Auxiliary installation robot for electrical equipment

Abstract

The invention relates to the technical field of auxiliary installation robots, and discloses an electrical equipment auxiliary installation robot which comprises a robot base, a mechanical arm installed on the robot base and an installation base installed at the upper end of the mechanical arm, a power motor is fixedly installed on the installation base, and a connecting piece is fixedly installed at the output end of the power motor. The connecting piece comprises a cylinder, the tip end of the bolt screwing rod abuts against the end of a bolt in the process that the arc-shaped grabbing clamp clamps the bolt, the auxiliary positioning effect is achieved, when screwing operation begins, the power motor drives the arc-shaped grabbing clamp and the bolt screwing rod to rotate at the same time, and if the slipping phenomenon occurs in the screwing process, the arc-shaped grabbing clamp and the bolt screwing rod can be driven by the power motor to rotate. The bolt screwing rod continues to rotate along with the output end of the power motor, when the cross head at the end portion is right aligned with the cross groove in the end portion of the bolt in the rotating process, the cross head is embedded into the cross groove, even if the arc-shaped grabbing clamp slips, the bolt screwing rod can still continue to apply torque, and continuity and reliability of screwing operation are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of auxiliary installation robot technology, specifically to an auxiliary installation robot for electrical equipment. Background Technology

[0002] Currently, the installation of electrical equipment mainly relies on manual labor in conjunction with lifting equipment. The cabinet doors and switches of electrical equipment are mostly fixed with bolts during the installation process. For example, when installing cabinet doors, the bolts are usually driven directly into the equipment body through the hinge. These bolts do not require the use of nuts. To facilitate the driving of the bolts, bolts with cross grooves are generally used. Currently, to improve work efficiency, robots are generally used for assisted installation. For example, a robotic arm for assembling automobile doors, disclosed in authorization announcement number CN116276020B, achieves the goal of eliminating the need for manual insertion work by operators through its installation mechanism, thereby improving work efficiency. Through its tightening mechanism, the sliding seat drives the sleeve to push the bolts toward the body hinge components, and at the same time, the bolts are tightened under the action of the motor, thereby securing the door hinge components and body hinge components without the need for operators to manually tighten the bolts, thus improving work efficiency.

[0003] In the current installation process of electrical equipment, to improve work efficiency, robotic arms are commonly used to automatically grip bolts and perform tightening operations at predetermined positions on the equipment, such as the solutions disclosed in the prior art. However, existing robotic arms have the following main technical defects in realizing bolt gripping and tightening functions: Firstly, when using a clamping method to hold and tighten bolts, insufficient clamping force and long-term wear can easily cause the bolts to slip, resulting in loose bolts and making it difficult to guarantee installation reliability. Secondly, while using a special bolt connector for clamping and tightening can solve the slippage problem, it requires frequent replacement of the corresponding connector for bolts of different diameters, which is cumbersome and seriously affects the continuity of work. Thirdly, and more importantly, existing robotic arms lack the ability to adapt to bolt types and mounting hole structures. For example, in hinge installation scenarios, some round-head bolts do not need to be fully screwed into the mounting hole, while for this application... Figure 9 The tapered mounting holes shown require the use of tapered head bolts, which must be fully screwed in to achieve a secure fit. For such special installation requirements, existing robotic arms have difficulty achieving complete installation and still require manual labor with the help of external tools for secondary tightening. This not only increases the labor intensity of operators but also restricts the further improvement of the automation level of electrical equipment installation. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an electrical equipment auxiliary installation robot, aiming to solve the problems of poor adaptability and easy slippage in bolt installation in existing technologies.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an electrical equipment assisted installation robot, comprising a robot base, a robotic arm mounted on the robot base, and a mounting base mounted on the upper end of the robotic arm. A power motor is fixedly mounted on the mounting base, and a connector is fixedly mounted on the output end of the power motor. The connector includes a cylinder, which is rotatably connected to the mounting base. A triangular plate is fixedly mounted on the outer end of the cylinder. Each triangular portion of the triangular plate has a mounting groove. Each mounting groove contains an arc-shaped gripper for gripping bolts, which is rotatably mounted via a rotating shaft. One end of the angle plate is equipped with a pusher for controlling the synchronous rotation of multiple arc-shaped grippers. A through hole is provided at the center of the angle plate. An axially telescopic component is fixedly installed at the output end of the power motor. A bolt tightening rod for tightening bolts is fixedly installed at one end of the telescopic component through the through hole. A rotating component is provided at one end of the angle plate for clamping the telescopic component. During rotation, the rotating component also drives the pusher to move, thereby realizing the opening and closing action of the arc-shaped grippers. A power component for controlling the rotation of the rotating component is installed on one side of the angle plate.

[0006] Preferably, the telescopic component includes a connecting rod fixedly connected to the output end of the power motor. A rectangular groove is provided axially at the end of the connecting rod away from the power motor. A rectangular block adapted to the rectangular groove is slidably arranged in the rectangular groove. A telescopic spring is fixedly arranged between the rectangular block and the rectangular groove. A round rod is fixedly installed at the end of the rectangular block away from the telescopic spring. The end of the round rod away from the rectangular block passes through a hole and is fixedly connected to a bolt tightening rod. A cross head is provided at the end of the bolt tightening rod.

[0007] Preferably, the power assembly includes a mounting ring fixedly installed on one side of the triangular plate, a control motor fixedly installed inside the mounting ring, and a gear for transmitting power fixedly installed at the output end of the control motor.

[0008] Preferably, the rotating component includes a ring fixedly mounted on one end of a triangular plate. A toothed ring that meshes with a gear is rotatably mounted on the ring. Multiple oblique grooves are circumferentially formed on the outer end face of the toothed ring. Multiple radial sliding grooves corresponding to the positions of the oblique grooves are formed on the end face of the ring that contacts the toothed ring. A sliding rod is slidably mounted in each of the sliding grooves. A push plate is fixedly connected to the upper end of the sliding rod through the corresponding oblique groove. An arc-shaped clamping plate is fixedly connected to one end of the push plate. The sliding groove is used to guide the arc-shaped clamping plate to always move along a straight line, thereby clamping or releasing the rod.

[0009] Preferably, the pushing member includes a slanted rod with one end rotatably connected to the arc-shaped gripper, a rotating plate rotatably connected to the other end of the slanted rod, a push rod rotatably connected to the rotating plate, and a plurality of fixed rods corresponding to the positions of the push rods fixedly installed on the toothed ring. Each fixed rod is rotatably connected to the corresponding push rod, thereby converting the rotation of the toothed ring into the gripping action of the arc-shaped gripper.

[0010] Preferably, the outer side of the round rod is frosted, and the contact surface between the arc-shaped clamping plate and the round rod is also frosted to increase clamping friction.

[0011] Preferably, the connector further includes a circular plate fixedly sleeved on the output end of the power motor, and the cylinder is fixedly sleeved on the outside of the circular plate, so as to enable the power motor to drive the entire connector and the arc-shaped gripper to rotate.

[0012] Preferably, the clamping end face of the arc-shaped gripper is frosted to enhance the stability and reliability of the clamping.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. To accommodate the installation requirements of bolts of different diameters and avoid incomplete tightening due to slippage, this invention rotatably mounts an arc-shaped gripper within the mounting groove of a triangular plate. The coordinated movement of multiple arc-shaped grippers ensures reliable clamping and tightening of the bolt. Simultaneously, a bolt tightening rod is mounted at the output end of the power motor via a telescopic component. The end of this bolt tightening rod has a crosshead. During the clamping process, the tip of the bolt tightening rod abuts against the bolt end, providing auxiliary positioning. When tightening begins, the power motor simultaneously drives the arc-shaped gripper and the bolt tightening rod to rotate. If slippage occurs during tightening, the bolt tightening... As the rod continues to rotate with the output of the power motor, when the crosshead at the end aligns perfectly with the cross groove at the end of the bolt during rotation, the crosshead will embed into the cross groove. This adds an extra power transmission path for tightening on top of the arc-shaped gripper. Through this dual-drive mechanism, even if the arc-shaped gripper slips, the bolt tightening rod can still apply torque, ensuring the continuity and reliability of the tightening operation. This structural design not only effectively solves the technical problem of slippage in a single clamping method, but also achieves compatible tightening of bolts of different diameters through the adaptive matching mechanism of the crosshead and the cross groove, eliminating the need for frequent tool head changes and significantly improving work efficiency and installation quality.

[0014] 2. To address the challenge of clamping and tightening adaptability for bolts with different head shapes during installation, this invention utilizes the rotation of a gear ring to drive a push rod, which in turn moves a rotating plate. This motion is transmitted via a diagonal bar, allowing multiple arc-shaped grippers to synchronously rotate and open within the mounting slots of a triangular plate. This enables reliable clamping and tightening of round-head or tapered-head bolts. When a tapered-head bolt is being clamped and needs to be installed with a tapered mounting hole in a hinge, the gear ring first drives the arc-shaped grippers to close, clamping the outer wall of the tapered-head bolt for initial tightening, allowing part of the bolt to enter the equipment. Once a certain depth is reached, as the tapered head gradually contacts the wall of the tapered mounting hole, the gear ring is reversed. This reverses the movement of the diagonal bar via the push rod, causing the arc-shaped grippers to synchronously open and disengage from the tapered head. During this process, the bolt tightening rod remains in contact with the end of the tapered head bolt under the action of the telescopic component. The motor continues to drive the bolt tightening rod to rotate until the cross head at its end aligns with and embeds into the cross groove at the end of the tapered head bolt during rotation. This switches the tightening power from the arc-shaped gripper to the bolt tightening rod. Subsequently, the bolt tightening rod applies torque to the tapered head bolt alone until it is completely screwed into the tapered mounting hole, achieving a tight fit with the tapered mounting hole 32. This enables fully automatic and adaptive tightening operations for bolts of different head types, especially tapered head bolts and tapered mounting holes 32, effectively avoiding the cumbersome operation of secondary tightening requiring manual intervention in traditional methods. This significantly improves the automation level and assembly quality of electrical equipment installation.

[0015] 3. To reduce vibration caused by the elastic element, this invention features multiple circumferentially oriented grooves on the outer end face of the toothed ring. Simultaneously, multiple radial grooves corresponding to the positions of the oriented grooves are formed on the end face where the ring contacts the toothed ring. When the toothed ring rotates to a specific angle, relative movement occurs between the inner wall of the oriented groove and the sliding rod. Due to the guiding effect of the oriented groove, the sliding rod is forced to slide inward along the radial groove of the ring, thereby driving the push plate to move radially synchronously. This achieves synchronous clamping of the central round rod by multiple arc-shaped clamping plates, avoiding significant vibration during the tightening process caused by the extension spring, which could lead to unstable operation. The round rod and the arc-shaped clamping plates maintain reliable coaxiality and clamping force, further improving the overall stability and assembly consistency of the equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a three-dimensional structural diagram showing the connection between the mounting base and the cylinder of the present invention; Figure 3 This is a three-dimensional structural diagram showing the connection between the mounting base and the power motor of the present invention; Figure 4 This is a schematic diagram of the connection structure between the toothed ring and the gear of the present invention; Figure 5 This is a three-dimensional cross-sectional structural diagram of the connecting rod of the present invention; Figure 6 This is a three-dimensional structural diagram of the connection between the toothed ring and the pusher of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure connecting the triangular plate and the ring of the present invention; Figure 8 This is a schematic diagram showing the positional relationship between the arc-shaped clamping plate and the telescopic component of the present invention; Figure 9 This is a plan view of the tapered head bolt and tapered mounting hole of the present invention.

[0017] In the diagram: 1. Robot base; 2. Robotic arm; 3. Mounting base; 4. Cylinder; 5. Triangular plate; 6. Mounting ring; 7. Mounting groove; 8. Arc-shaped gripper; 9. Control motor; 10. Gear ring; 11. Through hole; 12. Circular plate; 13. Power motor; 14. Connecting rod; 15. Bolt tightening rod; 16. Gear; 17. Rectangular groove; 18. Telescopic spring; 19. Diagonal rod; 20. Push rod; 21. Rotating plate; 22. Circular ring; 23. Rectangular block; 24. Circular rod; 25. Push plate; 26. Diagonal groove; 27. Arc-shaped clamping plate; 28. Slide groove; 29. ​​Fixed rod; 30. Slide rod; 31. Conical head bolt; 32. Conical mounting hole. Detailed Implementation

[0018] The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of this disclosure by way of example, but should not be used to limit the scope of this disclosure. This disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0019] Please see Figures 1-9 An electrical equipment assisted installation robot includes a robot base 1, a robotic arm 2 mounted on the robot base 1, and a mounting seat 3 mounted on the upper end of the robotic arm 2. The above configuration is an existing mechanical device and will not be described in detail here. A power motor 13 is fixedly mounted on the mounting seat 3, and a connector is fixedly mounted on the output end of the power motor 13. The connector includes a cylinder 4, which is rotatably connected to the mounting seat 3. A triangular plate 5 is fixedly mounted on the outer end of the cylinder 4. Each triangular part of the triangular plate 5 has a mounting groove 7. An arc-shaped gripper 8 for gripping bolts is rotatably mounted in each mounting groove 7 via a rotating shaft (the gripping end face of the arc-shaped gripper 8 is a frosted surface to enhance the stability and reliability of gripping, increase friction, and reduce slippage). The connector also includes a circular plate 12 fixedly sleeved on the output end of the power motor 13. The cylinder 4 is fixedly sleeved on the outside of the circular plate 12 so that the power motor 13 drives the entire connector and the arc-shaped gripper 8 to rotate. One end of the triangular plate 5 is equipped with a pusher for controlling the synchronous rotation of multiple arc-shaped grippers 8. A through hole 11 is provided through the center of the triangular plate 5. An axially telescopic component is fixedly installed at the output end of the power motor 13. One end of the telescopic component passes through the through hole 11 and is fixedly installed with a bolt tightening rod 15 for tightening bolts. The bolt tightening rod 15 has a cross head at its end (for cooperating with the installation of existing cross-slot bolts). One end of the triangular plate 5 is provided with a rotating component for clamping the telescopic component. During rotation, the rotating component also drives the pusher to move, so as to realize the opening and closing action of the arc-shaped grippers 8. The pusher includes a slanted rod 19 with one end rotatably connected to the arc-shaped gripper 8. The other end of the slanted rod 19 is rotatably connected to a rotating plate 21. A push rod 20 is rotatably connected to the rotating plate 21. Multiple fixed rods 29 corresponding to the positions of the push rods 20 are fixedly installed on the gear ring 10. Each fixed rod 29 is connected to the corresponding push rod. The rod 20 is rotatably connected, thereby converting the rotation of the toothed ring 10 into the gripping action of the arc-shaped gripper 8. The gripping action of the arc-shaped gripper 8 can adapt to the installation requirements of bolts of different diameters. During the process of the arc-shaped gripper 8 gripping the bolt, the tip of the bolt tightening rod 15 abuts against the end of the bolt, which plays an auxiliary positioning role. When the tightening operation begins, the power motor 13 drives the arc-shaped gripper 8 and the bolt tightening rod 15 to rotate simultaneously. If slippage occurs during the tightening process, the bolt tightening rod 15 continues to rotate with the output end of the power motor 13. When the cross head at the end is aligned with the cross groove at the end of the bolt during the rotation, the cross head will be embedded in the cross groove (due to the action of the telescopic component), thereby adding a tightening power transmission path on the basis of the arc-shaped gripper 8. Through this dual drive mechanism, even if the arc-shaped gripper 8 slips, the bolt tightening rod 15 can still continue to apply torque, ensuring the continuity and reliability of the tightening operation. A power assembly for controlling the rotation of rotating parts is installed on one side of the triangular plate 5. The power assembly includes a mounting ring 6 fixedly installed on one side of the triangular plate 5, a control motor 9 fixedly installed inside the mounting ring 6, and a gear 16 for transmitting power fixedly installed at the output end of the control motor 9. The above design not only effectively solves the technical problem of easy slippage in a single clamping method, but also achieves compatible tightening of bolts of different diameters through the adaptive matching mechanism of cross head and cross groove, eliminating the need for frequent tool head replacement and significantly improving work efficiency and installation quality.

[0020] As a further technical solution of the present invention, the telescopic component includes a connecting rod 14 fixedly connected to the output end of the power motor 13. A rectangular groove 17 is provided axially at the end of the connecting rod 14 away from the power motor 13. A rectangular block 23 adapted to it is slidably arranged in the rectangular groove 17. A telescopic spring 18 is fixedly arranged between the rectangular block 23 and the rectangular groove 17. A round rod 24 is fixedly installed at the end of the rectangular block 23 away from the telescopic spring 18. The end of the round rod 24 away from the rectangular block 23 passes through the through hole 11 and is fixedly connected to the bolt tightening rod 15. With this telescopic structure, even if the initial position of the cross groove and the cross head of the bolt is difficult to be exactly aligned each time, the cross head can still be adaptively embedded in the cross groove through telescopic extension during the tightening process.

[0021] As a further technical solution of the present invention, the rotating component includes a ring 22 fixedly installed at one end of the triangular plate 5. A toothed ring 10 that meshes with the gear 16 is rotatably disposed on the ring 22. In order to solve the problem of the adaptability of clamping and tightening of different head bolts during the installation process, the rotation of the toothed ring 10 causes multiple arc-shaped grippers 8 to rotate and open synchronously, so as to reliably clamp and tighten the round head bolt or the conical head bolt 31. When the clamped bolt is a conical head bolt 31 and needs to be installed with the conical mounting hole 32 of the hinge, firstly, the rotation of the toothed ring 10 drives the push rod 20 to move the rotating plate 21, and then the motion is transmitted through the inclined rod 19 to close the multiple arc-shaped grippers 8, clamping the outer wall of the conical head bolt 31. Then, preliminary tightening is performed so that the conical head bolt 31 partially enters the equipment. When it is tightened to a certain depth, as the conical head gradually contacts the wall of the conical mounting hole 32, the toothed ring 10 is controlled to reverse, and the push rod 20 drives the bolt to rotate. The moving inclined bar 19 moves in the opposite direction, causing the arc-shaped gripper 8 to open synchronously and disengage from the outer wall of the tapered head bolt 31. During this process, the bolt tightening rod 15 remains in contact with the end of the tapered head bolt 31 under the action of the telescopic component. The power motor 13 continues to drive the bolt tightening rod 15 to rotate until the cross head at its end aligns with and embeds into the cross groove at the end of the tapered head bolt 31 during rotation. This switches the tightening power from the arc-shaped gripper 8 to the bolt tightening rod 15. Subsequently, the bolt tightening rod 15 applies torque to the tapered head bolt 31 alone until it is completely screwed into the tapered mounting hole 32, achieving a tight fit with the tapered mounting hole 32. This realizes fully automatic and adaptive tightening operations for bolts of different head types, especially in scenarios where the tapered head bolt 31 fits with the tapered mounting hole 32. This effectively avoids the cumbersome operation of secondary tightening requiring manual intervention in the traditional method, significantly improving the automation level and assembly quality of electrical equipment installation. Since the telescopic component is controlled by the telescopic spring 18, in order to reduce the vibration problem caused by the elastic element, multiple inclined grooves 26 are circumferentially opened on the outer end face of the toothed ring 10. Multiple radial sliding grooves 28 corresponding to the positions of the inclined grooves 26 are opened on the end face of the circular ring 22 that contacts the toothed ring 10. A sliding rod 30 is slidably arranged in each sliding groove 28. The upper end of the sliding rod 30 passes through the corresponding inclined groove 26 and is fixedly connected to a push plate 25. An arc-shaped clamping plate 27 is fixedly connected to one end of the circular rod 24. The sliding groove 28 is used to guide the arc-shaped clamping plate 27 to always move in a straight line, thereby clamping or releasing the circular rod 24 (the outer side of the circular rod 24 is frosted, and the arc-shaped clamping plate 27 is fixedly connected to one end of the circular rod 24). The contact surface between the holding plate 27 and the round rod 24 is also a frosted surface to increase the clamping friction. When the toothed ring 10 is reversed to a specific angle, the inner wall of the inclined groove 26 and the slide rod 30 generate relative movement. Due to the guiding effect of the inclined groove 26, the slide rod 30 is forced to slide inward along the radial groove 28 of the ring 22, thereby driving the push plate 25 to move radially synchronously. This achieves synchronous clamping of the middle round rod 24 by multiple arc-shaped clamping plates 27, avoiding large vibrations during the twisting process due to the setting of the telescopic spring 18, which would lead to unstable operation. The round rod 24 and the arc-shaped clamping plate 27 always maintain reliable coaxiality and clamping force, further improving the overall working stability and assembly consistency of the equipment.

[0022] During work: Initial state and preparation The robotic arm 2 on the robot base 1 moves the mounting base 3 to the bolt feeding position or the installation station according to a preset program or visual guidance (existing technology). Start the power motor 13, which drives the cylinder 4 and the triangular plate 5 to rotate as a whole through the circular plate 12, and adjust the initial orientation of the arc-shaped gripper 8; Bolt clamping stage When the control motor 9 starts, the control motor 9 drives the gear 16 to rotate, the gear 16 drives the gear ring 10 to rotate, and when the gear ring 10 rotates, the fixed rod 29 fixed on it drives the push rod 20 to move, the push rod 20 pushes the rotating plate 21 to move, and the rotating plate 21 pulls the arc-shaped gripper 8 to rotate around the rotating shaft in the mounting groove 7 through the inclined rod 19, so that the three arc-shaped grippers 8 open synchronously to the appropriate angle. The robotic arm 2 moves the entire mounting base 3 forward, causing the open arc-shaped gripper 8 to fit onto the bolt to be installed. The motor 9 is controlled to reverse, and the gear ring 10 rotates in the opposite direction. Through the above transmission mechanism, the three arc-shaped grippers 8 close synchronously, clamping the outer wall of the bolt (the clamping end face of the arc-shaped gripper 8 is a frosted surface to enhance friction and prevent slippage). During the process of the arc-shaped gripper 8 clamping the bolt, the bolt tightening rod 15 keeps in contact with the bolt end (the telescopic spring 18 is in a compressed state), and the cross head at the end of the bolt tightening rod 15 abuts against the bolt end, which plays an auxiliary positioning and pre-tightening role. Standard tightening procedure (applicable to ordinary round head bolts) Robotic arm 2 moves the clamped bolt to the installation position of the electrical equipment, and motor 13 starts rotating, driving both parts simultaneously: The circular plate 12 drives the cylinder 4 and the triangular plate 5 to rotate as a whole, so that the arc-shaped gripper 8 holds the bolt and rotates together for initial tightening; The connecting rod 14, rectangular block 23, and round rod 24 drive the bolt tightening rod 15 to rotate synchronously. Under the continuous drive of the power motor 13, the bolt is gradually screwed into the threaded hole, and the telescopic spring 18 always maintains a certain preload, so that the cross head of the bolt tightening rod 15 keeps in contact with the cross groove at the end of the bolt. If slippage occurs between the arc-shaped gripper 8 and the bolt due to insufficient clamping force or excessive thread resistance, the arc-shaped gripper 8 will stop effectively transmitting torque. However, the bolt tightening rod 15 will continue to rotate with the output end of the power motor 13. When the cross head at its end is aligned with the cross groove at the end of the bolt during rotation, it will be embedded in the cross groove under the action of the telescopic spring 18. At this time, the bolt tightening rod 15 will apply torque to the bolt alone to continue the tightening operation and ensure that the bolt is fully tightened into place. Special installation procedure for tapered head bolts 31 (applicable to tapered mounting holes 32) Clamp the tapered head bolt 31 according to the above steps. At this time, the cross head of the bolt tightening rod 15 also abuts against the cross groove at the end of the tapered head bolt 31. The power motor 13 drives the arc-shaped gripper 8 and the bolt tightening rod 15 to rotate synchronously, screwing the conical head bolt 31 into the conical mounting hole 32; As the tapered head of the tapered head bolt 31 gradually approaches the tapered wall of the tapered mounting hole 32, the control motor 9 drives the gear ring 10 to rotate in the opposite direction. Through the push rod 20, rotating plate 21, and inclined rod 19, the three arc-shaped grippers 8 open synchronously and disengage from the outer wall of the tapered head bolt 31. Under the action of the telescopic spring 18, the bolt tightening rod 15 remains abutting against the end of the tapered head bolt 31. The power motor 13 continues to drive the bolt tightening rod 15 to rotate. When the cross head at the end of the bolt tightening rod 15 aligns with the cross groove at the end of the tapered head bolt 31 during rotation, it is inserted into the cross groove under the action of the telescopic spring 18. The bolt tightening rod 15 applies torque to the tapered head bolt 31 alone and continues to tighten until the tapered head bolt 31 is completely screwed into the tapered mounting hole 32, achieving a tight fit between the tapered head and the tapered hole wall. The power motor 13 then stops, and the installation is completed. When the toothed ring 10 is reversed to a specific angle, due to the guiding effect of the inclined groove 26, the slide rod 30 is forced to slide inward along the radial groove 28 on the ring 22. The slide rod 30 drives the push plate 25 and the arc-shaped clamping plate 27 to move radially synchronously, so that multiple arc-shaped clamping plates 27 move towards the center at the same time, forming a synchronous clamping grip on the round rod 24 (the contact surfaces are all frosted surfaces to enhance friction). Under the clamping state of the arc-shaped clamping plates 27, the round rod 24 is rigidly fixed, eliminating the vibration that may be caused by the telescopic spring 18, and ensuring the smoothness and accuracy of the screwing process. After the screwing is completed, the control motor 9 drives the gear ring 10 to rotate in the opposite direction to the initial angle. The inclined groove 26 pushes the slide bar 30 to slide outward along the slide groove 28. The arc-shaped clamping plate 27 opens to release the round rod 24, and the telescopic spring 18 returns to its free state.

[0023] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the claims of the present invention.

Claims

1. An electrical equipment assisted installation robot, comprising a robot base (1), a robotic arm (2) mounted on the robot base (1), and a mounting seat (3) mounted on the upper end of the robotic arm (2), characterized in that, A power motor (13) is fixedly mounted on the mounting base (3). A connector is fixedly mounted on the output end of the power motor (13). The connector includes a cylinder (4). The cylinder (4) is rotatably connected to the mounting base (3). A triangular plate (5) is fixedly mounted on the outer end of the cylinder (4). A mounting groove (7) is provided at the triangular part of the triangular plate (5). An arc-shaped gripper (8) for gripping bolts is rotatably mounted in each mounting groove (7) through a rotating shaft. A pusher for controlling the synchronous rotation of multiple arc-shaped grippers (8) is installed at one end of the triangular plate (5). The triangular plate (5) has a through hole (11) at its center. The output end of the power motor (13) is fixedly installed with a telescopic component that can extend and retract along the axis. One end of the telescopic component is fixedly installed with a bolt tightening rod (15) for tightening bolts after passing through the through hole (11). One end of the triangular plate (5) is provided with a rotating component for clamping the telescopic component. During the rotation, the rotating component is also used to drive the push component to move, so as to realize the opening and closing action of the arc-shaped gripper (8). A power component for controlling the rotation of the rotating component is installed on one side of the triangular plate (5).

2. The electrical equipment auxiliary installation robot according to claim 1, characterized in that, The telescopic component includes a connecting rod (14) fixedly connected to the output end of a power motor (13). A rectangular groove (17) is provided axially at the end of the connecting rod (14) away from the power motor (13). A rectangular block (23) adapted to the rectangular groove (17) is slidably arranged in the rectangular groove (17). A telescopic spring (18) is fixedly arranged between the rectangular block (23) and the rectangular groove (17). A round rod (24) is fixedly installed at the end of the rectangular block (23) away from the telescopic spring (18). The end of the round rod (24) away from the rectangular block (23) passes through a through hole (11) and is fixedly connected to a bolt tightening rod (15). A cross head is provided at the end of the bolt tightening rod (15).

3. The electrical equipment auxiliary installation robot according to claim 2, characterized in that, The power assembly includes a mounting ring (6) fixedly mounted on one side of the triangular plate (5), a control motor (9) fixedly mounted inside the mounting ring (6), and a gear (16) for transmitting power fixedly mounted at the output end of the control motor (9).

4. The electrical equipment auxiliary installation robot according to claim 3, characterized in that, The rotating component includes a ring (22) fixedly installed at one end of a triangular plate (5). A toothed ring (10) meshing with a gear (16) is rotatably mounted on the ring (22). Multiple inclined grooves (26) are circumferentially opened on the outer end face of the toothed ring (10). Multiple radial sliding grooves (28) corresponding to the positions of the inclined grooves (26) are opened on the end face of the ring (22) that contacts the toothed ring (10). A sliding rod (30) is slidably arranged in each of the sliding grooves (28). The upper end of the sliding rod (30) passes through the corresponding inclined groove (26) and is fixedly connected to a push plate (25). An arc-shaped clamping plate (27) is fixedly connected to one end of the round rod (24). The sliding groove (28) is used to guide the arc-shaped clamping plate (27) to always move along a straight line, thereby clamping or releasing the round rod (24).

5. The electrical equipment auxiliary installation robot according to claim 4, characterized in that, The pusher includes a slanted rod (19) with one end rotatably connected to the arc-shaped gripper (8), and a rotating plate (21) rotatably connected to the other end of the slanted rod (19). A push rod (20) is rotatably connected to the rotating plate (21). Multiple fixed rods (29) corresponding to the positions of the push rods (20) are fixedly installed on the toothed ring (10). Each fixed rod (29) is rotatably connected to the corresponding push rod (20), thereby converting the rotation of the toothed ring (10) into the gripping action of the arc-shaped gripper (8).

6. The electrical equipment auxiliary installation robot according to claim 5, characterized in that, The outer side of the round rod (24) is frosted, and the contact surface between the arc-shaped clamping plate (27) and the round rod (24) is also frosted to increase the clamping friction.

7. The electrical equipment auxiliary installation robot according to claim 6, characterized in that, The connector also includes a circular plate (12) fixedly sleeved on the output end of the power motor (13), and the cylinder (4) is fixedly sleeved on the outside of the circular plate (12) so that the power motor (13) drives the entire connector and the arc-shaped gripper (8) to rotate.

8. The electrical equipment auxiliary installation robot according to claim 7, characterized in that, The clamping end face of the arc-shaped gripper (8) is frosted to enhance the stability and reliability of the clamping.

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