole H-2, and then under the extrusion of the mechanical arm, the feed spring 101b-3 is compressed, the distance between the spring seat 101b-2 and the feed shaft 102a is shortened, and the main shaft 101a is inserted deeper into the feed shaft 102a; after that, only need to rotate the main shaft 101a clockwise to make the feed shaft 102a slide towards the bolt under the elastic force of the feed spring 101b-3 while rotating, so that the bolt joint shaft 202a can always press the bolt tightly when the bolt is tightened.

[0050] It should be pointed out that after the bolt head is clamped into the bolt joint hole H-2, in the process of compressing the feed spring 101b-3, because the elastic force of the first spring 101c-5 is much smaller than that of the second spring 201c, the unlocking ring 101c-4 cannot push the engaging block 201b, so when the main shaft 101a is inserted into the feed shaft 102a, the air blocking block 101c-1 will be extruded into the first air hole W-4 under the extrusion of the engaging block 201b, at this time the gas in the first air hole W-4 will flow into the third air hole K-4 through the second air hole W-5 and the air guide groove W-6, and finally be discharged to the outside through the fourth air hole K-5; At the same time, the gas in the feed shaft 102a is also discharged to the outside through the fourth air hole K-5, which can prevent the problem of excessive pressure on the bolt caused by air pressure, and ensure that the feed pressure of the bolt is always provided by the elastic force of the feed spring 101b-3.

[0051] It should be pointed out that when the bolt joint shaft 202a needs to be replaced to adapt to different types of bolts, the operator needs to hold the feed shaft 102a and rotate it counterclockwise manually, and then push the feed shaft 102a towards the main shaft 101a to remove the bolt joint shaft 202a; during the counterclockwise rotation of the feed shaft 102a, the second pin block 102b is like Figure 6As shown, the fourth pin hole K-1 left wall state is rotated to fit the fourth pin hole K-1 right wall state, the gas guide groove W-6 is staggered with the third gas hole K-4, and the gas in the third gas hole K-4 no longer flows through the gas guide groove W-6; during the process of pushing the feed shaft 102a in the direction of the main shaft 101a, the first gas hole W-4 gas can no longer flow into the third gas hole K-4 through the gas guide groove W-6, so the gas block 101c-1 will push the unlocking ring 101c-4 under the gas pressure of the first gas hole W-4, and the clamping block 201b will be pushed out of the clamping hole K-3, and then the bolt joint shaft 202a can be pulled out for replacement.

[0052] It should be noted that after replacing the bolt joint shaft 202a, the operator needs to hold the feed shaft 102a manually and rotate clockwise to make the second pin block 102b return to the state of fitting the fourth pin hole K-1 left wall as shown in the figure Figure 6 As shown, the fourth pin hole K-1 left wall state is rotated to fit the fourth pin hole K-1 right wall state, the gas guide groove W-6 is staggered with the third gas hole K-4, and the gas in the third gas hole K-4 no longer flows through the gas guide groove W-6; during the process of pushing the feed shaft 102a in the direction of the main shaft 101a, the first gas hole W-4 gas can no longer flow into the third gas hole K-4 through the gas guide groove W-6, so the gas block 101c-1 will push the unlocking ring 101c-4 under the gas pressure of the first gas hole W-4, and the clamping block 201b will be pushed out of the clamping hole K-3, and then the bolt joint shaft 202a can be pulled out for replacement.

[0053] It should be understood that during the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions can be made. Such development efforts might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure, without undue experimentation.

[0054] It should be noted that the above examples are only used to illustrate the technical solutions of the present application and are not limiting, although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A bolt tightening device adapted to a robotic arm, characterized in that: include, The telescopic rotary mechanism (100) includes a spindle assembly (101) mounted at the end of the robotic arm and a feed assembly (102) disposed at the end of the spindle assembly (101); The engagement mechanism (200) includes a locking assembly (201) disposed at the end of the feed assembly (102) and a bolt engagement assembly (202) fixed to the outside of the locking assembly (201).

2. The bolt tightening device for adapting to a robotic arm according to claim 1, characterized in that: The spindle assembly (101) includes a spindle (101a), a spring (101b) disposed on the end of the spindle (101a) near the robotic arm, and a disassembly component (101c) disposed on the end of the spindle (101a) away from the robotic arm.

3. The bolt tightening device for adapting to a robotic arm according to claim 2, characterized in that: The main shaft (101a) has a first pin hole (W-1) near the end of the robotic arm, and a second pin hole (W-2), a connecting hole (W-3) at the center of the main shaft (101a), a first air hole (W-4) connected to the connecting hole (W-3), a second air hole (W-5) connected to the end of the first air hole (W-4), and an air guide groove (W-6) connected to the second air hole (W-5) and located on the outer ring surface of the main shaft (101a).

4. The bolt tightening device for adapting to a robotic arm according to claim 3, characterized in that: The spring component (101b) includes a first pin block (101b-1) that is engaged in the first pin hole (W-1), a spring seat (101b-2) that is engaged outside the first pin block (101b-1) and contacts the outer ring surface of the spindle (101a), and a feed spring (101b-3) whose two ends respectively contact the spring seat (101b-2) and the feed assembly (102); The inner ring surface of the spring seat (101b-2) is provided with a third pin hole (W-7), and the first pin block (101b-1) is engaged in the third pin hole (W-7).

5. The bolt tightening device for adapting to a robotic arm according to claim 4, characterized in that: The feed assembly (102) includes a feed shaft (102a) sleeved outside the spindle (101a) and a second pin block (102b) engaged in the second pin hole (W-2); The inner wall of the feed shaft (102a) covers the air guide groove (W-6); The feed shaft (102a) has a fourth pin hole (K-1) on its inner ring surface, and the two ends of the second pin block (102b) are respectively set in the second pin hole (W-2) and the fourth pin hole (K-1); The fourth pin hole (K-1) is wider than the second pin block (102b).

6. The bolt tightening device for adapting to a robotic arm according to claim 5, characterized in that: The feed shaft (102a) is provided with an unlocking groove (K-2) and a snap-fit ​​hole (K-3) located at the bottom of the unlocking groove (K-2); The disassembly component (101c) includes an air baffle block (101c-1) slidably disposed in the first air hole (W-4), a connecting post (101c-2) fixed to the side wall of the air baffle block (101c-1) and slidably disposed in the connecting hole (W-3), an extension plate (101c-3) fixed to the end of the connecting post (101c-2), an unlocking ring (101c-4) fixed to the end of the extension plate (101c-3) and slidably disposed in the unlocking groove (K-2), and a first spring (101c-5) whose two ends respectively contact the side wall of the air baffle block (101c-1) and the end of the first air hole (W-4).

7. The bolt tightening device for adapting to a robotic arm according to claim 6, characterized in that: The feed shaft (102a) is also provided with a third air hole (K-4) connected to the air guide groove (W-6), a fourth air hole (K-5) connected to the inner wall and the outer wall of the feed shaft (102a), and a connecting air hole (K-6) connecting the third air hole (K-4) and the fourth air hole (K-5). The fourth air hole (K-5) is located on the side of the third air hole (K-4) away from the main shaft (101a).

8. The bolt tightening device for adapting to a robotic arm according to claim 7, characterized in that: The engaging assembly (201) includes an engaging seat (201a), in which an engaging block hole (H-1) is formed; The engaging assembly (201) preferably includes an engaging block (201b) slidably disposed in the engaging block hole (H-1), and a second spring (201c) whose two ends respectively contact the engaging block (201b) and the engaging block hole (H-1); The edge of the locking block (201b) near the main shaft (101a) is rounded, and the locking block (201b) is engaged in the locking hole (K-3).

9. The bolt tightening device for adapting to a robotic arm according to claim 8, characterized in that: The bolted assembly (202) includes a bolted shaft (202a), and the locking seat (201a) is fixed to the inner wall of the bolted shaft (202a).

10. The bolt tightening device for adapting to a robotic arm according to claim 9, characterized in that: The bolt-connecting shaft (202a) has a bolt-connecting hole (H-2) at its end, and a gasket (202b) is glued to the bottom of the bolt-connecting hole (H-2).

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