Intelligent bolt dismounting system

Abstract

The utility model relates to the technical field of bolt dismounting equipment, in particular to an intelligent bolt dismounting system which is used for solving the problem that a mechanical arm is damaged due to the fact that reverse torque force is too large. Comprising a mechanical arm; one end of the mounting plate is connected with the mechanical arm; the dismounting mechanism is arranged on the mounting plate; the dismounting mechanism is used for dismounting the flange plate by screwing and dismounting bolts on the flange plate; and the reaction torque device is arranged on the mounting plate and used for counteracting torque acting on the mounting plate when the dismounting mechanism screws the bolts. The reaction torque device is integrally arranged in the intelligent bolt dismounting system, and the reaction torque device is used for counteracting torque acting on the mounting plate when the bolt is screwed. Therefore, the torque is prevented from being applied to the mechanical arm, and the problem that the mechanical arm is damaged due to the fact that the torque is too large is avoided. And therefore, the mechanical arm can work normally, and the stability and reliability of the intelligent bolt dismounting system are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of bolt removal equipment, in particular to an intelligent bolt removal system. Background Art

[0002] In many fields, the removal of bolts is a common operation. Traditional bolt removal relies on manual labor and has problems such as low removal accuracy, long time consumption, and high operational risks. To solve the above problems, the existing technology usually uses a robotic arm in conjunction with an electric wrench to achieve mechanical removal of bolts. However, while the electric wrench applies torque to the bolt, it also directly applies a reverse torque to the robotic arm. When the tightening force of the bolt is large, the reverse torque acting on the robotic arm will also be large. This can easily cause the robotic arm to be damaged by the excessive reverse torque.

[0003] In other words, the prior art has the problem that the robotic arm is damaged by excessive reverse torque. Utility Model Content

[0004] The utility model provides an intelligent bolt removal system, which is used to solve the problem that a mechanical arm is damaged by an excessively large reverse torque force.

[0005] The utility model provides an intelligent bolt removal system, comprising:

[0006] robotic arms; and

[0007] A mounting plate, one end of which is connected to the robotic arm; and

[0008] A disassembly mechanism is provided on the mounting plate; the disassembly mechanism disassembles the flange by screwing the bolts on the flange; and

[0009] The anti-torque device is arranged on the mounting plate and is used to offset the torque acting on the mounting plate when the disassembly mechanism screws the bolts.

[0010] In one embodiment, the disassembly flange has a central hole and a plurality of bolt holes circumferentially arranged around the central hole, wherein the bolts are installed in the bolt holes, and the anti-torque device includes:

[0011] a connecting base fixed to the mounting plate; and

[0012] A clamping post, one end of which is fixedly connected to the connecting seat, and the other end of which is inserted into the central hole and plugged into the central hole.

[0013] In one embodiment, the disassembly flange has a central hole and a plurality of bolt holes circumferentially arranged around the central hole, wherein the bolts are installed in the bolt holes, and the anti-torque device includes:

[0014] a connecting base fixed to the mounting plate; and

[0015] A clamping post, one end of which is fixedly connected to the connecting seat, and the other end of which is inserted into the central hole;

[0016] Among them, an anti-rotation groove is provided on the inner wall of the center hole, an anti-rotation key is provided on the clamping column, and the anti-rotation key cooperates with the anti-rotation groove, or an anti-rotation key is provided on the inner wall of the center hole, an anti-rotation groove is provided on the clamping column, and the anti-rotation key cooperates with the anti-rotation groove.

[0017] In one embodiment, the connection seat is a flange plate, the flange plate is connected to the mounting plate via flange bolts, and the clamping column is a steel pipe.

[0018] In one embodiment, the anti-torque device is located between the disassembly mechanism and the robotic arm.

[0019] In one embodiment, the disassembly mechanism comprises:

[0020] An electric wrench, the fixed end of the electric wrench is fixed on the mounting plate;

[0021] A wrench bit, which is fixed on the rotating shaft of the electric wrench;

[0022] The wrench bit can be inserted into the bolt hole and engaged with the bolt.

[0023] In one embodiment, the intelligent bolt removal system further includes a torque sensor, which is provided on the electric wrench and is used to monitor the torque of the electric wrench.

[0024] In one embodiment, the intelligent bolt removal system further includes a control unit, which is electrically connected to the electric wrench and the torque sensor. The control unit can control the rotation of the electric wrench according to the current torque value sent by the torque sensor.

[0025] In one embodiment, the intelligent bolt removal system also includes a video acquisition device, which is arranged on one end of the robotic arm connected to the mounting plate. The video acquisition device is electrically connected to the control unit. The video acquisition device can capture the screwing position of the wrench bit in real time and send the captured current position information to the control unit. The control unit controls the movement of the robotic arm according to the current position information to align the wrench bit with the bolt to be removed.

[0026] In one embodiment, the robotic arm comprises:

[0027] a rotating base fixed to an external fixed foundation; and

[0028] A first rotating arm, one end of which is rotatably connected to the rotating base within a first plane; and

[0029] a second rotating arm, one end of which is rotatably connected to the other end of the first rotating arm in a second plane; and

[0030] One end of the third rotating arm is rotatably connected to the other end of the second rotating arm in the second plane, and the other end of the third rotating arm is fixedly connected to the mounting plate.

[0031] Compared to existing technologies, the present invention offers the advantage of an integrated anti-torque device within the intelligent bolt removal system, which offsets the torque applied to the mounting plate during bolt tightening. This prevents this torque from being applied to the robotic arm, thus preventing damage to the robotic arm caused by excessive torque. This ensures the robotic arm can function properly, improving the stability and reliability of the intelligent bolt removal system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be described in more detail below based on embodiments with reference to the accompanying drawings.

[0033] Figure 1 This is a schematic diagram of the three-dimensional structure of the intelligent bolt removal system in the first embodiment of the present utility model;

[0034] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the intelligent bolt removal system from another angle;

[0035] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure of the robotic arm;

[0036] Figure 4 yes Figure 1 Schematic diagram of the three-dimensional structure of the control unit;

[0037] Figure 5 yes Figure 1 Schematic diagram of the three-dimensional structure of the disassembly mechanism;

[0038] Figure 6 yes Figure 1 Schematic diagram of the connection relationship between the disassembly mechanism, torque sensor, anti-torque device and flange.

[0039] Reference numerals:

[0040] 10. Robotic arm; 11. Rotating base; 12. First rotating arm; 13. Second rotating arm; 14. Third rotating arm; 20. Mounting plate; 30. Disassembly mechanism; 31. Electric wrench; 32. Wrench bit; 40. Anti-torque device; 41. Connecting seat; 42. Clamping column; 50. Torque sensor; 60. Control unit; 61. Human-machine interface; 70. Video acquisition device; 100. Disassembly flange; 101. Bolt hole. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the accompanying drawings.

[0042] Example 1

[0043] like Figure 1 and Figure 2 As shown, the present invention provides an intelligent bolt removal system, which includes a robotic arm 10, a mounting plate 20, a disassembly mechanism 30, and an anti-torque device 40. The mounting plate 20 is connected to the robotic arm 10 at one end; the disassembly mechanism 30 is mounted on the mounting plate 20; the disassembly mechanism 30 removes the bolts on the disassembly flange 100 by screwing them; and the anti-torque device 40 is mounted on the mounting plate 20 to offset the torque applied to the mounting plate 20 when the disassembly mechanism 30 screws the bolts.

[0044] In the above configuration, the intelligent bolt removal system incorporates an integrated anti-torque device 40, which counteracts the torque applied to the mounting plate 20 during bolt tightening. This prevents the torque from being applied to the robotic arm 10, thereby preventing damage to the robotic arm 10 caused by excessive torque. This ensures the normal operation of the robotic arm 10, thereby improving the stability and reliability of the intelligent bolt removal system.

[0045] Specifically, if Figure 1 As shown, in one embodiment, the disassembly flange 100 has a central hole and a plurality of bolt holes 101 circumferentially arranged around the central hole. Bolts are installed in the bolt holes 101 .

[0046] It should be noted that, in order to remove the disassembly flange 100 from the original structure, the bolts thereon need to be unscrewed and removed.

[0047] Specifically, if Figure 1 and Figure 2 as well as Figure 6 As shown, in one embodiment, the anti-torque device 40 includes a connecting seat 41 and a clamping post 42. The connecting seat 41 is fixed to the mounting plate 20; the clamping post 42 has one end fixedly connected to the connecting seat 41 and the other end inserted into and engaged with the center hole.

[0048] In the above arrangement, when the disassembly mechanism 30 tightens the bolt, the torque exerted on the mounting plate 20 is sequentially applied to the disassembly flange 100 through the mounting plate 20, the connecting seat 41, and the clamping column 42, thereby offsetting the torque. This prevents the torque from being transmitted to the robotic arm 10, thus preventing damage to the robotic arm 10 caused by the torque. This ensures that the robotic arm 10 can function properly, thus improving the stability and reliability of the intelligent bolt removal system.

[0049] Specifically, if Figure 1 and Figure 6 As shown, in one embodiment, the connection seat 41 is a flange plate, the flange plate is connected to the mounting plate 20 through flange bolts, and the clamping column 42 is a steel pipe.

[0050] Specifically, if Figure 1 As shown, in one embodiment, the steel pipe and the center hole have an interference fit or a tight fit, which ensures that the torque acting on the mounting plate 20 is applied to the disassembly flange 100 through the mounting plate 20, the connecting seat 41 and the clamping column 42 in sequence to offset it.

[0051] Specifically, if Figure 1 As shown, in one embodiment, the anti-torque device 40 is located between the disassembly mechanism 30 and the robot arm 10. This ensures that the torque acting on the mounting plate 20 is applied to the disassembly flange 100 through the mounting plate 20, the connecting seat 41 and the clamping column 42 in sequence to offset it.

[0052] Specifically, if Figure 1 and Figure 5 As shown, in one embodiment, the disassembly mechanism 30 includes an electric wrench 31 and a wrench bit 32. The fixed end of the electric wrench is fixed to the mounting plate 20; the wrench bit 32 is fixed to the rotating shaft of the electric wrench 31; the wrench bit 32 can be inserted into the bolt hole 101 and engage with the bolt.

[0053] Specifically, if Figure 1 and Figure 5 As shown, in one embodiment, the wrench bit 32 is a hexagonal inner hole, and the bolt head of the corresponding bolt is provided with a hexagonal inner hole. The wrench bit 32 is adapted to the hexagonal inner hole.

[0054] It should be noted that the wrench bit 32 is adapted to the hole provided on the bolt head. When the hole provided on the bolt head is a square hole, the wrench bit 32 is square.

[0055] Specifically, if Figure 1 As shown, in one embodiment, the intelligent bolt removal system further includes a torque sensor 50 . The torque sensor 50 is disposed on the electric wrench 31 to monitor the torque of the electric wrench 31 .

[0056] In the above configuration, the torque sensor 50 can monitor the torque value of the electric wrench 31 in real time. This allows the torque value applied by the electric wrench 31 to be dynamically adjusted based on the current torque value. This ensures that the bolt can be stably removed from the bolt hole 101, thereby improving the removal performance of the intelligent bolt removal system.

[0057] Specifically, if Figure 1 and Figure 2 as well as Figure 4 As shown, in one embodiment, the intelligent bolt removal system further includes a control unit 60 , which is electrically connected to the electric wrench 31 and the torque sensor 50 . The control unit 60 can control the rotation of the electric wrench 31 according to the current torque value sent by the torque sensor 50 .

[0058] It should be noted that the control unit 60 is provided with a control program. When the current torque value is less than the preset torque value preset in the control unit 60, the control program can control the electric wrench 31 to increase the torque value to the preset torque value. When the current torque value is greater than the preset torque value preset in the control unit 60, the control program can control the electric wrench 31 to reduce the torque value to the preset torque value. This achieves dynamic adjustment of the applied torque value. This ensures that the electric wrench 31 stably applies torque to the bolt. This ensures that the bolt can be stably screwed out of the bolt hole 101. This improves the disassembly performance of the intelligent bolt removal system.

[0059] Specifically, if Figures 1 to 3 As shown, in one embodiment, the robot arm 10 includes a rotating base 11, a first rotating arm 12, a second rotating arm 13, and a third rotating arm 14. The first rotating arm 12 has one end rotatably connected to the rotating base 11 within a first plane (horizontal plane); the second rotating arm 13 has one end rotatably connected to the other end of the first rotating arm 12 within a second plane (vertical plane perpendicular to the horizontal plane); the third rotating arm 14 has one end rotatably connected to the other end of the second rotating arm 13 within the second plane, and the other end of the third rotating arm 14 is fixedly connected to the mounting plate 20.

[0060] It should be noted that the first plane is a horizontal plane, and the second plane is a vertical plane perpendicular to the first plane. The robotic arm 10 is also connected to a control unit 60. The control unit 60 contains a control program for controlling the movements of the robotic arm 10. The control unit 60 also contains a human-machine interface 61 to facilitate on-site personnel input of control commands.

[0061] Specifically, if Figure 1 and Figure 2 As shown, in one embodiment, the intelligent bolt removal system further includes a video acquisition device 70, which is disposed on one end of the robotic arm 10 connected to the mounting plate 20. The video acquisition device 70 is electrically connected to the control unit 60. The video acquisition device 70 can capture the screwing position of the wrench bit 32 in real time and send the captured current position information to the control unit 60. The control unit 60 controls the movement of the robotic arm 10 according to the current position information to align the wrench bit 32 with the bolt to be removed.

[0062] Example 2

[0063] The second embodiment differs from the first embodiment in the following aspects:

[0064] The first difference is that the anti-torque device 40 includes a connecting base 41 and a clamping post 42. The connecting base 41 is fixed to the mounting plate 20; the clamping post 42 has one end fixedly connected to the connecting base 41 and the other end inserted into the center hole. The inner wall of the center hole is provided with an anti-rotation groove, and the clamping post 42 is provided with an anti-rotation key that mates with the anti-rotation groove.

[0065] Of course, according to actual conditions, an anti-rotation key can be provided on the inner wall of the center hole, and an anti-rotation groove can be provided on the clamping column 42, and the anti-rotation key and the anti-rotation groove can be matched.

[0066] The second difference is that the disassembly mechanism 30 includes an electric wrench 31 and a socket. The fixed end of the electric wrench is fixed to the mounting plate 20; the socket is fixed to the rotating shaft of the electric wrench 31. The socket can be inserted into the bolt hole 101 and fits over the outer circumference of the bolt to remove it. The socket is a hexagonal socket, and the bolt is an external hexagonal bolt.

[0067] The third difference is that a separate control system is provided in the robot arm 10 to independently control the movement of the robot arm 10 . That is, the control unit 60 is not used to control the movement of the robot arm 10 .

[0068] The other structures of the second embodiment are the same as those of the first embodiment and will not be described in detail here.

[0069] While the present invention has been described with reference to preferred embodiments, various modifications may be made and equivalent components may be substituted without departing from the scope of the present invention. In particular, the various technical features described in the various embodiments may be combined in any manner, provided no structural conflicts exist. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. An intelligent bolt removal system, characterized in that: include: robotic arm; as well as A mounting plate, one end of which is connected to the robotic arm; as well as A disassembly mechanism is provided on the mounting plate; the disassembly mechanism disassembles the flange by screwing the bolts on the flange; as well as An anti-torque device is provided on the mounting plate and is used to offset the torque acting on the mounting plate when the disassembly mechanism screws the bolt.

2. The intelligent bolt removal system according to claim 1, characterized in that: The disassembly flange has a central hole and a plurality of bolt holes circumferentially arranged around the central hole, wherein the bolts are installed in the bolt holes. The anti-torque device includes: a connecting seat fixed to the mounting plate; and A clamping post, one end of which is fixedly connected to the connecting seat, and the other end of which is inserted into the central hole and plug-fitted with the central hole.

3. The intelligent bolt removal system according to claim 1, characterized in that: The disassembly flange has a central hole and a plurality of bolt holes circumferentially arranged around the central hole, wherein the bolts are installed in the bolt holes. The anti-torque device includes: a connecting seat fixed to the mounting plate; and A clamping post, one end of which is fixedly connected to the connecting seat and the other end of which is inserted into the central hole; In which, an anti-rotation groove is provided on the inner wall of the center hole, an anti-rotation key is provided on the clamping column, and the anti-rotation key cooperates with the anti-rotation groove, or an anti-rotation key is provided on the inner wall of the center hole, an anti-rotation groove is provided on the clamping column, and the anti-rotation key cooperates with the anti-rotation groove.

4. The intelligent bolt removal system according to claim 2 or 3, characterized in that: The connecting seat adopts a flange plate, the flange plate is connected to the mounting plate through flange bolts, and the clamping column adopts a steel pipe.

5. The intelligent bolt removal system according to claim 4, characterized in that: The anti-torque device is located between the disassembly mechanism and the robotic arm.

6. The intelligent bolt removal system according to claim 4, characterized in that: The disassembly mechanism comprises: an electric wrench, the fixed end of which is fixed to the mounting plate; A wrench bit, which is fixed on the rotating shaft of the electric wrench; Wherein, the wrench bit can be inserted into the bolt hole and engaged with the bolt.

7. The intelligent bolt removal system according to claim 6, characterized in that: The intelligent bolt removal system further includes a torque sensor, which is disposed on the electric wrench and is used to monitor the torque of the electric wrench.

8. The intelligent bolt removal system according to claim 7, characterized in that: The intelligent bolt removal system further includes a control unit, which is electrically connected to the electric wrench and the torque sensor. The control unit can control the rotation of the electric wrench according to a current torque value sent by the torque sensor.

9. The intelligent bolt removal system according to claim 8, characterized in that: The intelligent bolt removal system also includes a video acquisition device, which is arranged on one end of the robotic arm connected to the mounting plate. The video acquisition device is electrically connected to the control unit. The video acquisition device can capture the screwing position of the wrench bit in real time and send the captured current position information to the control unit. The control unit controls the movement of the robotic arm according to the current position information to align the wrench bit with the bolt to be removed.

10. The intelligent bolt removal system according to claim 4, characterized in that: The robotic arm comprises: a rotating base fixed to an external fixed foundation; and a first rotating arm, one end of which is rotatably connected to the rotating base within a first plane; and a second rotating arm, one end of which is rotatably connected to the other end of the first rotating arm in a second plane; and a third rotating arm, one end of which is rotatably connected to the other end of the second rotating arm in a second plane, and the other end of the third rotating arm is fixedly connected to the mounting plate.

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