Intelligent screwing robot for coastal power plant steel structure high-strength bolts

Abstract

The invention discloses an intelligent screwing robot for a coastal power plant steel structure high-strength bolt, and relates to the technical field of intelligent screwing robots, the intelligent screwing robot comprises a puncture type lubricating assembly, the puncture type lubricating assembly is arranged in an automatic bolt screwing mechanism, and the puncture type lubricating assembly comprises a plurality of first air bag layers, a lubricant and a plurality of ejector pins; the first air bag layers are filled with lubricating agents, the bottom faces of the first air bag layers make contact with the ejector pins and are stressed to be broken, so that the lubricating agents flow out and are used for guiding flow to the surfaces of the nuts and the surfaces of the bolt strips to reduce friction force of threads of the nuts and the bolt strips. The first bevel gear is driven to rotate synchronously, that is, the second bevel gear connected with the first bevel gear in a meshed mode is driven to rotate, the second bevel gear drives the lead screw to rotate, horizontal rotation power is converted into the vertical direction, and a lubricating agent flows into the thread meshing surface through the centralized liquid guide assembly to be used for reducing friction force of the meshing surface.

Description

Technical Field

[0001] This invention relates to the field of intelligent bolt tightening robot technology, specifically to an intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants. Background Technology

[0002] The steel structure of coastal power plants includes boiler steel frames. The coastal location means that bolts will be in a high-humidity environment, where ordinary bolts are prone to rusting, seizing, and loosening due to vibration. Therefore, high-strength bolts are needed to limit the movement of the steel structure. The robots used must not only be able to tighten bolts but also have the ability to lock them in place. This is mainly for areas in coastal power plants that are difficult to reach manually and have extremely high requirements for preventing loosening and rust. Temporary or permanent light rails need to be laid on the steel beams first. The robot's wheels move along the rails to reach the location of the high-strength bolts for processing. The robot itself is equipped with a lidar. After arriving at the work area, it scans the steel structure nodes and automatically identifies the location of each high-strength bolt, driving the automatic bolt tightening mechanism to move directly above the high-strength bolt location. The robot itself is usually equipped with a motor, which drives multiple nuts to install the bolt strips.

[0003] Currently, the tightening of high-strength bolts is mostly done manually or with semi-automatic tightening equipment, which is not only inefficient but also poses a high risk of operation at height. To address these issues, some intelligent tightening devices have emerged. Patent CN202111042150.5 discloses an intelligent bolt-tightening robot for steel structure connection nodes. This robot includes an operation module, a movement module, and a vision perception module. It features automatic bolt positioning, initial tightening, final tightening, flexible movement, and intelligent distance measurement. After initial bolt tightening, the final tightening operation begins, with the motor continuing to drive the worm gear and rotating worm wheel sleeve until… The bolt is considered fully tightened when the spline head of the bolt shank breaks off. The engagement between the nut and the bolt shank relies on the friction surfaces of the threads. During the tightening process, the bolt needs to overcome the friction between the nut's supporting surface and the bolt shank's supporting surface. To generate sufficient clamping force, a greater force needs to be applied during the tightening operation, thus increasing the load requirements on the worm gear mechanism and its energy consumption. With increased friction between the nut and the bolt shank, the torque rises sharply. If the spline head breaks off before the threads are fully engaged, the bolt tightening force is insufficient, reducing the safety after installation. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent tightening robot for high-strength bolts in steel structures of coastal power plants, in order to solve the problem mentioned in the background art that in order to generate sufficient clamping force for the nuts, a larger force needs to be applied during the tightening operation, which increases the load requirements on the worm gear mechanism and the energy consumption of the worm gear mechanism.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent bolt tightening robot for high-strength bolts on steel structures in coastal power plants, comprising;

[0006] Robotic arm;

[0007] An automatic bolt tightening mechanism is located on one side of the robot arm and is used to drive the nut installed inside it to engage with multiple bolt strips to achieve tightening.

[0008] A puncture-type lubrication assembly is installed inside an automatic bolt tightening mechanism. The puncture-type lubrication assembly includes multiple first air bladder layers, lubricant, and multiple ejector pins. The lubricant is filled in the first air bladder layers. When the bottom surface of the first air bladder layer contacts the ejector pins and is subjected to force, it ruptures and the lubricant flows out to be directed to the surfaces of the nut and bolt strip to reduce the friction between their threads.

[0009] A centralized fluid guiding assembly is installed inside the puncture-type lubrication assembly. The centralized fluid guiding assembly includes multiple guide tubes, multiple branch discs, and multiple second vertical grooves. The multiple second vertical grooves guide the lubricant evenly to the threaded surface of the bolt strip. The multiple guide tubes are located directly below the first airbag layer and are used to centrally collect the outflowing lubricant. The surfaces of the multiple branch discs are each provided with multiple branch holes for uniformly guiding the lubricant at multiple points.

[0010] A fully contact component is disposed inside the puncture-type lubrication component. The fully contact component includes multiple protruding needles and multiple second air bladder layers. The multiple second air bladder layers are respectively disposed on the top surface of multiple first air bladder layers. The tip of the protruding needle punctures the second air bladder layer to allow the compressed gas inside to flow out, thereby pushing the lubricant out of the first air bladder layer.

[0011] Preferably, the puncture-type lubrication assembly further includes a reinforcing seat, a driven rod, two pulleys, and a belt. The reinforcing seat is disposed on the top of the transmission frame. The driven rod is inserted and connected to one side of the reinforcing seat. The two pulleys are respectively sleeved on the driven rod and the output shaft end of the servo motor. The belt is sleeved on the outer surface of the two pulleys and is used to drive the driven rod to rotate synchronously.

[0012] Preferably, the puncture-type lubrication assembly further includes two positioning frames, a lead screw, a first bevel gear, and a second bevel gear. The two positioning frames are respectively disposed on the top of the transmission frame, the lead screw is disposed on one side of one of the positioning frames, the first bevel gear is sleeved on one end of the driven rod, and the second bevel gear is sleeved on one end of the lead screw.

[0013] Preferably, the first bevel gear meshes with the second bevel gear to drive the lead screw to rotate in place.

[0014] Preferably, the puncture-type lubrication assembly further includes two positioning strips, a lifting frame, multiple liquid storage cylinders, and multiple L-shaped blocks. The two positioning strips are respectively disposed inside the two positioning frames. The lifting frames are respectively sleeved on the ends of the two positioning strips and the lead screw. The multiple liquid storage cylinders are respectively disposed on the top of the lifting frame. The multiple ejector pins are respectively disposed on the top of the multiple L-shaped blocks.

[0015] Preferably, the centralized fluid guiding assembly further includes multiple guiding holes, multiple inclined grooves, and multiple first vertical grooves. The multiple guiding holes are respectively opened on the inner surface of multiple guiding cylinders, the multiple inclined grooves are respectively opened on the inner surface of multiple sleeves, and the multiple first vertical grooves are respectively opened on the inner surface of multiple sleeves. The multiple guiding holes, multiple inclined grooves, and multiple first vertical grooves are interconnected for guiding the lubricant.

[0016] Preferably, the fully contact assembly further includes multiple sealed top covers, multiple limiting washers, and multiple liquid storage cylinders, with the multiple sealed top covers respectively disposed on the top of the multiple liquid storage cylinders, and the multiple limiting washers respectively disposed inside the multiple liquid storage cylinders.

[0017] Preferably, the plurality of liquid storage cylinders are respectively disposed inside the plurality of limiting gaskets, and the interiors of the plurality of second airbag layers are all filled with compressed gas.

[0018] Preferably, the bottom of the robot arm is provided with a machine base, and the automatic bolt tightening mechanism includes a support base and a hydraulic cylinder. The hydraulic cylinder is located on the top of the support base, and the output shaft of the hydraulic cylinder is driven by a transmission frame. A servo motor is provided on one side of the transmission frame, and the output shaft of the servo motor is driven by multiple worm gears.

[0019] Preferably, the transmission frame has multiple sleeves inserted inside, each sleeve having a worm gear fitted at one end, and multiple worms meshing with the worm gears. A tightening platform is provided on one side of the robot arm, and multiple bolt strips are respectively placed on the top of the tightening platform.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] In this invention, the movable arrangement of the lifting frame and two positioning bars smoothly drives the lifting and lowering of multiple liquid storage cylinders. Each liquid storage cylinder contains a first air bladder layer that stores lubricant. Each liquid storage cylinder corresponds to one bolt strip. As the multiple liquid storage cylinders descend, they gradually approach the ejector pin. When the tip of the ejector pin contacts the first air bladder layer and applies pressure, the first air bladder layer ruptures, and the lubricant inside gradually flows out. The lubricant flows into the threaded engagement surface through a centralized liquid guiding component to reduce the friction of the engagement surface. This solves the problem of overcoming the friction between the nut support surface and the bolt strip support surface during the bolt strip tightening process, resulting in a more secure engagement between the nut and the bolt strip. To ensure smooth operation and avoid increasing the load requirements and energy consumption of the automatic bolt tightening mechanism, the lifting frame is threaded onto the end of the lead screw, while the other end is movably fitted with two positioning bars. Therefore, during the rotation of the lead screw, the lifting frame is smoothly raised and lowered. The start of the servo motor first drives one pulley to rotate, and the other pulley, driven by the belt, drives the driven rod fitted with it to rotate. The rotational power of the servo motor is transmitted in parallel to the driven rod. The rotation of the driven rod drives the first bevel gear to rotate synchronously, which in turn drives the second bevel gear meshing with it to rotate. The second bevel gear drives the lead screw to rotate, converting the horizontal rotational power into a vertical direction.

[0022] In this invention, the inclined groove is designed to allow the lubricant to flow downwards while circulating, evenly distributing it in different directions of the first vertical groove. After the lubricant flows from the sleeve to the branch plate, it flows out from multiple branch holes simultaneously, sprinkling onto the threaded surface of the bolt strip. The multiple branch holes simultaneously release oil, evenly covering the threaded surface of the bolt strip. The sleeve is rotating, carrying the nut downwards on the bolt strip. When the nut is screwed in, it scrapes the lubricant sprinkled on the bolt strip surface by the branch plate into the thread engagement area, carrying it into each thread. From top to bottom, each thread is covered with lubricant, reducing friction. When multiple pins pierce the first airbag layer, they also push the first airbag layer upwards, and the second airbag layer gradually approaches the multiple pins. The pins pierce the top of the second airbag layer from top to bottom, instantly releasing the compressed gas inside the second airbag layer, which directly rushes into the lower storage cylinder cavity. The released pressure acts directly on the top surface of the lubricant, pushing it vertically downwards and gradually discharging it from the storage cylinder, avoiding lubricant residue inside the storage cylinder and thus preventing waste. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of an intelligent bolt tightening robot for high-strength bolts in the steel structure of a coastal power plant, as described in this invention.

[0024] Figure 2 This is a schematic diagram of the automatic bolt tightening mechanism in an intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to the present invention.

[0025] Figure 3 This invention relates to an intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants. Figure 2 A magnified structural diagram at point A;

[0026] Figure 4 This is a schematic diagram of the puncture-type lubrication component in an intelligent tightening robot for high-strength bolts in the steel structure of a coastal power plant, according to the present invention.

[0027] Figure 5 This is a partial upward-view structural schematic diagram of an intelligent bolt tightening robot for high-strength bolts in the steel structure of a coastal power plant, according to the present invention.

[0028] Figure 6 This invention relates to an intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants. Figure 5 A magnified structural diagram at point B;

[0029] Figure 7 This is a partial side view of the structure of an intelligent bolt tightening robot for high-strength bolts in the steel structure of a coastal power plant according to the present invention.

[0030] Figure 8 This invention relates to an intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants. Figure 7 A magnified structural diagram at point C;

[0031] Figure 9 This is a partial front view of the structure of an intelligent bolt tightening robot for high-strength bolts in the steel structure of a coastal power plant according to the present invention;

[0032] Figure 10 This is a schematic diagram of the fully contact component in an intelligent tightening robot for high-strength bolts in the steel structure of a coastal power plant, according to the present invention.

[0033] In the diagram: 100, Robot arm; 101, Machine base; 200, Automatic bolt tightening mechanism; 201, Support base; 202, Hydraulic cylinder; 203, Transmission frame; 204, Servo motor; 205, Worm gear; 206, Sleeve; 207, Worm wheel; 208, Tightening table; 209, Bolt strip; 3, Piercing lubrication assembly; 301, Reinforcing seat; 302, Driven rod; 303, Pulley; 304, Belt; 305, Positioning frame; 306, Lead screw; 307, First bevel gear; 308, Second... 309. Bevel gear; 310. Positioning strip; 311. Lifting frame; 312. Liquid storage cylinder; 313. First airbag layer; 314. Lubricant; 315. Ejector pin; 316. L-shaped block; 4. Centralized liquid guiding assembly; 401. Flow guide cylinder; 402. Flow guide hole; 403. Inclined groove; 404. First vertical groove; 405. Branch plate; 406. Second vertical groove; 5. Fully contact assembly; 501. Sealed top cover; 502. Convex pin; 503. Limiting washer; 504. Liquid storage cylinder; 505. Second airbag layer. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] To address the issue that existing intelligent bolt tightening robots used in coastal power plant steel structures require greater force to generate sufficient clamping force during operation, thus increasing the load on the worm gear mechanism and its energy consumption, this invention provides an intelligent bolt tightening robot for coastal power plant steel structures. (Refer to...) Figure 1 As shown: including:

[0036] Robotic arm 100;

[0037] An automatic bolt tightening mechanism 200 is located on one side of the robot arm 100 and is used to drive the nuts installed inside to engage with the multiple bolt strips 209 installed to achieve tightening.

[0038] The puncture-type lubrication assembly 3 is disposed inside the automatic bolt tightening mechanism 200. The puncture-type lubrication assembly 3 includes multiple first air bladder layers 312, lubricant 313 and multiple ejector pins 314. The lubricant 313 is filled in the first air bladder layers 312. When the bottom surface of the first air bladder layer 312 contacts the ejector pins 314 and is subjected to force, it ruptures and the lubricant 313 flows out to be guided to the surface of the nut and bolt strip 209 to reduce the friction of their threads.

[0039] The centralized fluid guiding assembly 4 is located inside the puncture-type lubrication assembly 3. The centralized fluid guiding assembly 4 includes multiple guide cylinders 401, multiple branch disks 405, and multiple second vertical grooves 406. The multiple second vertical grooves 406 guide the lubricant 313 evenly to the threaded surface of the bolt strip 209. The multiple guide cylinders 401 are located directly below the first airbag layer 312 and are used to centrally collect the outflowing lubricant 313. The surfaces of the multiple branch disks 405 are all provided with multiple branch holes for the multiple points of uniformly guiding the lubricant 313.

[0040] The fully contact component 5 is disposed inside the puncture-type lubrication component 3. The fully contact component 5 includes multiple protruding needles 502 and multiple second airbag layers 505. The multiple second airbag layers 505 are respectively disposed on the top surface of multiple first airbag layers 312. The ends of the protruding needles 502 puncture the second airbag layers 505 to allow the compressed gas inside to flow out, which is used to push the lubricant 313 out of the first airbag layer 312.

[0041] The robotic arm 100 swings via a transmission device, which in turn moves the automatic bolt tightening mechanism 200. The robotic arm 100 moves the automatic bolt tightening mechanism 200 above the tightening table 208, where many bolt strips 209 are erected. Nuts are placed inside the bolt strips 209 installed in the automatic bolt tightening mechanism 200. After the hydraulic cylinder 202 is activated, it drives the transmission frame 203, which is connected to its output shaft, to rise and fall. As the transmission frame 203 moves downward, it simultaneously moves the components mounted on its top, causing the sleeve 206 installed in the automatic bolt tightening mechanism 200 to gradually descend directly above the bolt strips 209. Then, the servo motor 204 is activated, driving multiple worm gears 205, which are connected to its output shaft, to rotate synchronously. This causes multiple worm gears 207 that are meshed with it to rotate synchronously, and multiple sleeves 206 continue to rotate. During the descent of the transmission frame 203, the sleeves 206 are in a rotating state. During this process, the spline head of the bolt strip 209 is inserted into the nut until the torque reaches the initial tightening torque value of the torque-shear type high-strength bolt. After the initial tightening of the bolt, the final tightening operation of the bolt begins. The servo motor 204 continues to drive the worm 205 and worm gears 207 to rotate until the spline head of the bolt strip 209 is broken off, which means the final tightening of the bolt is considered to be over.

[0042] Preferred, according to Figure 2 and Figure 3As shown, a machine base 101 is provided at the bottom of the robot arm 100. The automatic bolt tightening mechanism 200 includes a support base 201 and a hydraulic cylinder 202. The hydraulic cylinder 202 is located on the top of the support base 201. The output shaft of the hydraulic cylinder 202 is driven by a transmission frame 203. A servo motor 204 is located on one side of the transmission frame 203. The output shaft of the servo motor 204 is driven by multiple worm gears 205. Multiple sleeves 206 are inserted and connected inside the transmission frame 203. A worm wheel 207 is fitted at one end of each sleeve 206. The multiple worm gears 205 are respectively engaged with the multiple worm wheels 207. A tightening table 208 is provided on one side of the robot arm 100. Multiple bolt strips 209 are respectively located on the top of the tightening table 208. The hydraulic cylinder 202 is fixedly located on the top of the support base 201. The top of the transmission frame 203 is driven by the output shaft of the hydraulic cylinder 202. The servo motor 204 is fixedly located on one side of the transmission frame 203. The worm gears 205 are connected to each other, and the output shaft of the servo motor 204 is connected to one end of one of the worm gears 205. When the servo motor 204 is started, it drives the multiple worm gears 205 to rotate synchronously. The tightening table 208 is fixedly set on one side of the robot arm 100. Multiple worm wheels 207 are respectively fixedly sleeved on one end of multiple sleeves 206. The multiple sleeves 206 rotate inside the transmission frame 203. After the servo motor 204 is started, it drives the worm gears 205 connected to its output shaft to rotate. Under the meshing connection between the worm gears 205 and the worm wheels 207, it drives the multiple worm wheels 207 to rotate, which in turn drives the sleeves 206 fixedly sleeved to rotate. By starting the hydraulic cylinder 202, the lifting height of the multiple sleeves 206 can be adjusted. By starting the servo motor 204, the multiple sleeves 206 can be driven to rotate. Through the cooperation of the two, the nut in the sleeve 206 can be smoothly screwed into the end of the bolt strip 209.

[0043] To address the issue that the increased load requirements and energy consumption of the automatic bolt tightening mechanism 200 lead to a puncture-type lubrication component 3, lubricant 313 is automatically added during the tightening process of the bolt strip 209 to reduce the friction between the threads.

[0044] Preferably, the specific working process of the puncture-type lubrication component 3 is as follows, according to Figure 4 and Figure 6As shown, the puncture-type lubrication assembly 3 also includes a reinforcing seat 301, a driven rod 302, two pulleys 303, and a belt 304. The reinforcing seat 301 is disposed on the top of the transmission frame 203. The driven rod 302 is inserted and connected to one side of the reinforcing seat 301. The two pulleys 303 are respectively sleeved on the ends of the driven rod 302 and the output shaft of the servo motor 204. The belt 304 is sleeved on the outer surface of the two pulleys 303 and is used to drive the driven rod 302 to rotate synchronously. The puncture-type lubrication assembly 3 also includes two positioning frames 305, a lead screw 306, a first bevel gear 307, and a second bevel gear 308. The two positioning frames 305 are respectively disposed on the top of the transmission frame 203. The lead screw 306 is disposed on one side of one of the positioning frames 305. A bevel gear 307 is sleeved on one end of the driven rod 302, and a second bevel gear 308 is sleeved on one end of the lead screw 306. The first bevel gear 307 and the second bevel gear 308 mesh together to drive the lead screw 306 to rotate in place. The puncture-type lubrication assembly 3 also includes two positioning strips 309, a lifting frame 310, multiple liquid storage cylinders 311, and multiple L-shaped blocks 315. The two positioning strips 309 are respectively disposed inside the two positioning frames 305. The lifting frames 310 are respectively sleeved on the ends of the two positioning strips 309 and the lead screw 306. The multiple liquid storage cylinders 311 are respectively disposed on the top of the lifting frame 310. The multiple ejector pins 314 are respectively disposed on the top of the multiple L-shaped blocks 315. The reinforcing seat 301 is fixedly installed on the top of the transmission frame 203. The driven rod 302 is inserted and connected to one side of the reinforcing base 301. A pulley 303 is sleeved on one end of the driven rod 302. The output shaft of the servo motor 204 is also sleeved on a pulley 303. The two pulleys 303 are connected by a belt 304. The first bevel gear 307 is fixedly sleeved on one end of the driven rod 302. The bottoms of the two positioning frames 305 are respectively fixed to the top of the transmission frame 203. The two positioning bars 309 are fixedly installed inside the two positioning frames 305. The lead screw 306 is rotatably installed on one side of one of the positioning frames 305. The lifting frame 310 is threadedly sleeved on one end of the lead screw 306. The lifting frame 310 is movably sleeved on one end of the two positioning bars 309. The movable sleeve 09 can smoothly drive the multiple liquid storage cylinders 311 to rise and fall. The second bevel gear 308 is fixedly sleeved on one end of the lead screw 306. The first bevel gear 307 is meshed with the second bevel gear 308. Under the rotation of the first bevel gear 307, the second bevel gear 308 is driven to rotate synchronously, which in turn drives the lead screw 306 sleeved with it to rotate. Multiple first airbag layers 312 are installed inside the liquid storage cylinders 311. Lubricant 313 is filled inside the first airbag layers 312. Multiple L-shaped blocks 315 are fixedly installed on both sides of the top of multiple sleeves 206, and multiple ejector pins 314 are fixedly installed on the top of multiple L-shaped blocks 315. As the sleeves 206 rotate, the multiple ejector pins 314 are driven to rotate circumferentially.

[0045] It is important to note that the entire puncture-type lubrication assembly 3 is driven by a servo motor 204 for tightening bolts. Originally, the servo motor 204 was designed to drive the worm gear 205 to tighten the bolts. Now, a pulley 303 is mounted on its output shaft, triggering the lubrication mechanism during the bolt tightening process. No additional motor is needed. When the servo motor 204 starts, the meshing of the worm gear 205 and worm wheel 207 causes multiple sleeves 206 to rotate. Since the belt 304 drives two pulleys 303, the starting of the servo motor 204 initially drives one pulley 303. As the belt 304 rotates, another pulley 303, driven by the belt 304, rotates, causing the driven rod 302 to rotate as well. This transmits the rotational power of the servo motor 204 to the driven rod 302 in parallel. The rotation of the driven rod 302 drives the first bevel gear 307 to rotate synchronously, which in turn drives the second bevel gear 308, which meshes with it, to rotate. The second bevel gear 308 drives the lead screw 306 to rotate, converting the horizontal rotational power into a vertical direction. The two ends of the lead screw 306 are connected by bearings, allowing it to rotate in place. Due to the connection between the lifting frame 310 and the lead screw 306... One end is threaded, and the other end is movably fitted with two positioning strips 309. Therefore, during the rotation of the lead screw 306, it drives the lifting frame 310 to rise and fall smoothly. When the lead screw 306 rotates, due to the action of the thread, it pushes the lifting frame 310 fitted on it to move up and down, driving multiple liquid storage cylinders 311 installed on the top of the lifting frame 310 to rise and fall synchronously. Each liquid storage cylinder 311 has a first air bladder layer 312 inside, which stores lubricant 313. One liquid storage cylinder 311 corresponds to one bolt strip 209. When multiple liquid storage cylinders 311 descend... As the bolt gradually approaches the ejector pin 314, the tip of the ejector pin 314 contacts the first airbag layer 312 and applies pressure, causing the first airbag layer 312 to rupture. The lubricant 313 inside will gradually flow out and flow into the thread meshing surface through the centralized liquid guiding component 4 to reduce the friction of the meshing surface. This solves the problem that the bolt strip 209 needs to overcome the friction between the nut support surface and the bolt strip 209 support surface during the tightening process, making the nut and bolt strip 209 screw into each other more smoothly and avoiding an increase in the load requirements and energy consumption of the automatic bolt tightening mechanism 200.

[0046] Preferably, the engagement state of the sleeve 206 and the bolt strip 209 is as follows: Figure 5 As shown, multiple bolt strips 209 are inserted into the top of the tightening table 208 beforehand, and multiple nuts are placed inside multiple sleeves 206. As the hydraulic cylinder 202 is activated, the transmission frame 203 is raised and lowered, which in turn raises and lowers the multiple sleeves 206. The nuts placed inside them are raised and lowered accordingly, gradually approaching the multiple bolt strips 209, so that the nuts can be fitted onto the bolt strips 209.

[0047] To address the issue of insufficient lubricant 313 at the tip of the bolt strip 209, a centralized fluid guiding component 4 is installed to uniformly guide the lubricant 313 to the threaded surface of the bolt strip 209 at multiple points.

[0048] Preferably, the specific working process of the centralized liquid guiding component 4 is as follows: Figure 7 and Figure 8 As shown, the centralized liquid guiding assembly 4 also includes multiple guiding holes 402, multiple inclined grooves 403, and multiple first vertical grooves 404. The multiple guiding holes 402 are respectively formed on the inner surfaces of multiple guiding cylinders 401, the multiple inclined grooves 403 are respectively formed on the inner surfaces of multiple sleeves 206, and the multiple first vertical grooves 404 are respectively formed on the inner surfaces of multiple sleeves 206. The multiple guiding holes 402, multiple inclined grooves 403, and multiple first vertical grooves 404 are interconnected for guiding the flow of lubricant 313. According to the operation of the puncture-type lubrication assembly 3, after the first airbag layer 312 is punctured, the lubricant 313 flows out, and the dripping position is exactly inside the guiding cylinder 401. The purpose is to prevent the lubricant 313 from dripping outside and being wasted, and to collect it all. When the lubricant 313 accumulates to a certain height, it flows out from the guiding holes 402. The lubricant 313 flows into the inner wall of the sleeve 206 and is then guided into the interior of the inclined groove 403. The inclined groove 403 is inclined so that the lubricant 313 flows downward and circles around, evenly distributing to different directions of the first vertical groove 404. After the lubricant 313 flows from the sleeve 206 to the branch plate 405, it flows out from multiple branch holes at the same time and is sprinkled on the threaded surface of the bolt strip 209. The multiple branch holes simultaneously produce oil, evenly covering the threaded surface of the bolt strip 209. The sleeve 206 is rotating, and the nut is screwed down on the bolt strip 209. When the nut is screwed in, it scrapes the lubricant 313 sprinkled on the surface of the bolt strip 209 by the branch plate 405 into the thread engagement area, bringing it into each thread. From top to bottom, each thread is covered with lubricant 313, reducing friction, making tightening more accurate, and preventing dry friction at the bottom.

[0049] To address the issue of lubricant 313 remaining in the reservoir 311, compressed gas within the fully contact component 5 is used to actively push the lubricant 313 out of the first airbag layer 312, allowing it to flow more comprehensively into the threaded surfaces of the bolt strip 209 and the nut.

[0050] Preferably, the specific working process of fully contacting component 5 is as follows, according to Figure 9 and Figure 10As shown, the fully contact assembly 5 also includes multiple sealed top covers 501, multiple limiting washers 503, and multiple liquid storage cylinders 504. The multiple sealed top covers 501 are respectively disposed on top of the multiple liquid storage cylinders 311, the multiple limiting washers 503 are respectively disposed inside the multiple liquid storage cylinders 311, and the multiple liquid storage cylinders 504 are respectively disposed inside the multiple limiting washers 503. The interiors of the multiple second airbag layers 505 are all filled with compressed gas. A straight plate is fixedly installed on one side of each of the multiple sealed top covers 501. The straight plate is installed to the lifting frame 310 by two limiting bolts. Rotate the two limit bolts, and then the worker pulls the straight plate upwards. The straight plate transmits force to multiple sealed top covers 501, which gradually move away from the liquid storage cylinder 311, thus separating the sealed top covers 501 from the liquid storage cylinder 311. This facilitates the removal of the liquid storage cylinder 504 from the liquid storage cylinder 311, allowing for the reprocessing of the first airbag layer 312 and the second airbag layer 505. The liquid storage cylinder 504 is a cylindrical body that mainly abuts against the first airbag layer 312 and the second airbag layer 505. The second airbag layer 505 is placed directly on the first airbag layer 312. The first airbag layer 312 has an opening at its top, which is completely covered by the second airbag layer 505. Multiple protruding needles 502 are fixedly arranged at equal intervals on the bottom surface of the sealed top cover 501. These needles are positioned directly above the second airbag layer 505. When the multiple needles 314 puncture the first airbag layer 312, they also push the first airbag layer 312 upwards, causing the second airbag layer 505 to gradually approach the multiple protruding needles 502. The needles 502 puncture the second airbag layer 505 from top to bottom. At the top of the second airbag layer 505, the compressed gas inside the second airbag layer 505 is released instantly and rushes directly into the cavity of the liquid storage cylinder 311 below. The released pressure acts directly on the top surface of the lubricant 313, pushing the lubricant 313 vertically downward, causing it to gradually be discharged from the liquid storage cylinder 311. This avoids the lubricant 313 remaining inside the liquid storage cylinder 311 and being wasted. After more lubricant 313 flows out, it continues to flow to the threads on the bolt strip 209 and nut surface to lubricate the threads.

[0051] It should be noted that after the sealed top cover 501 is separated from the liquid storage cylinder 311, the new liquid storage cylinder 504 is installed into the liquid storage cylinder 311, which means that the new second airbag layer 505 and the first airbag layer 312 are stored inside the liquid storage cylinder 311.

[0052] Working Principle: When insufficient bolt tightening force reduces post-installation safety, the robot arm 100 swings via a transmission device, which in turn moves the automatic bolt tightening mechanism 200. The robot arm 100 moves the automatic bolt tightening mechanism 200 above the tightening table 208, where many bolt strips 209 are placed. Nuts are placed inside the bolt strips 209 installed in the automatic bolt tightening mechanism 200. After the hydraulic cylinder 202 is activated, it drives the transmission frame 203, which is connected to its output shaft, to rise and fall. As the transmission frame 203 moves downward, it drives the components mounted on its top to move simultaneously, causing the sleeves 206 installed in the automatic bolt tightening mechanism 200 to gradually descend directly above the bolt strips 209. The servo motor 204 is then activated, driving multiple worm gears 205, which are connected to its output shaft, to rotate synchronously. This, in turn, drives multiple worm wheels 207, which mesh with these worm gears, to rotate synchronously. The multiple sleeves 206 continue to rotate. During the descent of the transmission frame 203, the sleeves... While the cylinder 206 is rotating, the spline head of the bolt bar 209 is inserted into the nut until the torque reaches the initial tightening torque value of the torque-shear type high-strength bolt. After the initial tightening, the final tightening operation begins. The servo motor 204 continues to drive the worm 205 and worm wheel 207 to rotate until the spline head of the bolt bar 209 is broken off, at which point the final tightening is considered complete. The servo motor 204 was originally the motor that drives the worm 205 to tighten the bolt. Now, a pulley 303 is also installed on the output shaft to trigger the lubrication mechanism during the bolt tightening process, eliminating the need for an additional motor. When the servo motor 204 starts, the meshing of the worm 205 and worm wheel 207 drives multiple sleeves. 206 rotates. Because belt 304 drives two pulleys 303, the start of servo motor 204 first drives one pulley 303 to rotate. The other pulley 303, driven by belt 304, also drives the driven rod 302, which in turn rotates. This transmits the rotational power of servo motor 204 to driven rod 302 in parallel. The rotation of driven rod 302 drives the first bevel gear 307 to rotate synchronously, which in turn drives the second bevel gear 308 meshing with it. The second bevel gear 308 drives lead screw 306 to rotate, converting the horizontal rotational power into a vertical direction. The two ends of lead screw 306 are connected by bearings, ensuring its original direction remains vertical. As the lifting frame 310 rotates, its end is threaded onto the lead screw 306, and its other end is movably fitted onto two positioning bars 309. Therefore, during the rotation of the lead screw 306, the lifting frame 310 is smoothly raised and lowered. When the lead screw 306 rotates, the threaded action pushes the lifting frame 310, which is fitted onto it, to move up and down, causing multiple liquid storage cylinders 311 mounted on top of the lifting frame 310 to rise and fall synchronously. Each liquid storage cylinder 311 contains a first air bladder layer 312, which stores lubricant 313. One liquid storage cylinder 311 corresponds to one bolt bar 209. As the multiple liquid storage cylinders 311 descend, they gradually approach the ejector pin 314.When the tip of the ejector pin 314 contacts the first airbag layer 312 and applies pressure, the first airbag layer 312 ruptures, and the lubricant 313 inside gradually flows out. The lubricant 313 flows into the thread engagement surface through the centralized liquid guiding component 4 to reduce the friction of the engagement surface. This solves the problem of overcoming the friction between the nut support surface and the bolt strip 209 support surface during the tightening process, making the engagement of the nut and bolt strip 209 smoother. This avoids increasing the load requirements and energy consumption of the automatic bolt tightening mechanism 200. After the capsule 312 is punctured, lubricant 313 flows out, dripping directly into the inside of the guide tube 401. This is to prevent lubricant 313 from dripping out and being wasted, collecting it all. Once the lubricant 313 accumulates to a certain height, it flows from the guide hole 402 into the inner wall of the sleeve 206, and then into the inclined groove 403. The inclined groove 403 is angled, allowing the lubricant 313 to flow downwards while circulating, evenly distributing it in different directions of the first vertical groove 404. After flowing from the sleeve 206 to the branch plate 405, the lubricant 313... Multiple branch holes simultaneously discharge oil, sprinkling it onto the threaded surface of bolt strip 209. The oil evenly covers the threads of bolt strip 209. Sleeve 206 rotates, causing the nut to screw downwards onto bolt strip 209. As the nut screws in, it scrapes the lubricant 313 sprinkled on the bolt strip 209 by branch disc 405 into the thread engagement area, carrying it into every turn of the thread. From top to bottom, every turn of the thread is covered with lubricant 313, reducing friction, making tightening more precise, and preventing dry friction underneath. This is achieved by rotating two limit switches in the opposite direction. The bolts are then tightened, and the worker pulls the straight plate upwards. The straight plate transmits force to multiple sealed top covers 501, which gradually move away from the liquid storage cylinder 311, thus separating the sealed top covers 501 from the liquid storage cylinder 311. This facilitates the removal of the liquid storage cylinder 504 from the liquid storage cylinder 311, allowing for the reprocessing of the first airbag layer 312 and the second airbag layer 505. The liquid storage cylinder 504 is a cylindrical body that primarily abuts against the first airbag layer 312 and the second airbag layer 505. The second airbag layer 505 is directly placed on the first airbag layer 312. The first airbag layer 312 has an opening at its top, which is completely covered by the second airbag layer 505. Multiple protruding needles 502 are fixedly mounted on the bottom surface of the sealed top cover 501 and arranged at equal intervals. These needles 502 are positioned directly above the second airbag layer 505. When the multiple needles 314 pierce the first airbag layer 312, they also push the first airbag layer 312 upwards. The second airbag layer 505 gradually approaches the multiple protruding needles 502. The needles 502 pierce the top of the second airbag layer 505 from top to bottom, instantly releasing the compressed gas inside the second airbag layer 505. This gas rushes directly into the lower liquid storage cylinder 311. The released pressure acts directly on the top surface of the lubricant 313, pushing it vertically downwards and gradually discharging it from the liquid storage cylinder 311.This avoids waste caused by lubricant 313 remaining inside the reservoir 311. After more lubricant 313 flows out, it is directed to the threads on the bolt strip 209 and nut surface to lubricate them.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent bolt-tightening robot for high-strength bolts in steel structures of coastal power plants, characterized in that, include: Robotic arm (100); An automatic bolt tightening mechanism (200) is provided on one side of the robot arm (100) to drive the nut installed inside to engage with multiple bolt strips (209) to achieve tightening; A puncture-type lubrication assembly (3) is disposed inside an automatic bolt tightening mechanism (200). The puncture-type lubrication assembly (3) includes multiple first airbag layers (312), lubricant (313), and multiple ejector pins (314). The lubricant (313) is filled in the first airbag layers (312). The bottom surface of the first airbag layer (312) contacts the ejector pins (314) and breaks under force to allow the lubricant (313) to flow out. This lubricant is then directed to the surfaces of the nut and bolt strip (209) to reduce the friction of their threads. A centralized fluid guiding assembly (4) is disposed inside the puncture-type lubrication assembly (3). The centralized fluid guiding assembly (4) includes multiple guide cylinders (401), multiple branch discs (405), and multiple second vertical grooves (406). The multiple second vertical grooves (406) uniformly guide the lubricant (313) to the threaded surface of the bolt strip (209). The multiple guide cylinders (401) are located directly below the first airbag layer (312) and are used to centrally collect the outflowing lubricant (313). The surfaces of the multiple branch discs (405) are provided with multiple branch holes for uniformly guiding the lubricant (313) at multiple points. The fully contact component (5) is disposed inside the puncture lubrication component (3). The fully contact component (5) includes a plurality of protruding needles (502) and a plurality of second airbag layers (505). The plurality of second airbag layers (505) are respectively disposed on the top surface of a plurality of first airbag layers (312). The end of the protruding needle (502) punctures the second airbag layer (505) to allow the compressed gas inside to flow out, thereby pushing the lubricant (313) out of the first airbag layer (312).

2. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 1, characterized in that: The puncture-type lubrication assembly (3) also includes a reinforcing seat (301), a driven rod (302), two pulleys (303) and a belt (304). The reinforcing seat (301) is located on the top of the transmission frame (203). The driven rod (302) is inserted and connected to one side of the reinforcing seat (301). The two pulleys (303) are respectively sleeved on the driven rod (302) and the output shaft end of the servo motor (204). The belt (304) is sleeved on the outer surface of the two pulleys (303) and is used to drive the driven rod (302) to rotate synchronously.

3. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 2, characterized in that: The puncture-type lubrication assembly (3) also includes two positioning frames (305), a lead screw (306), a first bevel gear (307), and a second bevel gear (308). The two positioning frames (305) are respectively disposed on the top of the transmission frame (203). The lead screw (306) is disposed on one side of one of the positioning frames (305). The first bevel gear (307) is sleeved on one end of the driven rod (302), and the second bevel gear (308) is sleeved on one end of the lead screw (306).

4. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 3, characterized in that: The first bevel gear (307) meshes with the second bevel gear (308) to drive the lead screw (306) to rotate in place.

5. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 4, characterized in that: The puncture-type lubrication assembly (3) also includes two positioning strips (309), a lifting frame (310), multiple liquid storage cylinders (311) and multiple L-shaped blocks (315). The two positioning strips (309) are respectively disposed inside the two positioning frames (305). The lifting frame (310) is respectively sleeved on the ends of the two positioning strips (309) and the lead screw (306). The multiple liquid storage cylinders (311) are respectively disposed on the top of the lifting frame (310). The multiple ejector pins (314) are respectively disposed on the top of the multiple L-shaped blocks (315).

6. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 1, characterized in that: The centralized liquid guiding assembly (4) further includes multiple guiding holes (402), multiple inclined grooves (403), and multiple first vertical grooves (404). The multiple guiding holes (402) are respectively opened on the inner surface of multiple guiding cylinders (401), the multiple inclined grooves (403) are respectively opened on the inner surface of multiple sleeves (206), and the multiple first vertical grooves (404) are respectively opened on the inner surface of multiple sleeves (206). The multiple guiding holes (402), multiple inclined grooves (403), and multiple first vertical grooves (404) are interconnected for guiding the lubricant (313).

7. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 1, characterized in that: The fully contact assembly (5) also includes multiple sealed top covers (501), multiple limiting washers (503) and multiple liquid storage cylinders (504). The multiple sealed top covers (501) are respectively disposed on the top of the multiple liquid storage cylinders (311), and the multiple limiting washers (503) are respectively disposed inside the multiple liquid storage cylinders (311).

8. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 7, characterized in that: Multiple liquid storage cylinders (504) are respectively disposed inside multiple limiting gaskets (503), and multiple second airbag layers (505) are filled with compressed gas.

9. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 1, characterized in that: The robot arm (100) has a machine base (101) at its bottom. The automatic bolt tightening mechanism (200) includes a support base (201) and a hydraulic cylinder (202). The hydraulic cylinder (202) is located on the top of the support base (201). The output shaft of the hydraulic cylinder (202) is connected to a transmission frame (203). A servo motor (204) is located on one side of the transmission frame (203). The output shaft of the servo motor (204) is connected to multiple worm gears (205).

10. The intelligent bolt tightening robot for high-strength bolts in steel structures of coastal power plants according to claim 9, characterized in that: The transmission frame (203) has multiple sleeves (206) inserted inside, and each of the multiple sleeves (206) has a worm gear (207) fitted at one end. The multiple worms (205) are respectively meshed with the multiple worm gears (207). A tightening table (208) is provided on one side of the robot arm (100), and multiple bolt strips (209) are respectively provided on the top of the tightening table (208).

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