Self-adapting device for screw automatic tightening robot end

Abstract

The present application relates to a kind of screw automatic tightening robot terminal adaptive device, solve the existing overhead high-voltage transmission line maintenance device using sleeve bolt exists difficult to accurately butt joint bolt, cannot be applicable to the technical problem of bolt of multiple size specifications, it includes encapsulation box, flange bearing seat, rear support block, connecting piece, drive motor, primary bevel gear, secondary bevel gear, worm, left bearing, right bearing, worm gear integrated transmission, support shaft, rear bearing, front bearing, disc and six groups of clamping mechanism, clamping mechanism includes cam positioning shaft, cam, cylindrical gear, clamping shaft.The present application is widely used in high-voltage transmission line bolt maintenance field.

Description

Technical Field

[0001] This invention relates to the field of high-voltage transmission line maintenance technology, and more specifically, to an adaptive end effector for an automatic screw tightening robot. Background Technology

[0002] Overhead high-voltage transmission lines are the main facilities for power distribution in my country. They require preventative maintenance, including regular comprehensive surveys and repairs to prevent potential problems.

[0003] Currently, preventative maintenance of high-voltage transmission lines relies primarily on manual labor. Specialized personnel move along cables tens of meters above the ground to inspect and repair external damage, such as wire corrosion or loose pins. This typically requires workers to operate with the power on. While live-line work is the most direct and effective method for maintaining transmission lines, reducing power outages and improving power supply safety and reliability, it also increases the risk of electric shock for workers. For safety reasons, workers must wear heavy electromagnetic shielding suits, which further intensifies the work and reduces efficiency.

[0004] Towers are the primary targets for surveying and maintenance. Crossarms are crucial components of towers, secured with bolts. Besides crossarms, other iron accessories on the tower, such as clamps and fork beams, are also fixed with bolts. Tightening these bolts is necessary to prevent them from loosening.

[0005] To reduce the accident risks for on-site line operators, the solution of using line maintenance robots to replace manual labor has advantages such as high efficiency, good operability, high flexibility, no terrain restrictions, and reduced casualties. It can effectively tighten bolts. Referring to the invention patent application CN116914623A, entitled "Transmission Line Repair Robot Based on Multi-Axis Robotic Arm," this robot moves forward by rotating wheels that are attached to the transmission line, and automatically performs the work at the target location.

[0006] Referring to the invention patent application with publication number CN115498550A, a vertical lifting bolt tightening mechanism for live-line work on power distribution networks is disclosed. It uses a sleeve to tighten bolts. However, the sleeve can only be used for bolts of one size and cannot be used for bolts of multiple sizes and specifications. In addition, it is quite difficult to accurately align the sleeve with the bolt. Summary of the Invention

[0007] This application aims to solve the technical problem that existing overhead high-voltage transmission line maintenance devices using sleeve bolt tightening are difficult to accurately align bolts and cannot be applied to bolts of various sizes and specifications. It provides a highly reliable automatic screw tightening robot end-effector adaptive device.

[0008] This application provides an adaptive end effector for an automatic screw tightening robot, comprising a casing, a flange bearing housing, a rear support block, a connector, a drive motor, a primary bevel gear, a secondary bevel gear, a worm gear, a left bearing, a right bearing, an integrated worm gear transmission component, a support shaft, a rear bearing, a front bearing, a disc, and six sets of clamping mechanisms. The casing includes a housing and a circular front cover plate, the circular front cover plate being fixedly connected to the front of the housing, the flange bearing housing being fixedly connected to the rear of the housing, the rear support block being fixedly connected to the rear of the housing, and the connector being fixedly connected to the rear support block. The drive motor is connected to the flange bearing housing, and the output shaft of the drive motor passes through the flange bearing housing. The primary bevel gear, secondary bevel gear, worm gear, and integrated worm gear transmission component are located inside the casing. The primary bevel gear is connected to the output shaft of the drive motor, the secondary bevel gear is connected to the worm gear, and the primary bevel gear is connected to the secondary bevel gear. The gears mesh, with one end of the worm rotatably connected to the housing via a left bearing and the other end via a right bearing. The rear end of the support shaft is rotatably connected to the rear support block via a rear bearing. The rear end of the integrated worm gear transmission component has a worm wheel section and a bearing positioning groove, while the front end has a circular chamber. The inner wall of the circular chamber has an internal gear ring section, and the circular chamber has a disc limiting groove. The disc is placed in the disc limiting groove of the integrated worm gear transmission component and can slide relative to the integrated worm gear transmission component. The disc has six bearing holes evenly distributed along the circumference. The front bearing is set in the bearing positioning groove of the integrated worm gear transmission component, and the front end of the support shaft is connected to the front bearing. The worm meshes with the worm wheel section of the integrated worm gear transmission component. The clamping mechanism is located in the circular chamber at the front end of the integrated worm gear transmission component.

[0009] Preferably, the clamping mechanism includes a cam positioning shaft, a cam, a cylindrical gear, a clamping shaft, a front bearing, and a rear bearing. The cylindrical gear is fixedly connected to the cam positioning shaft, the cam is fixedly connected to the cam positioning shaft, the clamping shaft is fixedly connected to the cam, the front bearing is connected to the front end of the cam positioning shaft, and the rear bearing is connected to the rear end of the cam positioning shaft. The rear bearing is connected to the bearing hole of the disc. The circular front cover plate has a central window and six bearing chambers, which are located around the central window and evenly distributed along the circumference. The front bearing of the clamping mechanism is disposed in the bearing chamber. The cylindrical gear of the clamping mechanism meshes with the internal gear ring of the worm gear integrated transmission component. The clamping shaft of the clamping mechanism extends from the central window of the circular front cover plate.

[0010] Preferably, the connector is provided with a flange.

[0011] Preferably, a central boss is provided in the circular cavity at the front end of the worm gear integrated transmission component.

[0012] Preferably, the housing is connected to a camera.

[0013] Preferably, the circular front cover plate has 6 receiving slots, and the front end of the cam positioning shaft is located in the receiving slot.

[0014] The beneficial effects of this application are that the hexagonal head of the bolt is locked in an adaptive manner, and the six clamping shafts clamp the hexagonal head of the bolt in a gradually encircling manner, which can accurately lock the bolt. It can be used for bolts of various sizes and specifications.

[0015] It is more convenient and faster to use, and has high operational reliability.

[0016] It is particularly suitable for use on automated maintenance robots.

[0017] Further features and aspects of the present invention will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is an isometric view of the end effector adaptive device of the automatic screw tightening robot;

[0019] Figure 2 yes Figure 1 The image shows a front view of the adaptive end effector of the automatic screw tightening robot.

[0020] Figure 3 yes Figure 1 The image shows a top view of the adaptive end effector of the automatic screw tightening robot.

[0021] Figure 4 yes Figure 3 A cross-sectional view along the AA direction;

[0022] Figure 5 yes Figure 1 The diagram shows the internal transmission mechanism of the adaptive end effector of the automatic screw tightening robot.

[0023] Figure 6 yes Figure 1 The diagram shown is a structural diagram of the end effector of the automatic screw tightening robot after removing the rear support block, connector, and drive motor.

[0024] Figure 7 yes Figure 6 Another axonometric view of the structure shown;

[0025] Figure 8 yes Figure 6 The internal transmission mechanism structure diagram shown is shown.

[0026] Figure 9 This is a structural diagram of the transmission mechanism;

[0027] Figure 10 yes Figure 9 Another axonometric view of the structure shown;

[0028] Figure 11 This is a structural diagram showing the connection between the rear support block and the connecting piece, with a support shaft mounted on the rear support block;

[0029] Figure 12 It is an isometric drawing of the integrated worm gear transmission component;

[0030] Figure 13 yes Figure 12 Another isometric view of the integrated worm gear transmission component shown;

[0031] Figure 14 yes Figure 11 The diagram shows the structure in which the support shaft is connected to the rear support block via a bearing.

[0032] Figure 15 This is a schematic diagram of a structure in which a disc is placed in a circular cavity at the front end of an integrated worm gear transmission component;

[0033] Figure 16 yes Figure 9 The structure shown is a diagram in which the disk is placed in the integrated worm gear transmission component, and the cam positioning shaft of the clamping mechanism is connected to the disk through the rear bearing.

[0034] Figure 17 yes Figure 9 The diagram shows the connection relationships of the cam positioning shaft, cylindrical gear, cam, front bearing, and rear bearing in the clamping mechanism.

[0035] Figure 18 It is an axonometric drawing of the circular front cover;

[0036] Figure 19 This is a schematic diagram of a structure with six clamping axes surrounding the smallest opening;

[0037] Figure 20 This is a schematic diagram of a structure with six clamping axes surrounding the maximum opening;

[0038] Figure 21 This is a diagram showing the state of the target bolt being clamped by the adaptive end effector of the automatic screw tightening robot.

[0039] Explanation of symbols in the diagram:

[0040] 1. Housing; 1-1. First fixing post; 1-2. Second fixing post; 1-3. Camera bracket connecting part; 2. Circular front cover plate; 2-1. Center window; 2-2. Bearing chamber; 2-3. Receiving groove; 3. Screw; 4. Flange bearing seat; 5. Rear support block; 6. Connecting piece; 6-1. Flange; 7. Drive motor; 8. First-stage bevel gear; 9. Second-stage bevel gear; 10. Worm gear; 11. Left bearing; 12. Right bearing; 1 3. Integrated worm gear transmission component, 13-1. Worm gear part, 13-2. Internal gear ring part, 13-3. Bearing positioning groove, 13-4. Central boss, 13-5. Disc limiting groove, 14. Support shaft, 15. Rear bearing, 16. Front bearing, 17. Cam positioning shaft, 18. Cam, 19. Cylindrical gear, 20. Clamping shaft, 21. Disc, 22. Front bearing, 23. Rear bearing; 24. Camera, 25. Bolt. Detailed Implementation

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0043] like Figures 1-8 As shown, the adaptive end effector of the automatic screw tightening robot includes a packaging box, a flange bearing seat 4, a rear support block 5, a connector 6, a drive motor 7, a first-stage bevel gear 8, a second-stage bevel gear 9, a worm gear 10, a left bearing 11, a right bearing 12, an integrated worm gear transmission component 13, a support shaft 14, a rear bearing 15, a front bearing 16, six clamping mechanisms, and a disc 21. The packaging box includes a box body 1 and a circular front cover plate 2, which is fixedly installed on the front of the box body 1 by screws 3. The flange bearing seat 4 is fixedly connected to the rear of the box body 1. The rear of the box body 1 is provided with a first fixing post 1-1 and a second fixing post 1-2, and the rear support block 5 is fixedly connected to the first fixing post 1-1 and the second fixing post 1-2. The connector 6 is fixedly connected to the rear support block 5, and the connector 6 is provided with a flange 6-1. The drive motor 7 is fixedly mounted on the flange bearing housing 4, which is equipped with a bearing. The output shaft of the drive motor 7 passes through the bearing in the flange bearing housing 4 and rotates under the support of the bearing in the flange bearing housing 4. The primary bevel gear 8, the secondary bevel gear 9, the worm gear 10, and the integrated worm gear transmission component 13 are located inside the housing 1.

[0044] Combination Figure 9 , Figure 10 , Figure 11 and Figure 14 As shown, the first-stage bevel gear 8 is connected to the output shaft of the drive motor 7, and the second-stage bevel gear 9 is connected to the worm gear 10. The first-stage bevel gear 8 and the second-stage bevel gear 9 mesh. One end of the worm gear 10 is rotatably connected to the housing 1 via the left bearing 11, and the other end of the worm gear 10 is rotatably connected to the housing 1 via the right bearing 12. The integrated worm gear transmission component 13 has a worm wheel part 13-1 and an internal gear ring part 13-2, and the worm gear 10 meshes with the worm wheel part 13-1. The rear end of the support shaft 14 is rotatably connected to the rear support block 5 via the rear bearing 15, and the integrated worm gear transmission component 13 is connected to the front end of the support shaft 14 via the front bearing 16.

[0045] like Figure 12 and Figure 13 As shown, the integrated worm gear transmission component 13 has a worm gear portion 13-1 at its rear end, a bearing positioning groove 13-3 at the middle of its rear end, and a circular chamber at its front end. The inner wall of this circular chamber has an internal gear ring portion 13-2, and the circular chamber also has a disc limiting groove 13-5. The front bearing 16 is positioned in the bearing positioning groove 13-3.

[0046] like Figure 15 and Figure 16 As shown, the disc 21 is placed in the disc limiting groove 13-5 of the worm gear integrated transmission component 13, and the disc 21 can slide relative to the worm gear integrated transmission component 13 in the radial direction. The disc 21 is provided with six bearing holes for mounting bearings.

[0047] like Figure 9 , Figure 16 , Figure 17 As shown, the clamping mechanism includes a cam positioning shaft 17, a cam 18, a cylindrical gear 19, a clamping shaft 20, a front bearing 22, and a rear bearing 23. The cylindrical gear 19 is fixedly connected to the cam positioning shaft 17, the cam 18 is fixedly connected to the cam positioning shaft 17, and the clamping shaft 20 is fixedly connected to the cam 18. The inner ring of the front bearing 22 is connected to the front end of the cam positioning shaft 17, and the inner ring of the rear bearing 23 is connected to the rear end of the cam positioning shaft 17. There are a total of six clamping mechanisms. Figure 15 As shown, the rear bearing 23 is installed in the bearing hole of the disc 21. Six rear bearings 23 are installed on the disc 21, and the six rear bearings 23 are evenly distributed along the circumference. The disc 21 supports the cam positioning shaft 17 through the rear bearings 23.

[0048] like Figure 18As shown, the circular front cover plate 2 has a central window 2-1 and six bearing chambers 2-2, which are located around the central window 2-1. When assembling the clamping mechanism, the front bearings 22 are placed in the bearing chambers 2-2, and the circular front cover plate 2 supports the cam positioning shaft 17 through the front bearings 22. Since the six bearing chambers 2-2 are evenly distributed circumferentially, the six front bearings 22 are also evenly distributed circumferentially. (Reference) Figure 9 , Figure 16 , Figure 17 The cylindrical gear 19 of the clamping mechanism meshes with the internal gear ring portion 13-2 of the integrated worm gear transmission component 13. (Reference) Figure 4 , Figure 6 , Figure 7 and Figure 8 The circular front cover plate 2 is fixedly connected to the box body 1, and the clamping shaft 20 of the clamping mechanism extends from the central window 2-1. The six clamping shafts 20 form a structure evenly distributed along the circumference.

[0049] The working process of the aforementioned automatic screw tightening robot end effector is as follows: The drive motor 7 is started, and its output shaft drives the first-stage bevel gear 8 to rotate. The first-stage bevel gear 8 drives the worm gear 10 to rotate via the second-stage bevel gear 9. The worm gear 10 drives the integrated worm gear transmission component 13 to rotate. The internal gear ring 13-2 acts on the cylindrical gear 19 of the clamping mechanism, causing the cylindrical gear 19 to rotate. The cam positioning shaft 17 then drives the cam 18 to rotate, and the clamping shaft 20 rotates along with the cam 18. This allows the six clamping shafts 20 to gradually converge and contract, reducing the opening formed by the six clamping shafts. Reversing the drive motor 7 allows the six clamping shafts 20 to gradually expand, increasing the opening formed by the six clamping shafts. The movement of the six clamping shafts 20 is a stepless motion change. Figure 19 As shown, the opening formed by the six clamping axes is the smallest. Figure 20 As shown, the opening formed by the six clamping axes is the largest. Figure 21 As shown, the six clamping shafts 20 gradually converge and contract to clamp the hexagonal head of the bolt 25. The six clamping shafts 20 clamp the six sides of the hexagonal head respectively, thereby tightening the hexagonal head of the bolt. It can be seen that the six clamping shafts 20 can adaptively lock the hexagonal head of the bolt, and the movement is stepless and gradual, which can adapt to bolts of different sizes.

[0050] When using the aforementioned automatic screw tightening robot end effector, it can be installed on an automated maintenance robot, for example, on the end flange of the robot's robotic arm (flange 6-1 is connected to the end flange). The end flange of the robotic arm acts as a joint and can rotate, thus driving the entire automatic screw tightening robot end effector to rotate. Initially, the six gripping shafts 20 of the automatic screw tightening robot end effector are in their maximum open state. Then, the robotic arm moves, carrying the automatic screw tightening robot end effector to the target bolt. The six gripping shafts 20 are located around the hexagonal head of the target bolt. Next, the drive motor 7 is started. After the six gripping shafts 20 retract to lock the target bolt, the end flange of the robotic arm rotates, causing the target bolt to rotate and tighten. After the tightening operation is completed, the six gripping shafts 20 gradually expand, thereby loosening the target bolt. Then, the robotic arm moves to retract the automatic screw tightening robot end effector.

[0051] A camera can be mounted on housing 1, such as Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 21 As shown, camera 24 is connected to camera bracket connecting part 1-3 of housing 1 via camera bracket. Camera 24 is typically a depth camera, and it acquires images of the target bolt area.

[0052] It should be noted that a central boss 13-4 can be provided in the circular cavity at the front end of the integrated worm gear transmission component 13, such as... Figure 13 As shown, the function of the central boss 13-4 is to provide a contact surface for the target bolt. When the adaptive device at the end of the automatic screw tightening robot moves to the target bolt and the six clamping shafts 20 surround the target bolt, if the displacement of the adaptive device at the end of the automatic screw tightening robot is too large, the target bolt will abut against the central boss 13-4, ensuring that the target bolt is within the range of the six clamping shafts 20 and improving reliability.

[0053] like Figure 8 As shown, six receiving slots 2-3 can be provided on the circular front cover plate 2, and the front end of the cam positioning shaft 17 is located in the receiving slots 2-3, which provide space.

Claims

1. An adaptive end effector for an automatic screw tightening robot, characterized in that, The system includes a packaging box, a flange bearing housing, a rear support block, connecting parts, a drive motor, a first-stage bevel gear, a second-stage bevel gear, a worm gear, a left bearing, a right bearing, an integrated worm gear transmission component, a support shaft, a rear bearing, a front bearing, a disc, and six sets of clamping mechanisms. The packaging box includes a box body and a circular front cover plate. The circular front cover plate is fixedly connected to the front of the box body. The flange bearing housing is fixedly connected to the rear of the box body. The rear support block is fixedly connected to the rear of the box body. The connecting parts are fixedly connected to the rear support block. The drive motor is connected to the flange bearing housing, and the output shaft of the drive motor passes through the flange bearing housing. The first-stage bevel gear, the second-stage bevel gear, the worm gear, and the integrated worm gear transmission component are located inside the box body. The first-stage bevel gear is connected to the output shaft of the drive motor, the second-stage bevel gear is connected to the worm gear, and the first-stage bevel gear meshes with the second-stage bevel gear. One end of the worm gear is rotatably connected to the housing through a left bearing, and the other end of the worm gear is rotatably connected to the housing through a right bearing. The rear end of the support shaft is rotatably connected to the rear support block through a rear bearing. The rear end of the integrated worm gear transmission component is provided with a worm gear part and a bearing positioning groove, and the front end of the integrated worm gear transmission component is provided with a circular cavity. The inner side wall of the circular cavity is provided with an internal gear ring part, and the circular cavity is provided with a disc limiting groove. The disk is placed in the disk limiting groove of the worm gear integrated transmission component, and the disk can slide relative to the worm gear integrated transmission component. The disk is provided with six bearing holes evenly distributed along the circumference. The front bearing is set in the bearing positioning groove of the worm gear integrated transmission component, and the front end of the support shaft is connected to the front bearing; the worm meshes with the worm wheel part of the worm gear integrated transmission component. The clamping mechanism is located in the circular cavity at the front end of the integrated worm gear transmission component; The clamping mechanism includes a cam positioning shaft, a cam, a cylindrical gear, a clamping shaft, a front bearing, and a rear bearing. The cylindrical gear is fixedly connected to the cam positioning shaft, the cam is fixedly connected to the cam positioning shaft, and the clamping shaft is fixedly connected to the cam. The front bearing is connected to the front end of the cam positioning shaft, and the rear bearing is connected to the rear end of the cam positioning shaft. The rear bearing is connected to the bearing hole of the disc. The circular front cover plate has a central window and six bearing chambers. The six bearing chambers are located around the central window and are evenly distributed along the circumference. The front bearing of the clamping mechanism is disposed in the bearing chamber. The cylindrical gear of the clamping mechanism meshes with the internal gear ring of the worm gear integrated transmission component. The clamping shaft of the clamping mechanism extends from the central window of the circular front cover plate.

2. The adaptive end effector of the automatic screw tightening robot according to claim 1, characterized in that, The connector is equipped with a flange.

3. The adaptive end effector of the automatic screw tightening robot according to claim 1, characterized in that, A central boss is provided in the circular cavity at the front end of the integrated worm gear transmission component.

4. The adaptive end effector of the automatic screw tightening robot according to claim 1, characterized in that, The box is connected to a camera.

5. The adaptive end effector of the automatic screw tightening robot according to claim 1, characterized in that, The circular front cover plate has 6 receiving slots, and the front end of the cam positioning shaft is located in the receiving slot.

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