A device and method for bolt fastening of a drainage plate using a drone platform

Abstract

The application provides a device and method for bolt fastening of a drainage plate by using a UAV platform, which comprises a bearing table and a walking mechanism; the walking mechanism is installed on the top of the bearing table, and a suspension plate is arranged on the walking mechanism; one end of the bearing table is provided with a first mechanical arm, and the execution end of the first mechanical arm is provided with a first linear drive guide rail and an electric wrench; a movable object table is arranged on the first linear drive guide rail, a plurality of groups of spare bolts are arranged on the movable object table, and a transfer table is arranged on the end of the movable object table close to the electric wrench, and the transfer table is used for mounting the spare bolts on the electric wrench; one side of the bearing table is provided with a second mechanical arm, and the execution end of the second mechanical arm is provided with a clamping assembly for clamping a nut and a feeding assembly; a recycling box for recycling waste bolts is arranged on the bearing table and can rotate; image acquisition modules are arranged on the bearing table, the first mechanical arm and the second mechanical arm; and the device can realize automatic positioning and alignment work of the bolts of the drainage plate.

Description

Technical Field

[0001] This invention relates to the field of bolt fastening device technology, and more specifically, to a device and method for fastening the bolts of a diversion plate using an unmanned aerial vehicle (UAV) platform. Background Technology

[0002] During the operation and maintenance of power transmission lines, in order to ensure the stability of power transmission, the diversion plate, as a key connecting component, often needs to be inspected and tightened regularly. At this time, bolt tightening devices are required to tighten the bolts of the diversion plate, so as to maintain the normal operation of the power transmission line.

[0003] However, traditional bolt fastening devices lack automated alignment and operation capabilities, which can lead to bolt and nut misalignment during high-altitude operations due to human error or environmental interference. The confined space at the connection point of the diversion plate makes it easy for bolts to fail to tighten properly under the influence of external forces such as wind at high altitudes. This can result in poor contact of the diversion plate, overheating, or even line tripping. This not only affects the stability of power transmission and causes power outages, but also increases the safety risks for workers due to the need for manual high-altitude repairs, thereby increasing maintenance costs. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a device and method for fastening diversion plate bolts using an unmanned aerial vehicle (UAV) platform, thereby solving the technical problems of low operational accuracy, reliance on manual operation, high safety risks, and high maintenance costs associated with traditional devices in the prior art.

[0005] The purpose and effectiveness of the device and method for fastening the bolts of the diversion plate using an unmanned aerial vehicle (UAV) platform, as described in this invention, are achieved by the following specific technical means:

[0006] A device for fastening diversion plate bolts using an unmanned aerial vehicle (UAV) platform includes a support platform and a walking mechanism;

[0007] The walking mechanism is installed on the top of the support platform and is used to clamp the power transmission line and walk stably along the line. The walking mechanism is provided with a suspension plate for detachable connection with the UAV platform.

[0008] The support platform is provided with a first robotic arm at one end, and the execution end of the first robotic arm is provided with a first linear drive guide rail and an electric wrench.

[0009] The first linear drive guide rail is provided with a sliding platform, the platform is provided with multiple sets of spare bolts, and the platform is provided with a transfer table near the electric wrench, the transfer table being used to install the spare bolts onto the electric wrench;

[0010] The electric wrench integrates a torque sensor;

[0011] A second robotic arm is provided on one side of the support platform. The execution end of the second robotic arm is provided with a clamping component for clamping nuts and a feeding component for providing nuts.

[0012] The support platform is equipped with a rotatable recycling box for recycling used bolts;

[0013] Image acquisition modules are all installed on the support platform, the first robotic arm, and the second robotic arm.

[0014] As a preferred embodiment, the stage has:

[0015] The base is mounted on the first linear drive rail;

[0016] A pusher, located at the end of the base away from the transfer platform, is used to push the spare bolt forward;

[0017] A clamping element, disposed on the base, is used to clamp the spare bolt;

[0018] A first magnetic plate is disposed on the base for attaching a spare bolt to the base.

[0019] As a preferred embodiment, the transfer station has:

[0020] A first electric actuator is installed at the bottom of the base;

[0021] The mounting base is installed on the movable end of the first electric push rod;

[0022] Two sets of second linear drive rails are rotatably mounted on the mounting base, and a first drive motor is provided at the hinge point between one set of the second linear drive rails and the mounting base.

[0023] Two sets of second electric push rods are respectively set on two sets of second linear drive rails, and their movable ends are provided with first grippers;

[0024] The third electric push rod is mounted on the base via a bracket and is located above the base;

[0025] The mounting bracket is installed on the movable end of the third electric push rod;

[0026] Two sets of fourth electric push rods are symmetrically mounted on the mounting frame, and their movable ends are provided with second grippers.

[0027] As a preferred embodiment, the clamping assembly has:

[0028] The first connecting seat is disposed at the execution end of the second robotic arm;

[0029] The second connecting seat is rotatably mounted on the first connecting seat, and a second drive motor is provided at its hinge point;

[0030] An electric gripper is mounted on the second connecting seat;

[0031] The second magnetic plate is disposed on the electric gripper;

[0032] An ultrasonic transducer is mounted on the electric gripper, and an ultrasonic generator is mounted on the support platform. The ultrasonic generator is electrically connected to the ultrasonic transducer.

[0033] As a preferred embodiment, the feeding assembly has:

[0034] The third linear drive guide is set on the execution end of the second robotic arm;

[0035] The feed tube is slidably mounted on the third linear drive rail and has a spring inside for storing spare nuts.

[0036] The fifth electric push rod is located on one side of the feed pipe;

[0037] The baffle is slidably mounted on the movable rod of the fifth electric push rod.

[0038] As a preferred embodiment, the baffle is provided with a feeding area and a blocking area, and the fifth electric push rod has two states;

[0039] First state:

[0040] The fifth electric push rod is in the extended state, the feeding area is located at the opening of the feeding pipe, and a magnet is provided on the feeding area for attracting spare nuts;

[0041] Second state:

[0042] The fifth electric push rod is in a retracted state, the material blocking area is located at the opening of the feeding pipe, the second drive motor makes the electric gripper parallel to the opening of the feeding pipe, and the feeding area is located on one side of the electric gripper;

[0043] The feeding area and the blocking area are connected by an inclined plane, and the feeding area is provided with a discharge chute.

[0044] A method for fastening the bolts of a diversion plate using a drone platform, applied to the aforementioned device for fastening the bolts of a diversion plate using a drone platform, includes the following steps:

[0045] S1. Device in place:

[0046] After the suspension plate is connected to the drone platform and transported to the work area, the walking mechanism clamps the power transmission line, the drone detaches, and each image acquisition module is activated. The position and number of the diversion plate bolts are located through real-time imaging to confirm the starting point of the operation.

[0047] S2. Recycling of used bolts:

[0048] The first linear drive guide rail of the first robotic arm adjusts the position of the loading platform, the electric wrench loosens the old bolts with a preset torque, the first and second jaws of the transfer platform work together to hold the bolts, and transfer them to the rotatable recycling box for receiving.

[0049] S3. Installation of spare bolts:

[0050] The platform pusher pushes the spare bolt to the clamping position, the clamping part clamps the bolt and positions it through the first magnetic plate, and the transfer platform moves to install the bolt into the electric wrench sleeve;

[0051] S4, Nut supply clamping:

[0052] The fifth electric push rod switches to the first state, and the feeding area picks up a single nut;

[0053] After switching to the second state, the electric gripper rotates to align and clamp the nut, and the second magnetic plate is used to ensure that it is aligned with the bolt axis.

[0054] S5. Tighten bolts and nuts:

[0055] The first robotic arm and the second robotic arm work together to align, the electric gripper clamps the nut, and the electric wrench tightens the bolt with a preset torque and secures it to the nut.

[0056] S6, Continuous Operation:

[0057] The traveling mechanism moves along the guide wire, repeating steps S2-S5 to complete the tightening of all drainage plate bolts.

[0058] As a preferred method, when the electric wrench loosens the old bolts, the torque sensor monitors the torque value in real time, and when the torque drops to the threshold, it triggers the clamping action of the first and second jaws.

[0059] As a preferred method, when the fifth electric push rod switches states, the baffle ensures smooth nut transfer through a slope transition;

[0060] The attraction force of the second magnetic plate is dynamically adjusted according to the nut specifications.

[0061] As a preferred method, the first and second robotic arms calibrate their positional deviations through an image acquisition module, and the torque sensor monitors the torque in real time when the electric wrench is tightening, automatically stopping when the torque reaches a preset value.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] 1. This invention, through the setup of multiple image acquisition modules and a dual robotic arm collaborative structure, enables the device to achieve automated positioning and alignment of the diversion plate bolts, improving the device's operational accuracy. The device can calibrate positional deviations in real time through image acquisition modules, and with the help of magnetic plate adsorption positioning and gripper collaborative clamping, it can avoid bolt and nut misalignment, enabling the device to operate stably in complex high-altitude environments and improving its adaptability in the operation and maintenance of high-altitude power transmission lines.

[0064] 2. When using this device, it can achieve fully automated operation by coordinating drone transportation with the walking mechanism's guide wire movement, replacing traditional manual high-altitude operation. This eliminates the need for manual climbing, improving operational safety. At the same time, the automated feeding and transfer structure of the transfer platform and feeding components reduces downtime and lowers maintenance costs, solving the pain points of high reliance on manual labor and high safety risks associated with traditional devices. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the assembly structure of the invention;

[0066] Figure 2 This is a schematic diagram of the first robotic arm structure of the invention;

[0067] Figure 3 This is a schematic diagram of the stage of the invention;

[0068] Figure 4 This is a schematic diagram of the structure of the first magnetic plate of the invention;

[0069] Figure 5 This is a schematic diagram of the structure of the first electric actuator of the invention;

[0070] Figure 6 This is a schematic diagram of the structure of the electric gripper of the invention;

[0071] Figure 7 This is a structural diagram of the feeding area and the blocking area of ​​the invention;

[0072] Figure 8 This is a schematic diagram of the discharge trough of the invention;

[0073] Figure 9 This is a schematic diagram of the spring structure of the invention;

[0074] Figure 10 This is a schematic diagram of the invention's principle framework.

[0075] In the diagram, the correspondence between component names and their corresponding reference numerals is as follows:

[0076] 101. Support platform; 102. Walking mechanism; 103. Suspension plate; 104. First robotic arm; 105. First linear drive guide rail; 106. Electric wrench; 107. Second robotic arm; 108. Recycling box; 109. Image acquisition module; 201. Base; 202. Pushing component; 203. Clamping component; 204. First magnetic plate; 301. First electric push rod; 302. Mounting base; 303. Second linear drive guide rail; 304. First drive motor; 305. Second electric push rod; 306. First gripper; 307. Third electric push rod 308. Rod; 309. Bracket; 311. Mounting bracket; 312. Fourth electric push rod; 401. Second gripper; 402. Second connecting seat; 403. Second drive motor; 404. Electric gripper; 405. Second magnetic plate; 406. Ultrasonic vibrator; 407. Ultrasonic generator; 501. Third linear drive guide rail; 502. Feeding pipe; 503. Spring; 504. Baffle; 505. Fifth electric push rod; 601. Feeding area; 602. Blocking area; 603. Magnet; 604. Inclined surface; 605. Discharge chute. Detailed Implementation

[0077] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0078] Example:

[0079] like Figures 1 to 10 As shown, the present invention provides a device for fastening the bolts of the diversion plate using an unmanned aerial vehicle platform, including a support platform 101 and a walking mechanism 102;

[0080] The walking mechanism 102 is installed on the top of the support platform 101 and is used to clamp the power transmission line and walk stably along the line. The walking mechanism 102 is provided with a suspension plate 103 for detachable connection with the UAV platform.

[0081] One end of the support platform 101 is provided with a first robotic arm 104, and the execution end of the first robotic arm 104 is provided with a first linear drive guide rail 105 and an electric wrench 106.

[0082] The electric wrench 106 integrates a torque sensor;

[0083] A platform slides on the first linear drive guide rail 105. Multiple sets of spare bolts are provided on the platform. A transfer platform is provided at one end of the platform near the electric wrench 106. The transfer platform is used to install the spare bolts onto the electric wrench 106.

[0084] A second robotic arm 107 is provided on one side of the support platform 101. The execution end of the second robotic arm 107 is provided with a clamping assembly for clamping nuts and a feeding assembly for providing nuts.

[0085] The support platform 101 is equipped with a rotatable recycling box 108 for recycling waste bolts;

[0086] Image acquisition modules 109 are provided on the support platform 101, the first robotic arm 104 and the second robotic arm 107.

[0087] Specifically, the walking mechanism 102 can adopt a dual-arm, four-wheel adaptive walking unit (the model can be referenced from the general model of power inspection robots, such as: XJ-XT-008), used to clamp power transmission lines of different diameters and move stably. The walking mechanism 102 includes two symmetrically arranged sets of walking wheels and clamping wheels. Each set of wheels is driven by a servo motor, and the elastic clamping structure achieves adaptive clamping of the wires, adapting to wire specifications of 150-400mm². The surface of the walking wheels is made of non-slip and wear-resistant rubber material. With the closed-loop control of the drive motor, it can maintain stable walking at a wire tilt angle of ±15°, meeting the needs of complex working conditions.

[0088] The top of the walking mechanism 102 is equipped with a suspension plate 103 for detachable connection with the drone platform, which enables the device to quickly dock and separate from the drone, and complete high-altitude transfer and operation switching.

[0089] A traveling mechanism 102 is mounted on top of the support platform 101 to clamp the power transmission line and move stably along it, providing a stable foundation for subsequent bolt tightening operations. A first robotic arm 104 at one end of the support platform 101 has a first linear drive rail 105 and an electric wrench 106 at its execution end. The position of the electric wrench 106 can be adjusted via the linear drive rail, allowing for bolt loosening and tightening. A slidable platform connected to the first linear drive rail 105 stores multiple sets of spare bolts and pushes them to a transfer platform via a pusher 202, where the spare bolts are installed onto the sleeve of the electric wrench 106.

[0090] The second robotic arm 107 on one side of the support platform 101 has a clamping assembly for holding nuts and a feeding assembly for providing nuts at its execution end, which can realize the automatic feeding and clamping of nuts, and work with the first robotic arm 104 to complete the alignment and tightening of bolts and nuts. The support platform 101 is also equipped with a rotatable recycling box 108 for recycling waste bolts. The recycling box 108 is equipped with a motor at the hinge point with the support platform 101, thereby realizing the rotation of the recycling box 108 during operation.

[0091] Image acquisition modules 109 are installed on the support platform 101, the first robotic arm 104 and the second robotic arm 107, which can acquire images of the work area in real time and provide visual guidance for the alignment and motion control of the robotic arms.

[0092] It should be noted that the electric wrench 106 in this device is an integrated electric wrench with a built-in torque sensor. Its torque detection function is an inherent function integrated into the electric wrench 106 itself. The torque sensor is built into the actuator of the electric wrench 106 and can detect the torque value during the bolt tightening process in real time. It also transmits the torque detection signal synchronously to the control unit of the device to control the bolt tightening torque. This ensures that the tightening torque of the diversion plate bolts meets the standard requirements for power transmission line construction and avoids problems such as bolt and diversion plate deformation due to excessive torque or bolt loosening due to insufficient torque.

[0093] The stage has:

[0094] The base 201 is mounted on the first linear drive rail 105;

[0095] The pusher 202 is located at the end of the base 201 away from the transfer platform and is used to push the spare bolts in.

[0096] Clamping member 203 is disposed on base 201 and is used to clamp spare bolts;

[0097] The first magnetic plate 204 is disposed on the base 201 and is used to attach the spare bolt to the base 201.

[0098] Specifically, the pusher 202 includes a first reset spring and a push plate. The push plate is slidably disposed in the guide groove of the base 201. One end of the first reset spring abuts against the end face of the base 201 and the other end is connected to the push plate. The elastic thrust of the first reset spring pushes the spare bolt to move towards the transfer platform. When the bolt is clamped and positioned by the clamping member 203, the push plate is squeezed and compresses the first reset spring. After the bolt is removed, it automatically resets, realizing continuous feeding.

[0099] The clamping component 203 includes a second return spring and a clamping plate. Two sets of clamping plates are symmetrically arranged on both sides of the base 201. The second return spring connects the clamping plate to the side wall of the base 201. The elastic force of the second return spring is used to make the clamping plate automatically clamp the bolt. Combined with the adsorption force of the first magnetic plate 204, the bolt posture is corrected and fixed, preventing the bolt from shifting or tilting during the pushing process, and providing stable positioning for the subsequent material handling of the transfer table.

[0100] The first magnetic plate 204 is embedded in the mounting groove of the base 201. It is made of neodymium iron boron strong magnet. Its magnetic strength can be adjusted according to the bolt specifications. It can stably attract the head of the spare bolt and keep the bolt in a vertical position. In addition, with the clamping force of the clamping plate, it ensures that the bolt does not tilt during the pushing and picking process, thus improving the picking success rate of the transfer table.

[0101] The base 201 is also provided with a guide groove and a positioning plate (not shown in the figure). The guide groove and the push plate slide together to ensure that the push plate is pushed smoothly along a straight line. The positioning plate is set at the end of the base 201 away from the pusher 202. The positioning plate is used to limit the maximum stroke of the push plate to avoid the push plate being pushed too far and causing the bolt to come out of the base 201, thus ensuring the safety and stability of the feeding process.

[0102] The first electric push rod 301 is installed at the bottom of the base 201;

[0103] Mounting base 302 is installed on the movable end of the first electric push rod 301;

[0104] Two sets of second linear drive rails 303 are rotatably mounted on the mounting base 302, and a first drive motor 304 is provided at the hinge point between one set of second linear drive rails 303 and the mounting base 302.

[0105] Two sets of second electric push rods 305 are respectively mounted on two sets of second linear drive rails 303, and their movable ends are provided with first grippers 306.

[0106] The third electric push rod 307 is mounted on the base 201 via the bracket 308 and is located above the base 201;

[0107] Mounting bracket 309 is installed on the movable end of the third electric push rod 307;

[0108] Two sets of fourth electric push rods 311 are symmetrically mounted on the mounting bracket 309, and their movable ends are provided with second grippers 312.

[0109] Specifically, the first electric push rod 301 is vertically fixed at the center of the bottom of the base 201, and its movable end extends and retracts along the horizontal direction of the base 201, driving the mounting base 302 to achieve lateral displacement, thereby adjusting the vertical height of the first gripper 306 to meet the alignment requirements of the electric wrench 106 socket and the spare bolt.

[0110] Mounting base 302 is made of high-strength alloy material. Its top surface is provided with two sets of symmetrical hinge seats. One end of each of the two sets of second linear drive rails 303 is rotatably connected to the hinge seats. The first drive motor 304 is installed at the hinge of one set of second linear drive rails 303, which can drive the set of rails to rotate horizontally around the hinge point, thereby driving the two sets of second linear drive rails 303 to open and close synchronously, adjusting the distance between the two sets of first jaws 306 to accommodate the clamping of bolts of different specifications.

[0111] Two sets of second electric push rods 305 are slidably connected to two sets of second linear drive rails 303 via sliders, and can move horizontally along the length of the rails. The first gripper 306 at its movable end is an arc-shaped anti-slip gripper, which can achieve initial clamping and positioning from both sides of the bolt. The third electric push rod 307 is fixed above the base 201 via an L-shaped bracket 308 and is arranged vertically corresponding to the first electric push rod 301. Its movable end extends and retracts in the vertical direction, driving the mounting frame 309 to rise and fall. The bottom surface of the mounting frame 309 is provided with two sets of symmetrical mounting grooves, and two sets of fourth electric push rods 311 are vertically fixed in the mounting grooves.

[0112] Both the first jaw 306 and the second jaw 312 are arc-shaped jaws that can clamp the bolt from the threaded part. They are magnetic and attract the bolt to enhance the positioning effect, prevent the bolt from skewing during the axis calibration process, and further improve the accuracy of the bolt being transferred to the socket of the electric wrench 106.

[0113] During operation, the first electric push rod 301 drives the mounting base 302 to rise, and the first drive motor adjusts the angle of the second linear drive guide rail 303 so that the first clamping jaw 306 aligns with both sides of the bolt and clamps it; at the same time, the third electric push rod 307 drives the mounting bracket 309 to descend, and the second clamping jaw 312 centers and clamps the bolt from the top. After the two clamping jaws work together to fix the bolt, each push rod and guide rail adjusts its position to move the bolt into the socket of the electric wrench 106, completing the bolt installation action.

[0114] The clamping assembly has:

[0115] The first connecting seat 401 is disposed at the execution end of the second robotic arm 107;

[0116] The second connecting seat 402 is rotatably mounted on the first connecting seat 401, and a second drive motor 403 is provided at its hinge point;

[0117] An electric gripper 404 is mounted on the second connecting seat 402;

[0118] The second magnetic plate 405 is mounted on the electric gripper 404;

[0119] An ultrasonic transducer 406 is mounted on an electric gripper 404, and an ultrasonic generator 407 is mounted on a support platform 101. The ultrasonic generator 407 is electrically connected to the ultrasonic transducer 406.

[0120] Specifically, the first connecting seat 401 adopts a flange-type connection structure and is fixed to the execution end of the second robotic arm 107 by high-strength bolts. It is made of aerospace-grade aluminum alloy (model 6061-T6), which has the characteristics of lightweight and high rigidity, and is suitable for the multi-degree-of-freedom rotation requirements of the second robotic arm 107. The second connecting seat 402 is rotatably mounted on the groove of the first connecting seat 401 through bearings. The second drive motor 403 is installed at the hinge of the first connecting seat 401. It is a micro servo motor (model: SG-M08AC), with a rated power of 80W and a rated speed of 300rpm. It has an angle closed-loop control function and can drive the second connecting seat 402 to drive the electric gripper 404 to fold, adjust the gripping posture of the electric gripper 404, and ensure the alignment of the nut and bolt axes.

[0121] The electric gripper 404 is fixed to the end face of the second connecting seat 402. It is a two-finger parallel gripper (model: MHZ2-16D). The gripping stroke is 0-16mm and the rated gripping force is adjustable from 100 to 300N to meet the gripping needs of nuts of different specifications. The inner side of the gripper of the electric gripper 404 is provided with a mounting groove. The second magnetic plate 405 is embedded in the mounting groove and fixed with bolts. The second magnetic plate 405 is made of neodymium iron boron strong magnetic material (model N35). The magnetic strength can be adapted according to the nut specification. It can attract the nut and prevent the nut from shifting during the gripping process.

[0122] The ultrasonic transducer 406 is embedded in the clamping surface of the electric gripper 404, flush with the gripper surface. It is a miniature piezoelectric ceramic ultrasonic transducer 406 (model reference: USR-20K-5W), with a working frequency of 20kHz and a rated power of 5W. The ultrasonic generator 407 is fixed in the mounting cavity of the support platform 101. It is a high-frequency ultrasonic power supply (model reference: UCS-20K-10W), which is electrically connected to the ultrasonic transducer 406 through a shielded wire. It can output a stable high-frequency drive signal to drive the ultrasonic transducer 406 to generate high-frequency micro-vibration, which helps to remove the rust layer at the threads of nuts and bolts, reduce the tightening resistance, and does not damage the thread structure.

[0123] The feeding assembly has:

[0124] The third linear drive guide rail 501 is mounted on the execution end of the second robotic arm 107;

[0125] The feed tube 502 is slidably mounted on the third linear drive guide rail 501, and a spring 503 is provided inside it for storing spare nuts.

[0126] The fifth electric push rod 505 is located on one side of the feed pipe 502;

[0127] The baffle 504 is slidably mounted on the movable rod of the fifth electric push rod 505.

[0128] Specifically, the third linear drive guide rail 501 adopts a miniature ball linear guide rail (model: THKSR15W), which is fixed to the side of the execution end of the second robotic arm 107 by bolts. The length of the guide rail is adapted to the sliding stroke requirements of the feed tube 502. Its slider is fixedly connected to the bottom of the feed tube 502, which can drive the feed tube 502 to slide horizontally along the guide rail, so as to realize the alignment of the feed tube 502 and the electric gripper 404. The feed tube 502 is made of stainless steel (model 304) and has a cylindrical hollow structure with a hexagonal inner structure. It is designed to accommodate the largest size of commonly used nuts, supporting the storage and feeding of nuts from M8 to M12. The hexagonal inner wall fits snugly against the nut's shape, preventing rotation and displacement within the tube while ensuring smooth feeding of nuts of different sizes and avoiding jamming. A spring 503, a cylindrical helical compression spring, is installed along the axial direction inside the tube. One end of the spring 503 is fixed to the tube cap of the feed tube 502 with a clip, while the other end abuts against a spare nut inside the tube. The continuous elastic thrust of the spring 503 enables automatic nut feeding, ensuring the nut remains in contact with the tube opening. The tube cap and feed tube 502 are detachably connected by a threaded connection, facilitating regular replenishment of spare nuts and maintenance of the spring 503 and guide structure, ensuring long-term stable operation of the feed assembly.

[0129] The fifth electric push rod 505 is located on the side of the feeding pipe 502 near the opening and is fixed to the slider of the third linear drive guide rail 501 by the bracket 308. It moves synchronously with the feeding pipe 502 and is a miniature electric push rod with adjustable extension speed. Its movable rod extends and retracts horizontally. The baffle 504 is detachably connected to the movable rod of the fifth electric push rod 505 via a sliding sleeve for easy maintenance and replacement. The baffle 504 is made of engineering plastic and its structure is compatible with the transition structure of the feeding area 601, the blocking area 602, and the inclined surface 604 described above. The sliding stroke of the baffle 504 matches the extension stroke of the fifth electric push rod 505. Through the extension and retraction drive of the fifth electric push rod 505, the baffle 504 moves smoothly, completing the adsorption and transfer connection action of the nut, ensuring the continuity and stability of the feeding process.

[0130] The baffle 504 is provided with a feeding area 601 and a blocking area 602, and the fifth electric push rod 505 has two states;

[0131] First state:

[0132] The fifth electric push rod 505 is in the extended state, the feeding area 601 is located at the opening of the feeding pipe 502, and the feeding area 601 is equipped with a magnet 603 for attracting spare nuts.

[0133] Second state:

[0134] The fifth electric push rod 505 is in the retracted state, the material blocking area 602 is located at the opening of the feeding pipe 502, the second drive motor 403 makes the electric gripper 404 parallel to the opening of the feeding pipe 502, and the feeding area 601 is located on one side of the electric gripper 404.

[0135] The feeding area 601 and the blocking area 602 are connected by an inclined surface 604, and the feeding area 601 is provided with a discharge chute 605.

[0136] It is understandable that the core structure and working logic of the baffle 504 and the fifth electric push rod 505 in the nut supply clamping stage in the above steps are as follows: The baffle 504 is a rectangular plate structure, which is fixed to the sliding sleeve of the movable rod of the fifth electric push rod 505 by bolts. Its top surface is flat. The feeding area 601 and the blocking area 602 are arranged along the length of the baffle 504. The two are adjacent and smoothly transitioned by an integrated inclined surface 604. The inclined surface 604 has an inclination angle of 30°, which can ensure that when the fifth electric push rod 505 switches states and the baffle 504 moves, the nuts adsorbed by the feeding area 601 do not collide or interfere with the blocking area 602 or the opening of the feeding pipe 502, thus ensuring a smooth nut transfer process. The spring 503 inside the feeding tube 502 is a compression spring. It can be a stainless steel compression spring with a wire diameter of 1.2mm, an outer diameter of 8mm, and a free length of 50mm. The spring force value is adapted to the pushing requirements of M8-M12 nuts. It can stably push the nuts in the tube forward in sequence. With the help of the magnet 603 in the feeding area 601, it can achieve accurate picking of a single nut. It can also adapt to the pushing operation with different nut contents in the tube, avoiding the problem of insufficient pushing force due to the reduction of nut reserves. The feeding area 601 is located at one end of the baffle 504 near the feeding pipe 502. Its surface has a positioning groove that matches the hexagonal structure of the opening of the feeding pipe 502. A small neodymium iron boron magnet (model N35) is embedded at the bottom of the groove. The surface of the magnet 603 is flush with the groove surface. The attraction force can stably attract a single M8-M12 nut, while avoiding the nut from being difficult to detach due to excessive magnetic force. The discharge groove 605 on the feeding area 601 is arranged along the axis of the positioning groove. The groove width is slightly larger than the nut thickness, which can play an auxiliary guiding role for the nut, ensuring that the nut's posture after attraction is consistent with the nut's posture in the feeding pipe 502. Moreover, the extension direction of the discharge groove 605 is precisely parallel to the clamping direction of the electric gripper 404, providing a guiding reference for the electric gripper 404 to clamp the nut along the groove direction, avoiding clamping posture deviation, and facilitating the subsequent clamping by the electric gripper 404.

[0137] The material blocking area 602 is located at the end of the baffle 504 furthest from the feed pipe 502. Its height is slightly higher than the surface of the feeding area 601. It is inlaid and wrapped with wear-resistant rubber. When the fifth electric push rod 505 is in the retracted state, the material blocking area 602 can cover the opening of the feed pipe 502. Through the buffering effect of the rubber material, it can reliably seal the opening, preventing the remaining spare nut inside the pipe from coming out under the pushing force of the spring 503, and also avoiding hard contact with the opening of the feed pipe 502 that would cause wear. This extends the service life of the feed pipe 502 and the baffle 504, making it suitable for frequent outdoor high-altitude operations. The two states of the fifth electric push rod 505 are controlled by a limit switch (model LXW5-11N1). The limit switch is installed at the extension limit position and the retraction limit position of the electric push rod. When the electric push rod drives the baffle 504 to move to the corresponding position, the limit switch triggers a signal and feeds it back to the control module. The control module locks the position of the electric push rod to ensure that the feeding area 601 or the blocking area 602 is aligned with the opening of the feeding pipe 502.

[0138] Specifically, in the first state, after receiving the feeding command, the fifth electric push rod 505 extends to its limit position, triggering the limit switch for positioning. At this time, the positioning groove of the feeding area 601 aligns with the opening of the feeding tube 502. The spring 503 inside the feeding tube 502 pushes the nut forward, and the front end of the nut comes into contact with the magnet 603 in the feeding area 601 and is attracted and fixed, completing the single nut picking process. During the picking process, only one nut inside the feeding tube 502 is attracted under the pushing force of the spring 503, and subsequent nuts are limited by the preceding nut, achieving single-nut picking. After feeding and retrieving materials, the control module issues a state switching command, and the fifth electric push rod 505 begins to retract, driving the baffle 504 to move horizontally. The feeding area 601 disengages from the opening of the feeding pipe 502 along with the baffle 504. At the same time, the blocking area 602 gradually moves towards the opening until the electric push rod retracts to its limit position. The limit switch is triggered again for positioning. At this time, the blocking area 602 blocks the opening of the feeding pipe 502, achieving the limit of the nut inside the pipe. Synchronously with the action of the fifth electric push rod 505, the control module moves to the second drive... The first drive motor 403 sends a rotation angle command, the second drive motor 403 receives the signal and drives the second connecting seat 402 to rotate around the hinge point to a preset angle. Simultaneously, this drives the electric gripper 404 to rotate to a position parallel to the opening of the feeding pipe 502. At this time, the feeding area 601 moves with the baffle 504 to the front between the two claws of the electric gripper 404. The gripping center of the electric gripper 404 is coaxial with the center of the positioning groove in the feeding area 601. The electric gripper 404 can extend along the direction of the discharge groove 605 in the feeding area 601 and... The nut is clamped, and during the clamping process, the second magnetic plate 405 is synchronously energized to generate an attraction force. The second magnetic plate 405 is a miniature DC electromagnet (model P20 / 15, rated voltage 12V, attraction force adjustable range 5-10N). Its attraction force is preset and adjusted by the control module according to the nut specification. The attraction force is adjusted to 5N for M8 nuts and 8N for M12 nuts to ensure that the nut clamping posture is stable and does not affect the subsequent release, thus completing the transfer and handover of the nut and laying the foundation for the subsequent tightening of bolts and nuts.

[0139] A method for fastening a device for securing a diversion plate bolt using a drone platform includes the following steps:

[0140] S1. Device in place:

[0141] The suspension plate 103 connects to the drone platform. After being transported to the work area, the walking mechanism 102 clamps the power transmission line, the drone detaches, and each image acquisition module 109 is activated. The position and number of the diversion plate bolts are located through real-time imaging to confirm the starting point of the operation.

[0142] S2. Recycling of used bolts:

[0143] The first linear drive guide rail 105 at the execution end of the first robotic arm 104 adjusts the position of the loading platform, and the electric wrench 106 loosens the old bolts with a preset torque. The first gripper 306 and the second gripper 312 of the transfer platform work together to clamp the bolts and transfer them to the rotatable recycling box 108 for receiving.

[0144] S3. Installation of spare bolts:

[0145] The platform pusher 202 pushes the spare bolt to the clamping position, the clamping member 203 clamps the bolt and positions it through the first magnetic plate 204, and the transfer platform moves to install the bolt into the socket of the electric wrench 106.

[0146] S4, Nut supply clamping:

[0147] The fifth electric push rod 505 switches to the first state, and the feeding area 601 absorbs a single nut;

[0148] After switching to the second state, the electric gripper 404 rotates to align and clamp the nut, and the second magnetic plate 405 is used to position and ensure that it is aligned with the bolt axis.

[0149] S5. Tighten bolts and nuts:

[0150] The first robotic arm 104 and the second robotic arm 107 work together to align, the electric gripper 404 clamps the nut, and the electric wrench 106 screws the bolt into the nut with a preset torque.

[0151] S6, Continuous Operation:

[0152] The traveling mechanism 102 moves along the guide wire, repeating steps S2-S5 to complete the tightening of all drainage plate bolts.

[0153] When the electric wrench 106 loosens the old bolts, the torque sensor monitors the torque value in real time. When the torque drops to the threshold, it triggers the clamping action of the first jaw 306 and the second jaw 312.

[0154] When the fifth electric push rod 505 switches states, the baffle 504 ensures the smooth transfer of the nut by transitioning through the inclined surface 604;

[0155] The adsorption force of the second magnetic plate 405 is dynamically adjusted according to the nut specifications.

[0156] The first robotic arm 104 and the second robotic arm 107 calibrate their positional deviations through the image acquisition module 109. The torque sensor monitors the electric wrench 106 in real time during tightening, and the wrench automatically stops when the torque reaches the preset value.

[0157] Specifically, a method for fastening a device for securing a diversion plate bolt using a drone platform includes the following steps:

[0158] S1. Device Positioning: The suspension plate 103 is detachably connected to the mounting structure of the UAV platform. The UAV carries the device up and transports it to the bolting area of ​​the power transmission line diversion plate. After arriving at the work area, the clamping component of the walking mechanism 102 is activated, firmly clamping the power transmission line and completing self-locking, realizing a stable connection between the device and the line. Then, the UAV unlocks and detaches from the suspension plate 103 and flies away from the work area. After the device is fixed, the image acquisition modules 109 distributed on the support platform 101, the first robotic arm 104 and the second robotic arm 107 are activated simultaneously. They acquire images of the diversion plate area through high-definition real-time imaging, and after processing by a visual recognition algorithm, locate the actual position, quantity and specifications of the bolts on the diversion plate. At the same time, the starting point of the operation is marked, and all positioning data is fed back to the main control module of the device to complete the positioning preparation before the operation.

[0159] S2. Waste Bolt Recycling: Based on the positioning information from the image acquisition module 109, the control module drives the first robotic arm 104 to complete multi-dimensional posture adjustments. The first linear drive guide rail 105 at its execution end moves the loading platform, transfer platform, and electric wrench 106 to the corresponding position of the waste bolt, achieving coaxial alignment between the socket of the electric wrench 106 and the head of the waste bolt. The electric wrench 106 starts and rotates at a preset loosening torque. During the loosening process, the torque sensor built into the electric wrench 106 continuously monitors the torque value in real time. When the torque value drops to a preset threshold and it is determined that the waste bolt is completely loosened, the clamping action of the transfer platform is immediately triggered. The first gripper 306 and the second gripper 312 open and close in coordination, respectively, to achieve stable clamping from the bolt shank and head. Subsequently, the first robotic arm 104 moves the clamped waste bolt to above the recycling box 108. The recycling box 108 is driven to rotate by its built-in motor to complete the alignment with the waste bolt. After the grippers are released, the waste bolt falls into the recycling box 108, completing the recycling and receiving of the waste bolt.

[0160] S3. Spare Bolt Installation: After the waste bolts are recycled, the first linear drive rail 105 moves the platform to the spare bolt storage position. The platform's pusher 202 pushes the spare bolt forward in a straight line to the preset clamping position. The clamping member 203 immediately acts to clamp and fix the bolt from both sides. At the same time, the first magnetic plate 204 on the platform is energized to generate an adsorption force, which is used to adsorb and position the bolt from the bottom. Through the dual fixing method of mechanical clamping and magnetic adsorption, the spare bolt's posture is ensured to be stable and consistent with the installation axis. Subsequently, the drive components of the transfer platform work together to adjust the gripper posture and spatial position to clamp the tail of the spare bolt. Through the linkage between the first robotic arm 104 and the transfer platform, the spare bolt is accurately transferred and installed into the sleeve of the electric wrench 106, completing the clamping and fixing of the spare bolt.

[0161] S4. Nut Supply and Clamping: After the control module issues a nut supply command, the fifth electric push rod 505 extends and switches to the first state, driving the baffle 504 to move horizontally, so that the feeding area 601 is precisely aligned with the opening of the feeding tube 502. The spare nut in the feeding tube 502 moves forward under the thrust of the internal elastic element, and the single nut is attracted and fixed by the magnetic structure of the feeding area 601, realizing the precise picking of a single nut; after the picking is completed, the fifth electric push rod 505 retracts and switches to the second state, driving the baffle 504 to move in the opposite direction, and the baffle 504... 04. The integrated inclined surface 604 provides a smooth transition, preventing the nut on the feeding area 601 from colliding with or interfering with the opening of the feeding pipe 502 and the blocking area 602. Simultaneously, the second drive motor 403 drives the electric gripper 404 to rotate to an angle that matches the nut to complete the alignment. The electric gripper 404 clamps the nut, and at the same time, the second magnetic plate 405 is energized to generate an adsorption force. The adsorption force is dynamically adjusted according to the nut's specifications to assist in positioning the nut and ensure that the nut's central axis is aligned with the central axis of the spare bolt on the electric wrench 106.

[0162] S5. Bolt and nut tightening: Based on the real-time imaging data from each image acquisition module 109, the control module drives the first robotic arm 104 and the second robotic arm 107 to perform coordinated posture and position adjustments, and performs real-time calibration of the alignment deviation of the bolt and nut to ensure precise docking. After calibration, the electric gripper 404 maintains the clamped and fixed state of the nut, and the electric wrench 106 starts and rotates with a preset tightening torque to gradually screw the spare bolt into the nut and push it into the bolt hole of the diversion plate. During the tightening process, the torque sensor built into the electric wrench 106 continuously monitors the tightening torque value in real time. When the torque value reaches the preset standard value, the electric wrench 106 automatically stops rotating, completing the precise tightening operation of the bolt and nut.

[0163] S6. Continuous operation: After a single diversion plate bolt is tightened, the walking mechanism 102 moves smoothly along the power transmission line to the position of the adjacent bolt to be tightened. During the movement, each image acquisition module 109 continuously acquires images and completes the positioning and calibration of the new work point. After arriving at the new work point, the walking mechanism 102 completes the self-locking fixation again. The device repeats the above S2-S5 operation steps to complete the waste bolt recycling, spare bolt installation, nut supply and clamping, and bolt and nut tightening operations in sequence until all bolts on the diversion plate are tightened.

[0164] When the electric wrench 106 loosens a used bolt, its built-in torque sensor monitors the torque value in real time. When the torque drops to a preset threshold, it automatically triggers the clamping action of the first jaw 306 and the second jaw 312, ensuring that the used bolt is clamped and recycled in time after being completely loosened. When the fifth electric push rod 505 switches working states, the baffle 504 moves smoothly through the integrated inclined surface 604, effectively preventing the nut from bumping or falling off during the transfer process and ensuring the nut is transferred smoothly. The second magnetic plate 405 is a miniature DC electromagnet, and its attraction force can be adjusted according to different nut sizes such as M8-M12. The dynamic adjustment ensures stable nut clamping posture while preventing excessive suction force that could hinder nut detachment. The first robotic arm 104 and the second robotic arm 107 use image data acquired by the image acquisition modules 109 to calibrate the positional deviation of their execution ends in real time, ensuring the coaxial alignment accuracy of the bolt and nut. When the electric wrench 106 tightens the bolt and nut, its built-in torque sensor continuously monitors the tightening torque value in real time. When the torque reaches the preset standard tightening value, the electric wrench 106 automatically stops working to prevent excessive torque from causing deformation of the bolt and drain plate or insufficient torque from causing the bolt to loosen.

[0165] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for fastening diversion plate bolts using an unmanned aerial vehicle (UAV) platform, characterized in that: Includes a support platform (101) and a traveling mechanism (102); The walking mechanism (102) is installed on the top of the support platform (101) for clamping the power transmission line and walking stably along the line. The walking mechanism (102) is provided with a suspension plate (103) for detachable connection with the UAV platform. The support platform (101) is provided with a first robotic arm (104) at one end, and the execution end of the first robotic arm (104) is provided with a first linear drive guide rail (105) and an electric wrench (106). The electric wrench (106) integrates a torque sensor; The first linear drive guide rail (105) is provided with a sliding platform, and the platform is provided with multiple sets of spare bolts. The platform is provided with a transfer platform at one end near the electric wrench (106), and the transfer platform is used to install the spare bolts onto the electric wrench (106). A second robotic arm (107) is provided on one side of the support platform (101). The execution end of the second robotic arm (107) is provided with a clamping assembly for clamping nuts and a feeding assembly for providing nuts. The support platform (101) is equipped with a rotatable recycling box (108) for recycling waste bolts. Image acquisition modules (109) are provided on the support platform (101), the first robotic arm (104) and the second robotic arm (107). The stage has: The base (201) is mounted on the first linear drive rail (105); A pusher (202) is disposed at the end of the base (201) away from the transfer platform, for pushing in the spare bolt; A clamping member (203) is provided on the base (201) for clamping the spare bolt; A first magnetic plate (204) is disposed on the base (201) for attaching a spare bolt to the base (201); The transfer station has the following features: The first electric push rod (301) is installed at the bottom of the base (201); Mounting base (302) is installed on the movable end of the first electric push rod (301); Two sets of second linear drive rails (303) are rotatably mounted on the mounting base (302), and a first drive motor (304) is provided at the hinge point between one set of second linear drive rails (303) and the mounting base (302). Two sets of second electric push rods (305) are respectively set on two sets of second linear drive rails (303), and their movable ends are provided with first grippers (306). The third electric push rod (307) is mounted on the base (201) via a bracket (308) and is located above the base (201); Mounting bracket (309) is installed on the movable end of the third electric push rod (307); Two sets of fourth electric push rods (311) are symmetrically mounted on the mounting bracket (309), and their movable ends are provided with second grippers (312).

2. The device for fastening the bolts of the diversion plate using an unmanned aerial vehicle platform according to claim 1, characterized in that, The clamping assembly has: The first connecting seat (401) is disposed at the execution end of the second robotic arm (107); The second connecting seat (402) is rotatably mounted on the first connecting seat (401), and a second drive motor (403) is provided at its hinge point. An electric gripper (404) is disposed on the second connecting seat (402); The second magnetic plate (405) is disposed on the electric gripper (404); An ultrasonic transducer (406) is mounted on the electric gripper (404); An ultrasonic generator (407) is disposed on the support platform (101), and the ultrasonic generator (407) is electrically connected to the ultrasonic transducer (406).

3. The device for fastening the bolts of the diversion plate using an unmanned aerial vehicle platform according to claim 2, characterized in that, The feeding assembly has: The third linear drive guide (501) is disposed on the execution end of the second robotic arm (107); The feed tube (502) is slidably mounted on the third linear drive rail (501), and a spring (503) is provided inside it for storing spare nuts; The fifth electric push rod (505) is located on one side of the feed pipe (502); The baffle (504) is slidably mounted on the movable rod of the fifth electric push rod (505).

4. The device for fastening the bolts of the diversion plate using an unmanned aerial vehicle platform according to claim 3, characterized in that: The baffle (504) is provided with a feeding area (601) and a blocking area (602), and the fifth electric push rod (505) includes two states; First state: The fifth electric push rod (505) is in the extended state, the feeding area (601) is located at the opening of the feeding pipe (502), and the feeding area (601) is provided with a magnet (603) for adsorbing spare nuts; Second state: The fifth electric push rod (505) is in a retracted state, the material blocking area (602) is located at the opening of the feeding pipe (502), the second drive motor (403) makes the electric gripper (404) parallel to the opening of the feeding pipe (502), and the feeding area (601) is located on one side of the electric gripper (404). The feeding area (601) and the blocking area (602) are connected by an inclined surface (604), and the feeding area (601) is provided with a discharge chute (605).

5. A method for fastening the bolts of a diversion plate using a drone platform, applied to the device for fastening the bolts of a diversion plate using a drone platform as described in claim 4, characterized in that, Includes the following steps: S1. Device in place: The suspension plate (103) is connected to the UAV platform. After being transported to the work area, the walking mechanism (102) clamps the power transmission line, the UAV is released, and each image acquisition module (109) is activated. The position and number of the diversion plate bolts are located through real-time imaging to confirm the start point of the operation. S2. Recycling of used bolts: The first linear drive rail (105) at the execution end of the first robotic arm (104) adjusts the position of the loading platform, and the electric wrench (106) loosens the waste bolts with a preset torque. The first gripper (306) and the second gripper (312) of the transfer platform work together to clamp the bolts and transfer them to the rotatable recycling box (108) for acceptance. S3. Installation of spare bolts: The platform pusher (202) pushes the spare bolt to the clamping position, the clamping member (203) clamps the bolt and positions it through the first magnetic plate (204), and the transfer platform moves to install the bolt into the socket of the electric wrench (106); S4, Nut supply clamping: The fifth electric push rod (505) switches to the first state, and the feeding area (601) absorbs a single nut; After switching to the second state, the electric gripper (404) rotates to align and clamp the nut, and the second magnetic plate (405) is used to position and ensure alignment with the bolt axis; S5. Bolt and nut tightening: The first robotic arm (104) and the second robotic arm (107) are aligned in coordination, the electric gripper (404) clamps the nut, and the electric wrench (106) screws the bolt into the nut with a preset torque. S6, Continuous Operation: The walking mechanism (102) moves along the guide wire, repeating steps S2-S5 to complete the tightening of all drainage plate bolts.

6. A method for fastening diversion plate bolts using an unmanned aerial vehicle platform according to claim 5, characterized in that, In step S2: When the electric wrench (106) loosens the old bolt, the torque sensor monitors the torque value in real time. When the torque drops to the threshold, the first jaw (306) and the second jaw (312) are triggered to clamp.

7. A method for fastening diversion plate bolts using an unmanned aerial vehicle platform according to claim 5, characterized in that, In step S4: When the fifth electric push rod (505) switches states, the baffle (504) transitions through the inclined plane (604) to ensure smooth transfer of the nut; The adsorption force of the second magnetic plate (405) is dynamically adjusted according to the nut specifications.

8. A method for fastening diversion plate bolts using an unmanned aerial vehicle platform according to claim 5, characterized in that, In step S5: The first robotic arm (104) and the second robotic arm (107) calibrate the position deviation through the image acquisition module (109). The torque sensor monitors the electric wrench (106) in real time when it tightens, and it automatically stops when the torque reaches the preset value.

Images